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1st International Conference on robotics, engineering, Science, and Technology, RESTCON 2024

作者： Tan, Chi Jie Ogawa, Shintaro Hayashi, Takamasa Janthori, Titan Tominaga, Ayumu Hayashi, Eiji Kyushu Institute of Technology Department of Creative Informatics Fukuoka Japan National Institute of Technology Kitakyushu College Department of Creative Engineering Robotics and Mechatronics Kitakyushu Japan

ISBN: (纸本)9798350348842

The increasing amount of sea garbage proving to be a huge problem not only for marine life but also causing a tremendous number of troubles to humans living along the coastlines. Especially Japan, that is surrounded by the ocean which has a long coastline that spans thousands of kilometers, and this provides ample opportunities for marine debris to accumulate. This paper proposes a 3D mapping system utilizing the semantic information from the RGBD sensor extracted from a specifically trained state-of-Art deep learning neural network to merge with the spatial information from the LiDAR sensor using Max Fusion Technique. This paper also aims to contribute to the implementation of deep learning and autonomous driving in beach cleaning-related robots and spark interest and raise awareness of the public in beach clean-up activities. It is also shown that the proposed system can achieve a mean accuracy of 98% approximately with the uniquely trained deep learning model. © 2024 IEEE.

关键词： Autonomous vehicles

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3D Semantic Mapping based on RGB-D Camera and LiDAR Sensor in Beach Environment

3D Semantic Mapping based on RGB-D Camera and LiDAR Sensor i...

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robotics, engineering, Science, and Technology (RESTCON), International Conference on

作者： Chi Jie Tan Shintaro Ogawa Takamasa Hayashi Titan Janthori Ayumu Tominaga Eiji Hayashi Department of Creative Informatics Kyushu Institute of Technology Fukuoka Japan Department of Creative Engineering Robotics and Mechatronics National Institute of Technology Kitakyushu College Kitakyushu Japan

The increasing amount of sea garbage proving to be a huge problem not only for marine life but also causing a tremendous number of troubles to humans living along the coastlines. Especially Japan, that is surrounded by the ocean which has a long coastline that spans thousands of kilometers, and this provides ample opportunities for marine debris to accumulate. This paper proposes a 3D mapping system utilizing the semantic information from the RGBD sensor extracted from a specifically trained state-of-art deep learning neural network to merge with the spatial information from the LiDAR sensor using Max Fusion Technique. This paper also aims to contribute to the implementation of deep learning and autonomous driving in beach cleaning-related robots and spark interest and raise awareness of the public in beach clean-up activities. It is also shown that the proposed system can achieve a mean accuracy of 98% approximately with the uniquely trained deep learning model.

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Micro Heater Design Procedure with Backside Etching for Medical Applications 48

Micro Heater Design Procedure with Backside Etching for Medi...

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

作者： Tolba, Muhammad S. Fanni, Mohamed Nasser, Gamal A. Umezu, Shinjiro Fath El-Bab, Ahmed M. R. Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Helwan Univeristy Faculty of Engineering Mechanical Engineering Department Cairo Egypt Assuit University Mechatronics Engineering Assuit Egypt Waseda University School of Creative Science and Engineering Tokyo Japan

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

The incorporation of micro-heaters in medical analysis devices significantly aided in the miniaturization of such devices and shortened the processing time. Despite the fact that various micro-heater designs have been proposed, a high-speed heating rate for micro-heaters remain a challenge. The reduction of thermal mass allows for this high-speed to be accomplished. Furthermore, backside etching of the substrate is critical in increasing the rate of temperature change in thin-film micro heaters. This will speed up the thermal cycle, paving the way for high-speed, portable, and cost-effective medical devices like the polymerase chain reaction (PCR). The size of the backside opening, on the other hand, should be carefully chosen to ensure the heater's rigidity. The larger the backside opening, the faster the thermal change and the lower the stiffness of the chip. An accurate simulation investigation was performed in this study using the CoventorWare software tool to obtain the optimal back side design for the designed micro heater in which the temperature change process is accelerated while the chip's strength is maintained. This study allows us to achieve a high-strength, high-speed micro-heater with superior efficiency. The heater's dimensions are designed to warm up a chip of size 30x40 mm in accordance with Peltier's chip size. For the provided heater dimensions, a series of squares with side lengths of 2.5 mm per square and a distance of 1 mm between each square was found to be the best design for the backside etching. It raises the heating rate to 22 °C/s and allows the heater to withstand pressure up to 1.8 MPa. © 2022 IEEE.

