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5th IEEE International Conference on Technology, Informatics, Management, engineering and Environment, TIME-E 2024

作者： Suleimenov, Kanat Ali, Md. Hazrat Do, Ton Duc Cybersecurity Astana IT University Department of Intelligent Systems Astana Kazakhstan School of Engineering and Digital Sciences Nazarbayev University Department of Mechanical and Aerospace Engineering Astana Kazakhstan School of Engineering and Digital Sciences Nazarbayev University Department of Robotics Astana Kazakhstan

ISBN: (纸本)9798350364743

In this work, an optimal parameter tuning method for the PI controller is proposed to control speed and current loops of the surface mounted permanent magnet synchronous motor (SPMSM) under the field-oriented control (FOC) strategy. Furthermore, to guarantee robustness of the system to parameter variations and disturbance effect, the extended state observer (ESO) is introduced in both speed and current control loops. The performance of the PI controller tuned by the proposed optimal tuning method is compared with the PI-PI and disturbance observer-based (DOB) controllers where the parameters of the PI schemes are tuned by the Ziegler-Nichols method. Different critical testing conditions (i.e., step changes of speed and load torque, step change of load during the acceleration of the motor) are studied to compare the performances of each scheme. Simulation results have shown that the DOB controller and ESO- based PI speed controller tuned by the proposed algorithm shown almost similar peformance, whereas an ESO-based PI-PI cascaded control scheme with optimal parameters had superior characteristics compared to other controllers in the study. The worst performance among the studied control schemes was shown by the conventional PI - PI cascaded control with largest speed drop and longest time to reach a steady state. All the control algorithms are implemented in MATLAB/Simulink environment. © 2024 IEEE.

关键词： MATLAB

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A Brief Review on Cogeneration of Energy and Water with Integration of Solar Photovoltaics to Single-Basin Solar Stills 1st

A Brief Review on Cogeneration of Energy and Water with Inte...

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1st International Conference on Recent Advancements in Materials Science and Technology, ICRAMST 2024

作者： Sudhakar, P. Muthiya, Solomon Jenoris Naveena, B.E. Rudresh, M. Rajan, S. Sudhagara Subramaniam, Mohankumar Dineshkumar, C. Soundarajan, R. Department of Mechanical Engineering Dayananda Sagar College of Engineering Karnataka Bengaluru India Department of Automobile Engineering Dayananda Sagar College of Engineering Karnataka Bengaluru India Department of Robotics and Artificial Intelligence Dayananda Sagar College of Engineering Bengaluru India School of Mechanical Engineering Department of Aerospace Engineering REVA University Bengaluru India Department of Automobile Engineering Kumaraguru College of Technology Tamil Nadu Coimbatore India Department of Automobile Engineering B.S. Abdur Rahman Crescent Institute of Science and Technology Tamil Nadu Chennai India Department of Mechanical Engineering Sri Krishna College of Engineering and Technology Tamil Nadu Coimbatore India

ISBN: (纸本)9783031699658

Energy and water are the key impetus for humankind to survive in this modern era. First and foremost, availability of water in the habitat is seen as an asset. In this way water plays an important role in assessing one’s place. Nowadays, the non-existence of freshwater is a vigorous scenario in many parts of the world. This is due to development towards modern civilisation;in particular, the need for a place for concrete structures leads to afforestation and induces abnormal life cycles in nature. Water is required for almost all practices followed on a daily basis by humans, so there is a necessity to generate freshwater. Further energy generation through sustainable technologies is the need of the hour for the nation towards its growth. Therefore, the union of solar photovoltaics (PV) in solar stills is seen as the best viable solution, and is presented in this review. Supplementing solar stills with solar PV improves its thermal performance and overall productivity. Common methodologies utilised in the cogeneration system of solar stills and solar PV is the application of thermal energy and electrical energy derived from solar PV collector systems. In assessing all the studies, an average enhancement of freshwater yield by preheating of feed, direct heat absorption using a PV collector and evaporation of air using thermal energy absorption are seen as 37.38%, 43.6% and 46% respectively. Moreover, it is perceived that the average enhancement of freshwater yield by using electrical energy for operating heating elements such as heaters, thermoelectric generators etc., rotating elements such as blowers, wicks, drums etc., and circulation devices such as pumps are seen as 34.23%, 50.18% and 35% respectively. Among all the approaches, devices used to enhance the evaporation of air in the still enhances the productivity of the still when compared with other methodologies adopted. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Solar power generation

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Identify the objective parameters of direct communication between PLC and MS SQL server 24

Identify the objective parameters of direct communication be...

