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Automation, control and robotics engineering (CACRE), International Conference on

作者： Muhammad Niaz Khan Amin Lotfiani Umair Javaid Zhufeng Shao Department of Mechanical Engineering State Key Laboratory of Tribology Institute of Manufacturing Engineering Tsinghua University Department of Mechanical Engineering Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing China Faculty of Engineering Technology University of Twente Enschede Netherland Robotics Institute Ningbo University of Technology Ningbo China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

This paper provides a detailed mechanical characterization and stress analysis of kirigami sheets across various structural configurations, highlighting their potential applications in soft robotics. The study examines linear, circular, triangular, and trapezoidal kirigami patterns through finite element simulations, complemented by experimental validation. Deformation parameters are systematically applied to both single and multiple units of kirigami sheets to assess their capacity for mechanical elongation and load sustainability. Additionally, friction analyses are discussed via simulation to explore the anchoring effects of these kirigami structures when applied to soft robots. The results of this study enhance our understanding of the mechanical properties of kirigami structures and their practical implications for soft robotics design.

关键词： Automation Deformation Friction Soft robotics Finite element analysis Sustainable development Stress

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Visual Servoing of a 3 DOF Hover Quadcopter using 2D Markers

Visual Servoing of a 3 DOF Hover Quadcopter using 2D Markers

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Fethi Ouerdane Muhammad Faizan Mysorewala Department of Control and Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia Department of Control and Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This study presents a novel approach for testing visual servoing on 3 DOF UAVs (Unmanned aerial vehicles) in an indoor environment with no GPS by employing a combination of a physical 3 DOF and simulating the rest of degrees, 2 D markers are used to store instructions to previously known coordinates in the environment. Low-cost UAV hardware with an onboard camera can extract the task information from such markers without needing a ground station computer and continuous marker detection to follow a particular desired trajectory. Such a goal is achieved through the presence of markers, such as QR (Quick Response) codes, at selected locations, controlling the UAV motion to read and extract the stored information in the code, and controlling various states of UAV to fulfill the desired motion of moving through the site. This solution combines simulation and physical testing such that final algorithm can be applied on 6 DOF UAVs for asset monitoring and inspection in indoor environments, and non-experts can modify the vehicle’s path by providing the QR codes. Experimental results for the centering of UAV for accurate QR code reading using PID (Proportional-Integral-Derivative) controller and LQR (Linear Quadratic Regulator) algorithm for attitude control are tested on Quanser’s 3DOF hover quadcopter in LabVIEW environment. Furthermore, hardware-in-the-loop simulation tests are performed to simulate the control of the linear motion of the UAV. The results achieved so far are promising and give ample encouragement to test and evaluate the technique on a 6-DOF UAV.

关键词： Tracking 3-DOF QR codes Autonomous aerial vehicles Cameras Visual servoing 6-DOF

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Localization Using Two Different IMU Sensor-Based Dead Reckoning System

Localization Using Two Different IMU Sensor-Based Dead Recko...

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Ibrahim Toy Akif Durdu Abdullah Yusefi Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

Dead reckoning estimates the current position, speed, and direction of moving objects using known position information. Localization determines an object's location on the map, categorized into human and vehicle localization. Autonomous vehicles rely on accurate vehicle localization for effective task execution. While Global Navigation Satellite System (GNSS) is a popular method, weak or absent signals can pose challenges. This study utilizes Inertial Measurement Unit (IMU) sensors for localization, integrating a second IMU to enhance accuracy. Fusing data from two IMU sensors, a dead reckoning system achieves 1.02 degrees and 1.41 meters errors in rotation and translation with a single IMU, and 1.01 degrees and 1.04 meters with two IMUs, respectively.

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Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gaussian Beams that Carry OAM

Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gau...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2024 - Part of Optica Imaging Congress

作者： O’Malley, Owen Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We estimate the phase of laser beams using the Gerchberg-Saxton algorithm after propagation through experimental and simulated optical turbulence. Synchronous pupil-plane and focal-plane intensities of Gaussian and La... 详细信息

关键词： Laser beams

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A Review on Inverse kinematics Solution of Robotic Arm Movement

A Review on Inverse kinematics Solution of Robotic Arm Movem...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

作者： Gurjeet Singh Vijay Kumar Banga Thaweesak Yingthawornsuk Department of Robotics and control School of Electrical and Electronics Engineering Lovely professional University Punjab Chandigarh University Chandigarh Department of Media Technology King Mongkut’s University of Technology Thonburi Bangkok Thailand

Across industries, ROBOTS are frequently utilized. A significant part of the numerous uses of robotics and many countries deciding that whether it’s possible to give identity to the anthropomorphic robots. Different industries hospitals are using the robots. The robots are not limited to these two applications even different sectors are using the different robots according to their needs. Mostly robots are performing the tasks which are difficult for human being. The basic robotic arms, known as three link manipulators, are still in use in micro-to-macro applications, such as chip production. In the field of robotics, robotic instrumentation is essential because without sensors, actuators, and detectors, robots cannot interact with their surroundings. In this paper soft computing also discussed in detail. In this paper the disturbance occur in the closed loop also being discussed. There have been tests, comparisons, and simulations *** doesn’t have to be an expert in the system. Even in cases when the population is quite big, the evolutionary process converges too soon. The robotic arm reaches the desired location within the simulated time, demonstrating good performance. Since the evolution function thoroughly tests all potential input spaces, the performance is ideal across the board. Soft computing help in trajectory planning and obstacle avoidance has been discussed in detail. The role of hybrid techniques also discussed. The dynamic nature of the robot also been discussed in detail in this paper. The paper has been sub parted in 9 parts and the modelling of the 2,3, and 5 DOF robots has been discussed din detail.