关键词： Polymerase chain reaction

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Design, Fabrication, and Control of Micro-Heater Based on Joule Effect for Low-Cost Medical Device 48

Design, Fabrication, and Control of Micro-Heater Based on Jo...

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

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Temperature control is vital in micro-heaters used in medical devices such as the polymerase chain reaction (PCR). The primary goal is to achieve tight control and a high rate of heating for a portable, low-cost medical device. Even though the fact that several designs for micro-heaters have been proposed, uniform temperature distribution and the high-speed heating rate remain challenging for micro-heaters. This high speed is achieved by the reduction of the thermal mass. The most common methods for reducing thermal mass or heating time in a device are to establish a highly desired structural design and to select a better heating mechanism with a robust controller. Increasing the thermal mass improves temperature distribution on the heater surface but slows heat transfer. On the other hand, removing the thermal mass makes the controller struggle to provide a high-temperature uniformity distribution on the micro-heater surface. In this study, we provide a design of a cost-effective, high-speed, thin-film micro-heater based on the Joule heating technique. The CoventorWare software tool is used to simulate the temperature distribution of the micro-heater. The heater provides a well-distributed temperature on the heated surface. When a DC voltage of 24 V was applied for 250 s, a maximum temperature of 272 °C was obtained. Besides, the heater's average heating rate is 15 °C/s. The heater is then fabricated with the micro-electromechanical systems (MEMS) technology on a silicon substrate. The transfer function of the heating system is computed. Two controllers are designed to control the temperature of the micro-heater and improve its response. The classical proportional-integral-derivative (PID) controller produces rise time (Tr) of 21.9 s, settling time (Ts) of 73.3 s, and a maximum overshoot (Mp) of 4.8 %. Then by applying a fractional-order proportional-integral-derivative (FOPID) controller, a great enhancement in the system performance is observed, the controller is

关键词： Thin films

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The Effect of Coil Geometry and Winding Method on the Electromagnetic Launcher Performance 48

The Effect of Coil Geometry and Winding Method on the Electr...

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

作者： Mohamed Abdo, Mohamed Magdy Fanni, Mohamed Miyashita, Tomoyuki Ahmed, Sabah Mohamed Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Ain Shams Univeristy Faculty of Engineering Engineering Physics and Mathematics Department Cairo Egypt Mansoura University Production Engineering and Mechanical Design Department Mansoura Egypt Waseda University School of Creative Science and Engineering Department of Modern Mechanical Engineering Tokyo Japan Assuit University Electrical Engineering Department Assuit71515 Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Electromagnetic launchers become spread in many applications. This type of launcher is used to accelerate a slug made of ferromagnetic material. Many researchers compete to enhance the performance of this type. The launcher consists of simple components such as a capacitor bank, electronic switches, launcher coil, and charging circuit. In this paper, the authors have physically built the launcher system and reinforced the launcher performance by changing the winding method and making the trigger coil in a conical shape to reduce the deceleration effect of the last half of the trigger, this modification has proven its superiority over the straight coil. © 2022 IEEE.

关键词： Electromagnetic launchers

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2D MoS_(2) Helical Liquid Crystalline Fibers for Multifunctional Wearable Sensors

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Advanced Fiber Materials 2024年第6期6卷 1813-1824页

作者： Jun Hyun Park Jang Hwan Kim Su Eon Lee Hyokyeong Kim Heo Yeon Lim Ji Sung Park Taeyeong Yun Jinyong Lee Simon Kim Ho Jun Jin Kyeong Jun Park Heemin Kang Hoe Joon Kim Hyeong Min Jin Jiwoong Kim Sang Ouk Kim Bong Hoon Kim Department of Robotics and Mechatronics Engineering DGISTDaegu 42988Republic of Korea Present Address:Platform Technology R&D Center LG ChemistrySeoul 07795Republic of Korea Department of Materials Science and Engineering Soongsil UniversitySeoul 06978Republic of Korea Department of Organic Materials and Fiber Engineering Soongsil UniversitySeoul 06978Republic of Korea Nano Convergence Technology Research Center Korea Electronics Technology Institute(KETI)Gyeonggi‑do 13509Republic of Korea Department of Green Chemistry and Materials Engineering Soongsil UniversitySeoul 06978Republic of Korea Department of Materials Science and Engineering Korea UniversitySeoul 02841Republic of Korea Department of Materials Science and Engineering National Creative Research Initiative Center for Multi‑Dimensional Directed Nanoscale AssemblyKAIST Institute for NanocenturyKAISTDaejeon 34141Republic of Korea Department of Organic Materials Engineering Chungnam National UniversityDaejeon 34134Republic of Korea Department of Materials Science and Engineering Chungnam National University99 Daehak‑roYuseong‑guDaejeon 34134Republic of Korea