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24th International Carpathian Control Conference, ICCC 2023

作者： Flaga, Stanislaw Majcher, Maciej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

When building digital twins of existing technical solutions, we need a large amount of data on the parameters of their operation under various conditions. The source of data on the values of process variables at the lowest level is control devices - most often PLCs. There are many ways to acquire the qualities of process variables available from the PLC level. Increasingly, OPC UA is replacing the OPC model, and the OPC UA server is increasingly a functionality of the PLC CPU. The Industrial Internet of Things IIoT is used in companies moving toward Factory 4.0. Data from controllers can be acquired using high-level languages such as C++, C# or Python. Libraries often made available under an open-source license are used for this. For example, you can find commercial libraries for communication between PLCs of selected manufacturers and MySQL servers. Siemens provides a library for communication between S7-1200/1500 controllers and MS SQL server. The author has yet to find an exhaustive analysis of such a solution. In the literature, there need to be more studies of experiments describing the performance of query generation and execution and the impact of the library on PLC performance. The article presents the results of an experimental study of this issue. © 2023 IEEE.

关键词： Libraries

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Kinematic Synthesis and Design of a Five Fingered Hand Exoskeleton 5th

Kinematic Synthesis and Design of a Five Fingered Hand Exosk...

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5th International and 20th National Conference on Machines and Mechanisms, iNaCoMM 2021

作者： Sarmah, Nilavjyoti Hazarika, Shyamanta M. Biomimetic Robotics and Artificial Intelligence Lab Department of Mechanical Engineering IIT Guwahati Guwahati781039 India

ISBN: (纸本)9789811937156

This paper outlines a method to design an underactuated, linkage-based hand exoskeleton.A planar 8-link mechanism with phalanges and articulations as part of the kinematic chain is used for each *** links are attached to the proximal and distal *** the thumb, a planar 6-link mechanism directly connected at the distal phalanx is *** kinematic synthesis of the mechanism based on Burmester Theory was performed with two principal considerations: *** obtain link lengths that ensured no mechanical interference between the mechanisms and the hand and *** mechanism ensured that each finger follows the natural *** mechanism is evaluated by comparing the workspace of the anatomical index finger with that of the hand exoskeleton assisted finger. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Design

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Human-Integrated Multi-Agent Exploration Using Semantic Communication and Extended Reality Simulation 10

Human-Integrated Multi-Agent Exploration Using Semantic Comm...

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10th International Conference on Automation, robotics, and Applications, ICARA 2024

作者： Suresh, Amrita Beck, Edgar Dekorsy, Armin Ruckert, Patrick Tracht, Kirsten University of Bremen Robotics Research Group Bremen Germany University of Bremen Department of Communications Engineering Bremen Germany Bremen Institute for Mechanical Engineering University of Bremen Bremen Germany

ISBN: (纸本)9798350394245

In hazardous or inhospitable environments such as Mars, exploration and maintenance tasks pose high risks to human operators. Hence, the assistance of mobile robotic systems is required. One of the main applications of outdoor exploration is resource localization. This scenario imposes several challenges: Resources to be found are scarce, and their distribution is unknown. Further, we have limited processing power. Dangerous situations require fast decisions, and thus minimal processing and communication latency. Lastly, the huge amount of information received from the rovers can become quite difficult to interpret by the human operators. To cope with these challenges, we introduce a conceptual framework for the integration of humans with a multi-agent system in the planetary exploration context. The scenario in consideration is that of human-integrated multi-robotic exploration by a team on Mars consisting of rovers and a few astronauts for outdoor sampling and remote operation from within an extraterrestrial habitat. The rover team adapts its behavior to the status of the communication, and with semantic communication, we convey the meaning of the desired exploration data into the data transmission. Then, based on the received semantic information, we visualize the information to provide humans relevant information for decision-making. In order to implement the common framework in a virtual scenario, we combine a human-in-the-loop simulation in extended reality with a rover simulation environment. © 2024 IEEE.

