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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Soni, Sandeep Kumar Kumar, Sunil Wang, Siyuan Sachan, Ankit Boutat, Driss Geha, Daniel University d'Orleans Insa Centre Val de Loire Prisme Ea 4229 Bourges18000 Cedex France Department of Electrical Engineering U.P. Varanasi221005 India Hiroshima University Graduate School of Advanced Science and Engineering Higashi Japan Industrial Automation Robotics 1 Chemin de La Bourellerie Thenioux18100 France

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper presents the sliding mode event-triggered control to solve the trajectory tracking problem of robot manipulator systems under state constraints. Through the design of time-varying control gains, a Lyapunov function ensures the fulfilment of the state constraints despite external disturbances. The designed sliding mode event-triggered control ensures that the sliding variable reaches the vicinity of the sliding surface in the finite-time. Furthermore, the proposed method ensures the uniform ultimate boundedness of the tracking error. There is no accumulation of inter-event time, which provides Zeno-free study. Simulation results of two-link robotic manipulator demonstrate the effectiveness of the proposed theory. © 2022 IEEE.

关键词： Lyapunov functions

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Single Frame Lidar-Camera Calibration Using Registration of 3D Planes

Single Frame Lidar-Camera Calibration Using Registration of ...

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IEEE International Conference on Robotic Computing (IRC)

作者： Ashutosh Singandhupe Hung Manh La Quang Phuc Ha Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA School of Electrical and Data Engineering University of Technology Sydney Australia

ISBN: (纸本)9781665472616

This work focuses on finding the extrinsic parameters (rotation and translation) between Lidar and an RGB camera sensor. We use a planar checkerboard and place it inside the Field-of-View (FOV) of both sensors, where we extract the 3D plane information of the checkerboard acquired from the sensor’s data. The plane coefficients extracted from the sensor’s data are used to construct a well-structured set of 3D points. These 3D points are then ’aligned,’ which gives the relative transformation between the two sensors. We use our proposed Correntropy Similarity Matrix Iterative Closest Point (CoSMICP) Algorithm to estimate the relative transformation. This work uses a single frame of the point cloud data acquired from the Lidar sensor and a single frame from the calibrated camera data to perform this operation. From the camera image, we use the projection of the calibration target’s corner points to compute the 3D points, and along the process, we calculate the 3D plane equation using the corner points. We evaluate our approach on a simulated dataset with complex environment settings, making use of the freedom to assess under multiple configurations. Through the obtained results, we verify our method under various configurations.

关键词： Point cloud compression Three-dimensional displays Laser radar Transmission line matrix methods Robot vision systems Cameras Real-time systems

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Industry 4.0 demonstrator: COMBED

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IFAC-PapersOnLine 2024年第9期58卷 67-72页

作者： V. Braun F. Zezulka P. Marcon J. Jirsa P. Fiedler V. Kaczmarczyk J. Arm Z. Bradac P. Dohnal Compas Robotics and Compas Automation Nadrazni 610/26 591 01 Zdar nad Sazavou Czech Republic Department of Technical Studies College of Polytechnics Jihlava Tolsteho 1556 586 01 Jihlava Czech Republic Faculty of Electrical Engineering Brno University of Technology Antoninska 548/1 Brno 602 00 Czech Republic

The paper discusses the manufacturing procedures and modes that will be employed in smart factories in the course of the next stage of technology development within the 4th Industrial Revolution. The manufacturing modes integrate the principles of Industry 4.0 (I4.0), presented through specifications by German, French, and Italian standardization committees. At present, the individual aspects of the entire system, which comprises technological means, functions, services, management structures, and requirements on manufacturing components and products in factories of the future, are being standardized. In our research, this I4.0-based mode of production is demonstrated on a virtual testbed. Compared to the costly physical testbeds, whose application is limited physically as well as in terms of funding and time, the virtual approach allows showing the I4.0 manufacturing principles effectively and cheaply. For this purpose, we employ two versions of the COMBED, a virtual testbed; in this context, the principles are exposed as facilitating consistent production management decentralization via standardized Asset Administration Shell (AAS) digital twins in both the individual manufacturing components and the actual product. The paper is complemented with viderecordings that expose the model functions of a smart factory producing simple plastic models of various cars by using robots, automated machines and stores, 3D printers, and other manufacturing components equipped with standardized digital twins (AASs).