Fiber-based material systems are emerging as key elements for next-generation wearable devices due to their remarkable advantages,including large mechanical deformability,breathability,and high ***,greatly improved mechani-cal stability has been established in functional fiber systems by introducing atomic-thick two-dimensional(2D)*** development of intelligent fibers that can respond to various external stimuli is strongly needed for versatile *** this work,helical-shaped semiconductive fibers capable of multifunctional sensing are obtained by wet-spinning MoS_(2) liquid crystal(LC)*** mechanical properties of the MoS_(2) fibers were improved by exploiting high-purity LC dispersions consisting of uniformly-sized MoS_(2) ***,three-dimensional(3D)helical fibers with structural chirality were successfully constructed by controlling the wet-spinning process *** helical fibers exhibited multifunctional sensing characteristics,including(1)photodetection,(2)pH monitoring,(3)gas detection,and(4)3D strain sensing.2D materials with semiconducting properties as well as abundant surface reactive sites enable smart multifunctionalities in one-dimensional(1D)and helical fiber geometry,which is potentially useful for diverse applications such as wearable internet of things(IoT)devices and soft robotics.

关键词： Molybdenum disulfide(MoS_(2)) Liquid crystal(LC) Two-dimensional(2D)material Sensor Fiber

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Conceptual Design and Kinematic Analysis of Hybrid Parallel Robot for Accurate Position and Orientation

Conceptual Design and Kinematic Analysis of Hybrid Parallel ...

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SICE Annual Conference

作者： K. M. Asy Ahmed B. Zaky Haitham El-Hussieny Hiroyuki Ishii Mahmoud Elsamanty Mechatronics and Robotics Department School of Innovative Design Engineering Egypt Japan University for Science and Technology Alexandria Egypt Production and Mechanical Design Engineering Department Faculty of Engineering Menoufia University Computer Science and Information Technology Programs (CSIT) Egypt Japan University for Science and Technology Alexandria Egypt Electrical Department Faculty of Engineering at Shoubra Benha University Cairo Egypt School of Creative Science and Engineering Waseda University Japan Mechanical Department Faculty of Engineering at Shoubra Benha University Cairo Egypt

The proposed work presents an innovative hybrid parallel robot, combining a delta robot with a spherical parallel manipulator (SPM) to achieve 6-DoF motion. The conceptual design was developed using SolidWorks, showcasing agile movement with required angles. A comprehensive electrical layout design was initiated for ensuring efficient system control, integrating various components such as actuators, sensors, and control units for seamless operation. A forward kinematic model was mathematically developed and implemented in MATLAB, generating trained data by simulating the robot’s motion for various input parameters. The trained data represents the robot’s position and orientation for different movement types, including linear, circular, pure, and mixed multiple orientation movements. The robot’s performance was evaluated using metrics such as position accuracy, orientation error, and response time. This study analyzed the robot’s kinematics for precise position and orientation control, conducting tests with square path and helix trajectory movements, as well as sudden and sinusoidal wave motor angle changes. Results demonstrated the robot’s platform moved with a pure roll angle, fixed yaw and pitch angles with repetitive roll angle changes, and a small range of roll and pitch angle with a yaw angle, achieving less than 0.2% error in position accuracy and orientation. These findings offer valuable insights for designing and controlling hybrid parallel robots for high-accuracy positioning, highlighting the importance of a well-designed electrical layout, a thorough understanding of the kinematic model, and rigorous performance evaluation for effective system control.