关键词： Semantics

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Investigations on Dry Sliding Wear Behavior of Hybrid Long Sisal-Jute Fibers Polymer Composites

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Journal of Harbin Institute of Technology(New series) 2025年

作者： G.T Danappa K Rajesh R Suresh Department of Mechanical Engineering Government Engineering College Department of Robotics and Automation Symbiosis Institute of Technology Department of Mechanical Engineering M.S.Ramaiah University of Applied Sciences

The study aims to analyze the synergistic effect of hybrid fiber reinforcements on wear resistance of epoxy based natural fiber reinforced polymer composites(NFPCs). The study employed jute and sisal fibers as *** distinct reinforcements were incorporated in equal percentages to each type of composite sample. Five distinct composite specimens were identified as follows:NFPC-8 (containing4%sisal and jute fibers each),NFPC-16(containing8%sisal and jute fibers each),NFPC-24 (containing12%sisal and jute fibers each),NFPC-32 (containing16%sisal and jute fibers each),and epoxy(EP)(containing0%reinforcements). The hand layup technique was used for developing hybrid natural composites. In accordance with ASTM G99,pin-on-disc wear test rig was used for the dry sliding wear tests. The effect of applied load and sliding velocities on wear volume loss and specific wear rate was studied. The obtained results indicated that wear volume and specific wear rate are significantly affected by applied load and sliding velocity. NFPC-32composite exhibited minimum wear loss and specific wear rate compared to other specimens. Besides,wear loss and specific wear rate were found to increase with the increase in applied load owing to the high contact stress at counterface during sliding. Further,wear volume and specific wear rate have increased with the increase in sliding velocity. It may be due to the fact that,high shearing force has resulted in sheared transfer layer at higher velocity. Worn surface analysis using scanning electron microscopy images shown the evidence of fragmented fibers and their pull out.

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Quantitative Analysis of Ankle Spasticity Through Electromyography Signal

Quantitative Analysis of Ankle Spasticity Through Electromyo...

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2024 Medical Technologies Congress, TIPTEKNO 2024

作者： Gurluk, Ayse Bilal, Hafiz Muhammad Hocaoglu, Elif Living Robotics Laboratory Graduate School of Health Sciences Physiotherapy and Rehabilitation Program Istanbul Medipol University Istanbul Turkey Living Robotics Laboratory Graduate School of Engineering and Natural Sciences Electrical-Electronics Engineering and Cyber-Systems Program Istanbul Medipol University Istanbul Turkey Living Robotics Laboratory Department of Electrical and Electronics Engineering Istanbul Medipol University Istanbul Turkey

ISBN: (纸本)9798331529819

This study presents a more accurate evaluation method for assessing ankle spasticity compared to conventional goniometric techniques by utilizing measurements obtained from Inertial Measurement Units (IMU) and surface electromyography (sEMG) devices. Integrating IMU and EMG sensors provides substantial benefits for accurately determining the range of motion (ROM) associated with spasticity during targeted movements. In this study, the proposed method provides precise measurement and an objective evaluation of onset time detection of antagonistic muscle co-contraction, and accordingly the ROM of the actuated joint. Moreover, the implementation of cost-effective wearable sensors enables the monitoring of muscle spasticity in clinical environments and can be particularly valuable in regions with limited access to experienced therapists, providing a more efficient approach to tracking spasticity levels. © 2024 IEEE.

