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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Shahzad, Muhammad Muzamal Asad, Muhammad Haroon Haris, Muhammad Munawar, Hammad Yousaf, Muhammad Haroon University of Engineering and Technology Taxila Swarm Robotics Lab National Center of Robotics and Automation Taxila Pakistan University of Engineering and Technology Taxila Computer Engineering Department Taxila Pakistan

ISBN: (纸本)9781665464727

The research field of collective behaviors takes inspiration from natural self-organizing systems like honeybees, fish schools, social insects, bird flocks, and other social animals. These behaviors can be transformed into robots by replicating the same set of rules as found in the natural swarms. The deployment of aerial swarm robotics has become significant due to their multiple applications in surveillance, agriculture, and military. These applications lead to the development of aerial swarm robotic platforms to solve real-world problems. For example, a swarm of low-tech, cost-effective small UAVs can engage a high-tech target effectively. Similarly, a swarm of UAVs can perform surveillance and rescue missions in disastrous areas and build an emergency communication network through multiple UAV swarms. The critical part of swarm technology is multiple swarm intelligence algorithms that have been proposed and tested by various simulation platforms such as V-rep, Gazebo and MATLAB. Very few of them have been deployed on hardware to solve real scenarios that include formation control, navigation, pattern formation, and a few sub-swarm generation algorithms. Team connectivity is one of the essential aspects of a swarm network that emerges the collective intelligence of the group and ensures the readiness of the algorithm to deploy and solve real-world problems. Many researchers proposed the team connectivity algorithms in a single swarm network but still left the connectivity gap between the sub-swarms during a mission. This research work contributes toward designing a swarm intelligence algorithm to improve the connectivity techniques and team connectivity between the swarm agents and the sub-swarm groups. © 2023 IEEE.

关键词： Antennas

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Optimizing Mobile Charger Scheduling in Wireless Rechargeable Sensor Networks Using Min-Heap Algorithm 16

Optimizing Mobile Charger Scheduling in Wireless Rechargeabl...

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16th IEEE International Conference on Computational Intelligence and Communication Networks, CICN 2024

作者： Kamaruzzaman, Md. Chandra, Abhijit The Neotia University Department of Robotics and Automation Kolkata India Jadavpur University Dept. of Instrumentation and Electronics Engineering Kolkata India

ISBN: (纸本)9798331505264

In Wireless Rechargeable Sensor Networks (WRSNs), efficient energy management is crucial for prolonging network lifetime. Mobile Charging Vehicles (MCVs) play a vital role in replenishing the energy of sensor nodes (SNs);but optimizing their scheduling to minimize energy depletion and maximize network coverage remains a significant challenge till date. This paper proposes a novel scheduling approach based on the Min Heap algorithm to optimize the deployment of MCVs in WRSNs. By prioritizing SNs with the lowest remaining energy, the Min-heap algorithm dynamically adjusts the charging sequence, reducing the risk of node failures and improving overall network performance. To show the effectiveness of the proposed scheme, extensive simulations have been done by using MATLAB. Simulation results demonstrate that the proposed approach significantly improves the performance in terms of working time, total energy received, ratio of successful energy replacement and moving distance as compared to traditional scheduling approaches such as EDF and ETLBO. © 2024 IEEE.

关键词： MATLAB

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Reconfiguration of Distribution Network based DG and Capacitors using Grey Wolf Algorithm for Power Loss Reduction 3

Reconfiguration of Distribution Network based DG and Capacit...