关键词： AAS decentralization Industry 4.0 standardization testbed digital twins

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Bifurcation variation of a novel line-symmetric double-centered 6R metamorphic mechanism based on ellipses

Bifurcation variation of a novel line-symmetric double-cente...

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IEEE International Conference on robotics and Biomimetics

作者： Song Lin Yifeng Song Hongguang Wang Bingbing Yuan Jiansheng Dai Fengren Jing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences and Institutes for Robotics Shenyang China Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China

This paper proposed a line-symmetric double-centered 6R metamorphic mechanism with bifurcation properties. The mechanism is constructed based on elliptical geometric properties, which is a comprehensive design method for constructing novel metamorphic mechanisms through intuitive geometric figures. Firstly, the geometric constraints of the 6R metamorphic mechanism are revealed, and the parameter constraints and closed-loop kinematic equations of the 6R metamorphic mechanism are deduced. Through the analysis of mechanism geometric constraints, four motion branches of the 6R metamorphic mechanism are obtained: collinear deployable motion branch MB1, spherical 4R motion branch MB2, spherical 4R motion branch MB3, and line-symmetrical Bricard motion branch MB4. Meanwhile, according to the screw theory, the analytical expressions and mobility of the constraint-screw systems under different motion branches are deduced. This led to the identification of the constraint and motion branch variations of the 6R metamorphic mechanism. Finally, the four serial link 4R singular configurations of the 6R metamorphic mechanism are specially studied, and the characteristics of the mutual reconfiguration of these four singular configurations are revealed.

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Integration of Convolutional Neural Networks for Real-Time Monitoring of Soil Health in Precision Agriculture

Integration of Convolutional Neural Networks for Real-Time M...

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International conference of Electronics, Communication and Aerospace Technology (ICECA)

作者： Tummapudi Sunil Krishnagandhi Pachiappan S. Senthilrajan Y. Nagendar Renato R. Maaliw C. Pavin Department of CSE Malla Reddy Engineering College Malkajgiri Hyderabad India Electrical and Electronics Engineering Nandha Engineering College Erode Tamil Nadu India Department of Robotics& Automation Rajalakshmi Engineering College Chennai Tamil Nadu India Department of School of Computer Science and Artificial Intelligence SR University Warangal Telangana India Department of CSE Southern Luzon State University Lucban Quezon Philippines Biomedical Engineer YAR Tech Services Hyderabad India

ISBN: (数字)9798350367904

ISBN: (纸本)9798350367911

Convolutional Neural Networks (CNNs) represent a revolutionary breakthrough in improving crop productivity and sustainability when integrated into real-time monitoring systems for soil health in precision agriculture. CNNs are used in a novel way to analyze soil parameters directly from high-resolution photos taken by in-field sensors, such as moisture content, $\mathbf{p H}$ levels, and nutrient concentration. To forecast soil health measures, a CNN model was trained and validated using a collection of soil samples. The model achieved an accuracy rate of approximately $\mathbf{9 2 \%}$. The CNN-based technique shortens the time needed for soil health evaluation by almost $80 \%$ when compared to conventional approaches that involve manual sampling and laboratory analysis, allowing for quick corrective actions in the field. Additionally, more accurate and timely soil health monitoring was found to boost crop output prediction accuracy by $15 \%$. An up to $20 \%$ decrease in the amount of resources used, especially water and fertilizers, can be achieved by using real-time data processing to make educated decisions about irrigation, fertilizing, and pest management. The CNN model offers scalability and adaptability across a range of crop varieties and soil conditions, and it can be easily integrated into current agricultural IoT frameworks. All things considered, using CNNs for soil health monitoring offers an economical and effective way to improve the accuracy and output of contemporary farming methods.