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Spatial and Temporal Study of controlled Underwater Optical Turbulence from Synchronous Measurements

Spatial and Temporal Study of Controlled Underwater Optical ...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2024 - Part of Optica Imaging Congress

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Kelly, Thomas O’Malley, Owen Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We experimentally record intensity of laser light at the pupil and focal planes after propagation through underwater optical turbulence. We study the temporal and spatial properties of intensity correlations and angle...

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Model-Free Predictive control for Harmonic Suppression of PMSMs Based on Adaptive Resonant controller

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IEEE Transactions on Energy Conversion 2025年

作者： Li, Teng Sun, Xiaodong Su, Zonghao Zha, Xuhao Dianov, Anton Prakht, Vladimir Demidova, Galina Ma, Jinlin Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Jiangsu University School of Automotive and Traffic Engineering Zhenjiang212013 China

To simultaneously suppress the periodic and aperiodic disturbances experienced by permanent magnet synchronous motors in model predictive control, a model-free predictive current control with adaptive resonance control based on an ultra-local model is proposed. Firstly, the ultra-local models of the speed loop and the current loop are established respectively, and the unmodeled and uncertain unknown part F in the ultra-local model is estimated by using a high-order fast terminal sliding mode observer, and its stability is analyzed. Then, an adaptive resonant controller (ARC) is designed to suppress the periodic disturbance caused by the dead zone effect. The ARC and the model-free control based on the ultra-local model are combined to compensate for their respective shortcomings, achieving the suppression of periodic and aperiodic disturbances in the system. Finally, by comparing with the traditional duty cycle model predictive control and the model-free model predictive control without ARC, the proposed scheme is proved to be robust to periodic and aperiodic disturbances. © 2025 IEEE. All rights reserved.

关键词： Permanent magnets

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Test-Stand Development and Performance Analysis of RoboWalk Assistive Device

Test-Stand Development and Performance Analysis of RoboWalk ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Omid Mahdizadeh Vahid Akbari Mahdi Nabipour Sina Ghanaat Shahin Naeemi Sina Hallajian Arash T. Beydokhti Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

Robotic devices are increasingly studied for the rehabilitation purposes of the lower limb disabilities. Wearable assistive devices such as exoskeletons have been recognized as a practical solution to increase the power and maneuverability of human beings in industries, as well as rehabilitation, elderly care, and sports exercises. RoboWalk is a lower limb assistive device that has been designed in ARAS lab at KNTU. To guarantee its proper performance, a Test-Stand is designed and manufactured with extended toolkit options. To validate the simulation results of various scenarios, is the main goal of developing this Test-Stand. Also, to examine the electronics boards and subsystems, the correct interaction between the sensors and the actuators, and investigate the performance of the main control loop, and so on, the Test-Stand is highly useful. In this paper, these various aspects of design and manufacturing of RoboWalk test stand are presented. Stress analyses in SOLIDWORKS software showed that the design of the proposed device is capable to handle the required tasks. Finally, a positioning task is implemented, which reveals the merits of the designed Test_Stand.

关键词： Performance evaluation Simulation Exoskeletons Software Sensors Manufacturing Assistive devices

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Continuous-Time Ultra-Wideband-Inertial Fusion

arXiv

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arXiv 2023年

作者： Li, Kailai Cao, Ziyu Hanebeck, Uwe D. The Division of Automatic Control Department of Electrical Engineering Linköping University Sweden The Intelligent Sensor-Actuator-Systems Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spatial differentiations are further provided. Based thereon, a new sliding-window spline fitting scheme is established for asynchronous multi-sensor fusion and online calibration. We conduct a dedicated validation of the quaternion spline fitting method, and evaluate the proposed system, SFUISE (spline fusion-based ultra-wideband-inertial state estimation), in real-world scenarios using public data set and experiments. The proposed sensor fusion system is real-time capable and delivers superior performance over state-of-the-art discrete-time schemes. We release the source code and own experimental data at https://***/KIT-ISAS/SFUISE . Copyright © 2023, The Authors. All rights reserved.

关键词： Motion estimation

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Camera/LiDAR Sensor Fusion-based Autonomous Navigation

Camera/LiDAR Sensor Fusion-based Autonomous Navigation

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Abdullah Yusefi Akif Durdu Ibrahim Toy Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey

This research presents a novel approach for autonomous navigation of Unmanned Ground Vehicles (UGV) using a camera and LiDAR sensor fusion system. The proposed method is designed to achieve a high rate of obstacle detection, distance estimation, and obstacle avoidance. In order to thoroughly study the form of things and decrease the problem of object occlusion, which frequently happens in camera-based object recognition, the 3D point cloud received from the LiDAR depth sensors is used. The proposed camera and LiDAR sensor fusion design balance the benefits and drawbacks of the two sensors to produce a detection system that is more reliable than others. The UGV's autonomous navigation system is then provided with the region proposal to re-plan its route and navigate appropriately. The experiments were conducted on a UGV system with high obstacle avoidance and fully autonomous navigation capabilities. The outcomes demonstrate that the suggested technique can successfully maneuver the UGV and detect impediments in actual situations.

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