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3rd International Conference on Intelligent robotics, Mechatronics and automation Systems, IRMAS 2023

作者： Rajalakshmi, K. Vishnupriyan, S. Saravanakumar, M.N. Parivendhan, J. Lese, S. Department of Robotics and Automation Kings Engineering College TN Chennai India Department of Biomedical Engineering Kings Engineering College TN Chennai India

Network reconfiguration is one of the methods used for power loss reduction in distribution network by altering the close/open position of Tie/Sectionalizing switches without interruption of power to all loads. The other methods used are placing of distribution generators and connecting capacitors. The best results are obtained when all the three are used simultaneously using grey wolf algorithm which is a recent evolutionary algorithm which gives the place of connection and values of capacitor and distribution generators along with sectionalizing switches which are to be opened. This algorithm was implemented for a standard 33 and 69 bus distribution system in a MATLAB environment for comparing with other algorithms with constraints. This algorithm has good exploration (new search) and exploitation (thorough local search) potential for application in many power system optimization problems. © Published under licence by IOP Publishing Ltd.

关键词： Distributed power generation

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Trans-Domain Sea-Air Integrated Robot 3

Trans-Domain Sea-Air Integrated Robot

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3rd IEEE International Conference on Recent Advances in Systems Science and engineering, RASSE 2023

作者： Jacob, Philip C Thomas, Anish Adi Shankara Institute of Engineering and Technology Department of Robotics and Automation Kalady India Saintgits College of Engineering Department of Electronics Engineering Kottayam India

ISBN: (纸本)9798350341676

The Trans-Domain Sea-Air Robot (TSAR) design with trans-domain capabilities or converting a normal drone to hybrid technology. It is still a major challenge to achieve miniaturization and enhance the maneuverability and overwater reliability of transmission. Trans-Domain robot is proposed in this work which achieves free trans-domain motion and has the advantages of small size, high maneuverability and high reliability for autonomous water vehicle operation. The proposed has a dc motor-propellers platform which satisfies the power and small diameter requirements and the blades reduce water drag and facilitate transportation. Further, a stable and efficient trans-domain attitude adjustment system is presented which effectively realizes trans-domain attitude switching. Based on the characteristics of the body additional ES32 with a camera was been given in order to image processing for human body detection and fish shoal localization. The Sea-Air Integrated Robot is a conceptual design for a multi-purpose robotic system that can operate both on land and water. The robot is designed to be a versatile platform that can perform a wide range of tasks, from surveillance and inspection to scientific research and rescue operation. The TSAR has many potential applications, including environmental monitoring, oil and gas exploration, search and rescue operations, and military surveillance. Its modular design and ability to operate in multiple environments make it a versatile platform that can be adapted to a wide range of tasks. © 2023 IEEE.

关键词： Maneuverability

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Impact of nano fillers on the mechanical and rheological behaviour of polydimethylsiloxane based nanocomposite elastomer

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Ceramics International 2025年第14期51卷 18852-18864页

作者： Mandal, Swaroop Kumar Kumar, Rahul Pradhan, Asisha Ranjan Kumar, Deepak Kumar, Satish Department of Automation and Robotics Dr. DY Patil Institute of Technology Pimpri Pune411018 India Advanced Composite and Smart Material Laboratory Department of Mechanical Engineering National Institute of Technology Jamshedpur 831014 India Department of Mechanical Engineering Parala Maharaja Engineering College Odisha 761003 India Rheology Lab Department of Mechanical Engineering National Institute of Technology Jamshedpur 831014 India

In this work, an advanced elastomer which is reinforced with nanocomposite of reduced graphene oxide and calcium carbonate (rGO/CaCO3) is fabricated. Its mechanical and rheological properties are investigated experimentally. The effect of rGO/CaCO3 nanocomposite was experimentally investigated using Dynamical Mechanical Analysis (DMA), Tensile test and Rheological test. The results indicate improved adhesion and physical strengthening effect between rGO/CaCO3 nanocomposite and the PDMS, that leads towards the decrement of extensional loss factor and hence increment in the extensional storage modulus. Also, the ultimate tensile stress and percentage elongation of the elastomers was found to be increased with increasing wt. % of rGO in CaCO3. It has been observed that 5 % rGO/CaCO3 nanocomposite in PDMS exhibits a higher tensile stress of 0.81 ± 0.040 MPa in comparison to pure PDMS (0.48 ± 0.024 MPa). The bare PDMS material has a maximum force of 12.94 ± 0.647 N, but the 5 % rGO/CaCO3/PDMS nanocomposite can tolerate a maximum force of 22.1 ± 1.105 N. Furthermore, the rheological properties of the material were altered, resulting in an increase in the viscosity of PDMS as the percentage (%) of rGO concentration in the rGO/CaCO3 nanocomposite increased. The presence of CaCO3 increases viscosity, however when 4 % (wt. %) rGO is added to CaCO3, the viscosity decreases compared to other filler concentrations in the elastomers. © 2025 Elsevier Ltd and Techna Group S.r.l.