关键词： Precision agriculture Irrigation Accuracy Soil Predictive models Real-time systems Data models Convolutional neural networks Monitoring Farming

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Crop Detection and Weed Removal Agriculture Robot

Crop Detection and Weed Removal Agriculture Robot

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Intelligent Systems and Advanced Applications (ICISAA), International Conference on

作者： Digambar P. Patil Digvijay B. Kanase Seema S. Patil Deepak B. Patil Himmat Singh Purohit Nupoor Mhatre Department of Automation and Robotics Dr. D. Y. Patil Institute of Technology Pune Maharashtra India Department of Electrical Engineering Dr. D. Y. Patil Institute of Technology Pune Maharashtra India Department of E&Tc Engineering Ashokrao Mane Group of Institutions Kolhapur Maharashtra India Electronics and Telecommunication Engineering Department NMIET Talegaon Dabhade Pune Maharashtra India

ISBN: (数字)9798331539948

ISBN: (纸本)9798331539955

Weed management is important thing of modern agriculture, as weeds can significantly impact crop yields, increase production costs, and pose environmental challenges. Weeds are unwanted plants that make race with desirable crops for resources such as nutrients, sunlight and water. It can cause significant damage to crops and other vegetation if left uncontrolled. The use of herbicides to control weeds can result in environmental pollution if not applied properly or if excessive amounts are used. Continuous use of herbicides without proper rotation or alternative weed management strategies can lead to the development of herbicide-resistant weed populations. Weed presence in harvested crops can reduce their quality, making them less marketable. The weed removal robot will be equipped with various sensors to scan the field and detect the presence of weeds. Advanced computer vision algorithms and machine learning techniques are often employed to differentiate between crops and weeds based on color, shape, or other characteristics. Sensors scan the field and capture images or data that are then processed by the processor. The single board computer can be programmed to recognize the visual differences between crops and weeds based on color, shape, or other characteristics. This robot will be equipped with precise actuators, which can include mechanical arms or electric tools. These actuators are used to perform the actual weed removal tasks. The processor controls the weed removal mechanism, which could be a mechanical arm with tools like rotating brushes or blades for physical weed removal

关键词： YOLO Actuators Shape Image color analysis Crops Sensor phenomena and characterization Robot sensing systems Manipulators Agriculture Farming

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Possibilities for the Use of Heliothermal Plants for the Generation of Green Hydrogen via Desalinated Water

Possibilities for the Use of Heliothermal Plants for the Gen...

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International Conference on Science Technology engineering and Management (ICONSTEM)

作者： S.P. Kanniyappan Asmita Marathe B Kiran Kumar Sanjeev Kumar T. Sathish Joshuva Arockia Dhanraj Department of Civil Engineering R.M.K. Engineering College Kavaraipettai Tamil Nadu India Centre for Energy Studies School of Technology Savitribai Phule Pune University Pune Maharashtra India Department of Mechanical Engineering KoneruLakshmaiah Education Foundation Vaddeswaram Andhra Pradesh India Department of Civil Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India Department of Mechanical Engineering Saveetha School of Engineering SIMATS Chennai Tamil Nadu India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai Tamil Nadu India

ISBN: (数字)9798350365092

ISBN: (纸本)9798350365108

These days, the substance business utilizes hydrogen (H 2 ) principally to create methanol and smelling salts. However, hydrogen is expected to rapidly secure itself as a significant fuel that will fundamentally work on the nature of the climate. This study looks at the viability of involving sun powered energy in a one of a kind plan intended to deliver desalinated water and hydrogen at the same time while using illustrative box sun based gatherers (essential mover) in three sun oriented radiation draws near: low radiation, high light, and no radiation. This framework, expected for beach front districts, produces water that has been desalinated utilizing humidification and dehumidification procedures utilizing the waste intensity from the natural Rankine cycle that delivers the power. Hydrogen is produced using a low-temperature electrolyser powered by electricity and water, known as a proton exchange film electrolyser. The formation of hydrogen utilizing power and desalinated water acquired from before stages is one of the framework's principles. A parametric exploration in view of the impact of critical variables on creation rates and different efficiencies has been done fully intent on assessing the proficiency of this arrangement.

关键词： Water Storage management Water heating Solar energy Green hydrogen Waste heat Sun

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Influence of engagement parameters on estimation of tangential cutting force using high-frequency process data of the machine tool 16

Influence of engagement parameters on estimation of tangenti...