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Intelligent block copolymer self-assembly towards IoT hardware components

Nature Reviews Electrical Engineering

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Nature Reviews Electrical engineering 2024年第2期1卷 124-138页

作者： Geon Gug Yang Hee Jae Choi Jang Hwan Kim Sang Ouk Kim Sheng Li Kyeongha Kwon Hyeong Min Jin Bong Hoon Kim National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly Department of Materials Science and Engineering KAIST Daejeon Republic of Korea Institute for NanoCentry KAIST Daejeon Republic of Korea Materials Creation Seoul Republic of Korea Department of Chemical and Biomolecular Engineering KAIST Daejeon Republic of Korea School of Electrical Engineering KAIST Daejeon Republic of Korea Department of Organic Materials Engineering Chungnam National University Daejeon Republic of Korea Department of Robotics and Mechatronics Engineering DGIST Daegu Republic of Korea

The Internet of Things (IoT) has emerged as the principal element for hyperconnectivity in the era of the fourth industrial revolution, in which low-power and self-sustainable operation, miniaturization and communication are the main requirements for advanced systems. Highly functional nanoscale structures, together with fabrication processes on the sub-100-nm scale, can be useful for the development of versatile miniaturized IoT devices. In this Perspective, we introduce block copolymer (BCP) self-assembly as a tool for the fabrication of high-performance IoT hardware components. Tailored material design of BCPs in terms of chemical diversity and molecular architectures enables the dense integration of physical and chemical functionalities below the tens of nanometres scale. BCPs can be used as nanoscale templates for surface nanopatterning, as soft 3D nanoporous structures or as nanopatterned substrates for spatially selective chemical functionalities. We summarize advances in technological areas relevant to the IoT, such as sensing, energy harvesting, user interfaces and information security systems. We also consider the limitations and open challenges that must be addressed, and we outline future research directions towards the use of BCP assembly for the next generation of IoT systems.

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Correction:2D MoS_(2) Helical Liquid Crystalline Fibers for Multifunctional Wearable Sensors

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Advanced Fiber Materials 2024年第6期6卷 1997-1997页

作者： Jun Hyun Park Jang Hwan Kim Su Eon Lee Hyokyeong Kim Heo Yeon Lim Ji Sung Park Taeyeong Yun Jinyong Lee Simon Kim Ho Jun Jin Kyeong Jun Park Heemin Kang Hoe Joon Kim Hyeong Min Jin Jiwoong Kim Sang Ouk Kim Bong Hoon Kim Department of Robotics and Mechatronics Engineering DGIST Daegu 42988 Republic of Korea Department of Materials Science and Engineering National Creative Research Initiative Center for Multi-Dimensional Directed Nanoscale Assembly KAIST Institute for Nanocentury KAIST Daejeon 34141 Republic of Korea Department of Materials Science and Engineering Soongsil University Seoul 06978 Republic of Korea Department of Organic Materials Engineering Chungnam National University Daejeon 34134 Republic of Korea Department of Materials Science and Engineering Chungnam National University 99 Daehak-ro Yuseong-gu Daejeon 34134 Republic of Korea Nano Convergence Technology Research Center Korea Electronics Technology Institute (KETI) Gyeonggi-do 13509 Republic of Korea Department of Green Chemistry and Materials Engineering Soongsil University Seoul 06978 Republic of Korea Department of Materials Science and Engineering Korea University Seoul 02841 Republic of Korea

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Development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor

Development of an Elbow-Forearm Interlock Joint Mechanism To...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yuya Matsumoto Motoyuki Amemiya Daisuke Kaneishi Yasutaka Nakashima Masatoshi Seki Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Creative Science and Engineering Waseda University Tokyo 169-8555 Japan Graduate School of Advanced Science and Engineering Waseda University Tokyo Japan Graduate School of Creative Science and Engineering Waseda University Tokyo Japan Graduate School of Advanced Science and Engineering Waseda University Japan MONOZUKURI Mechatronics Laboratory KIKUCHI SEISAKUSHO Co. Ltd. Tokyo Japan Robotics Development Center Corporate Manufacturing Innovation Division Panasonic Corporation Osaka Japan Faculty of Science and Engineering Waseda University Japan Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Japan Department of Rehabilitation Medicine Juntendo University Graduate School Japan

ISBN: (纸本)9781479969357

An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism.

关键词： Essential Tremor Elbow Joint Movement of shoulder PROTOTYPE Wearable Robot Tremor compensated INTERLOCKS Patients

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