关键词： Polydimethylsiloxane

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Virtual Reality Lab using Unity3D for Educational Applications using ESP8266 for Digital Electronics 15

Virtual Reality Lab using Unity3D for Educational Applicatio...

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15th International Conference on Advances in Computing, Control, and Telecommunication Technologies, ACT 2024

作者： Ramya, M.V. Tippannavar, Sanjay S. Department of Robotics and Automation JSS Academy of Technical Education Bengaluru India Department of Electronics and Communication Engineering JSS Science and Technological University Mysuru India

ISBN: (纸本)9798331300579

The use of VR in technical education has several advantages. In a wide domain of digital electronics, the study outlines efforts done to use VR to engineering education. To conduct experiments in a digital lab, the section offers guided domain exploration. *** files are used to store the created virtual laboratory. E-Labs' project: Virtual reality (VR) technology is used to create the remote laboratory known as digital electronics. The E-labs are primarily designed for fundamental and general gates experiments in digital electronics. This E-labs has the extra benefit of having both hardware and software (Blended mode). The software component is carried out with the aid of the programme unity, which is typically used to create simulations and video games for computers, consoles, and mobile devices. A virtual 3D environment was created for this project using Unity. Additionally, Blender software and Tinkercad from Autodesk are used to create the models needed to construct a virtual 3D world. The hardware portion includes a number of parts, including an Arduino Uno, a Wi-Fi module (NodeMCU ESP8266), an LCD, ICs, LEDs, and a breadboard. The Wi-Fi model and LCD are both linked to the Arduino. To show the results of the research, we utilise LEDs. A Wi-Fi module is attached to the experiment section, which also contains ICs and LEDs. To see the virtual world, the user needs put on a VR *** may choose the needed experiment that they would want to carry out, and any modifications made to the virtual environment will also be mirrored in the physical *** there is a pandemic and students are unable to undertake physical experiments at their schools or institutions, the E-labs are quite ***, these E-Labs will pique students' interests and foster their desire to study new things while enabling them to comprehend subjects at their own speed. © Grenze Scientific Society, 2024.

关键词： Students

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Passive robust control for uncertain Hamiltonian systems by using operator theory

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CAAI Transactions on Intelligence Technology 2022年第4期7卷 594-605页

作者： Ni Bu Yuyi Zhang Xiaoyong Li Wei Chen Changan Jiang College of Automation and Electronic Engineering Qingdao University of Science and TechnologyQingdaoChina Department of Robotics Osaka Institute of TechnologyOsakaJapan

In this study,the passivity-based robust control and tracking for Hamiltonian systems with unknown perturbations by using the operator-based robust right coprime factorisation method is *** the system with unknown perturbations,a design scheme is proposed to guarantee the uncertain non-linear systems to be robustly stable while the equivalent non-linear systems is passive,meanwhile the asymptotic tracking property of the plant output is ***,the design scheme can be also used into the general Hamiltonian systems while the simulation is used to further demonstrate the effectiveness of the proposed method.