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16th CIRP Conference on Intelligent Computation in Manufacturing engineering, CIRP ICME 2022

作者： Rytir, Michal Rönnecke, Jonas Hänel, Albrecht Kolar, Petr Ihlenfeldt, Steffen Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Department of Industrial Production and Automation Jugoslávských partyzánu 1580/3 Prague160 00 Czech Republic Fraunhofer Institute for Machine Tools and Forming Technology IWU Department of Production Digital Twin Nöthnitzer Straße 44 Dresden Germany Technische Universität Dresden Institute of Mechatronic Engineering Chair of Machine Tools Development and Adaptive Controls Dresden01062 Germany

The machining of high-value products needs advanced quality control to avoid the risk of expensive follow-up operations performed on parts with unacceptable quality. This situation requires the in-process or close to in-process control of the machining operation. The tangential cutting force is a parameter that characterizes the force interaction between the specific workpiece material and the specific tool geometry. This paper presents a method for a tangential cutting force calculation along the given tool path based on processing of the high-frequency data acquired from the machine tool control system with support of the geometric material removal model. The calculated data are compared with the reference dynamometer results. The influence of the variable engagement parameters is demonstrated and discussed from the perspective of the in-process workpiece quality control. © 2023 Elsevier B.V.. All rights reserved.

关键词： Machine tools

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Kinematic study of curved 6 DOF arm

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AIP Conference Proceedings 2024年第1期3035卷

作者： Anjana Venugopal Raghunathan Anushri Karthikhaa Sivakumar Anbarasi Muthuswamy Palaniswamy Department of Robotics and Automation Engineering PSG College of Technology Coimbatore Tamilnadu India

In today's world robot manipulators are used in various sectors ranging from manufacturing industry, health care, rehabilitation purposes, etc. Kinova Generation2 curved 6 Degrees of Freedom (DoF) robotic arm was designed and manufactured to assist and empower people with disabilities. One of the main objective of this paper is to understand the motion of the Kinova arm in detail. Therefore, a study on the specifications and features of Kinova arm is exhaustively performed and conclusions are made. These conclusions can be used to understand the functionalities of the Kinova arm which in turn will aid to utilize in various applications. Kinematics helps in studying the motion of the robotic arm. Both kinds of kinematic analysis namely forward and inverse kinematics had been extensively studied and analyzed. The forward and inverse kinematics are derived using D-H parameter table and kinematic decoupling method respectively for the Kinova curved 6 DOF robot arm. The main concept behind the velocity kinematic study for the Kinova arm is also discussed in the paper. The position and orientation of the end effector of the arm using Forward Kinematics is obtained using MATLAB software. These results can further be used in Path planning. Further, RoboAnalyzer software is also utilized to understand the end effector position, joint values, joint velocity, and joint acceleration of the robot arm by plotting the associated values. The paper also gives insight on the control of Robot arm in real life using various tools such as Joystick, software and ROS interface. The results inferred from this simulation and the understanding of robot control using ROS can further be used to program and utilize the Kinova arm in various different arenas.

关键词：

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Human-in-the-loop Optimization for Adaptive Assist-as-Needed Rehabilitation 12

Human-in-the-loop Optimization for Adaptive Assist-as-Needed...

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12th International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2022

作者： Li, Ning Yang, Yang Yang, Tie Chen, Wenyuan Wang, Yihan Yu, Peng Wang, Wenxue Xi, Ning Liu, Lianqing Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of the Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang10016 China School of Electrical and Electronics Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam999077 Hong Kong

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Active voluntary participation in robot-assisted rehabilitation promote the recovery of stroke hemiplegia. However, different patients have personalized recovery states, which needs the adaptive control strategy to improve the patient's participation. Therefore, in this study, a Mirror Adaptive Assist-As-Needed (MAAN) scheme is proposed to encourage subjects to participate actively and avoid the slack of the subjects including two modules: Functional Capability Estimation (FCE) and Mirror Adaptation (MAD). Specifically, the first MSFE module can obtain joint functional capability based on fused biological and motional signals. The second MAD module acquires the needed assistance via the estimated torques of FCE based on healthy limb. Through the iteration and collaboration of these two modules, a human-in-the-loop adaptive training is achieved to promote the patient participation. The results demonstrate that the MAAN strategy can generate suitable assistance for the patients to correct abnormal muscle activation patterns and promote active voluntary participation. Compared with other methods, the proposed strategy improves motion stability and consistency with the natural physiological state of healthy limbs. This research can be expected to greatly enhance the rehabilitation and power assistance outcome of exoskeleton robot in more practical applications. © 2022 IEEE.

关键词： Mirrors

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