关键词： Hamiltonian systems robust right coprime factorisation storage function

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Real-Time Motion Generation and Data Augmentation for Grasping Moving Objects with Dynamic Speed and Position Changes

Real-Time Motion Generation and Data Augmentation for Graspi...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Yamamoto, Kenjiro Ito, Hiroshi Ichiwara, Hideyuki Mori, Hiroki Ogata, Tetsuya Connective Automation Innovation Center R&d Group Hitachi Ltd. Robotics Research Department Japan Institute for Ai and Robotics Future Robotics Organization Japan Waseda University Faculty of Science and Engineering Japan

ISBN: (纸本)9798350312072

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving objects, due to their dynamic properties, requires learning a wide range of factors such as the object's position, movement speed, and grasping timing. We propose a data augmentation method for enabling a robot to grasp moving objects with different speeds and grasping timings at low cost. Specifically, the robot is taught to grasp an object moving at low speed using teleoperation, and multiple data with different speeds and grasping timings are generated by down-sampling and padding the robot sensor data in the time-series direction. By learning multiple sensor data in a time series, the robot can generate motions while adjusting the grasping timing for unlearned movement speeds and sudden speed changes. We have shown using a real robot that this data augmentation method facilitates learning the relationship between object position and velocity and enables the robot to perform robust grasping motions for unlearned positions and objects with dynamically changing positions and velocities. © 2024 IEEE.

关键词： Time series

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PRISM: A Polyhedral Reflective Imaging Scanning Mechanism for Hyperspectral Applications

PRISM: A Polyhedral Reflective Imaging Scanning Mechanism fo...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Sun, Zheng Dong, Zhipeng Wang, Shixiong Chen, Fei T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering SAR Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Hyperspectral imaging has become essential in fields such as waste sorting and agriculture due to its ability to capture detailed spectral information. However, conventional hyperspectral imaging systems typically rely on mechanical movements, such as conveyor belts or linear stages, to scan the target objects, which limits their applicability in environments with static targets or space constraints. To address these challenges, we present PRISM (Polyhedral Reflective Imaging Scanning Mechanism), a novel system that facilitates rapid and high-precision imaging of stationary objects by leveraging a polyhedral reflective structure, thereby eliminating the need for external relative motion. Experimental evaluations demonstrate that PRISM can achieve full spatial-spectral data of 512 by 727 pixels with 448 bands in 2.01 seconds, while maintaining high spectral accuracy, with a reflectance standard deviation of 0.015. We further validate PRISM's effectiveness through textile waste sorting experiments, where PRISM accurately differentiates between various material types at both the pixel and object levels, showcasing its potential for practical applications in industrial settings. © 2024 IEEE.

关键词： Prisms

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Effectiveness of artificial neural network for forecasting of fracture toughness of concrete specimens

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Asian Journal of Civil engineering 2024年第6期25卷 4697-4712页

作者： Pathak, Sudhanshu S. Vesmawala, Gaurang R. Mane, Sachin J. Sarnobat, Sandeep S. Department of Civil Engineering D Y Patil College of Engineering Akurdi Pune India Department of Civil Engineering Sardar Vallabhbhai National Institute of Technology Gujarat Surat India Department of Robotics and Automation D Y Patil College of Engineering Akurdi Pune India

Since fracture energy and fracture toughness are directly linked to failure behavior, crack initiation and propagation assumes a significant importance in the study of fracture mechanics. The current study attempts to develop a prediction model for fracture toughness by employing artificial neural network (ANN). Data sets of previous research work obtained from 210 fracture tests have been used to train, test and validate the ANN Model. Experimental results are further used check the feasibility of the model. The test specimen were concrete beams made using Nano TiO₂ (1, 2, 3 and 4%) and ground granulated blast furnace slag (30%). Compressive strength, maximum aggregate size and water to cement ratio are used as input parameters while fracture toughness, tensile strength, Compressive strength and flexure strength are the measured outputs for experimentation. The experimental results indicate the fracture toughness, tensile strength, compressive strength increase with the increase in the NT percentage by 46.15, 10.22, 16.07 and 14.83% respectively. The ANN predicted values of fracture toughness are in good agreement with the experimental results. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Artificial neural network Fracture toughness Ground granulated blast furnace slag Nano TiO2

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