关键词： Electromyography

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Damage evolution and removal behaviors of GaN crystals involved in double-grits grinding

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International Journal of Extreme Manufacturing 2024年第2期6卷 469-484页

作者： Chen Li Yuxiu Hu Zongze Wei Chongjun Wu Yunfeng Peng Feihu Zhang Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China Key Laboratory of Microsystems and Microstructures Manufacturing(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China College of Mechanical Engineering Donghua UniversityShanghai 201620People’s Republic of China Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361005People’s Republic of China

Elucidating the complex interactions between the work material and abrasives during grinding of gallium nitride(GaN)single crystals is an active and challenging research *** this study,molecular dynamics simulations were performed on double-grits interacted grinding of GaN crystals;and the grinding force,coefficient of friction,stress distribution,plastic damage behaviors,and abrasive damage were systematically *** results demonstrated that the interacted distance in both radial and transverse directions achieved better grinding quality than that in only one *** grinding force,grinding induced stress,subsurface damage depth,and abrasive wear increase as the transverse interacted distance ***,there was no clear correlation between the interaction distance and the number of atoms in the phase transition and dislocation *** interacted distances between abrasives can decrease grinding force,coefficient of friction,grinding induced stress,subsurface damage depth,and abrasive wear during the grinding *** results of grinding tests combined with cross-sectional transmission electron micrographs validated the simulated damage results,*** atoms,high-pressure phase transition,dislocations,stacking faults,and lattice *** results of this study will deepen our understanding of damage accumulation and material removal resulting from coupling between abrasives during grinding and can be used to develop a feasible approach to the wheel design of ordered abrasives.

关键词： grinding double-grits molecular dynamics damage material removal gallium nitride

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Sub-optimal Perceptron Controller Using WOA Algorithm for Farming Watering Mobile Robot

Sub-optimal Perceptron Controller Using WOA Algorithm for Fa...

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2024 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2024

作者： Pastrana, M.A. Oliveira, L.H. Bautista, J. Pinto-Lopera, Jesus Mendoza-Penaloza, Jose Munoz, Daniel M. University of the Amazonia Faculty of Engineering Systems Undergraduate Program Florencia Caquetá Colombia University of Brasilia Mechatronics Graduate Program Department of Mechanical Engineering Brasilia Brazil University of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program Brasilia Brazil

ISBN: (纸本)9798350374575

Artificial neural networks (ANNs) are intricate mathematical models, drawing inspiration from the biological nervous system, and offering intelligence alongside nonparametric capabilities. The efficacy of ANNs heavily relies on their learning process. Heuristic search algorithms have been proposed in literature as reliable options for optimizing neural networks utilizing the Perceptron architecture. This paper presents an suboptimal neural network Perceptron training method employing the Whale Optimization Algorithm for the application of farming watering mobile robots. To achieve this, a fitness function based on system responses such as overshoot, settling Time, and steady-state Error was developed. The sub-optimal Perceptron controller was then implemented using MATLAB, CoppeliaSim software and the EVA robot, resulting in a 66.17% overshoot, a 4.7% steady-state error, and a settling time of 3.05 seconds. Moreover, the sub-optimal Perceptron controller was mapped onto a System on Chip FPGA AMD-Xilinx Zynq 7020, resulting in a hardware resources consumption of 1,870 (3.52%) Lookup table, 2 (0.9%) Digital Signal Processing blocks, 1,019 (0.96%) Flip-Flops and a power consumtion of 0.005 W. Finally, Hardware-in-The-Loop validation was performed using CoppeliaSim, Python, Universal Direct Memory Access, and the EVA robot. The results showed an overshoot of 94.83%, a settling time of 2 seconds, and a steady-state error of 4.5%. © 2024 IEEE.

关键词： MATLAB

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Bringing Bearing Fault Detection to Embedded Systems Using Low-Cost Machine Learning Techniques

Bringing Bearing Fault Detection to Embedded Systems Using L...

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2024 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2024

作者： Teixeira, Natalia S. Pastrana, M.A. Moura, Henrique G. Munoz, Daniel M. University of Brasilia Faculty of Gama Automotive Engineering Undergraduate Program Brasilia Brazil University of Brasilia Department of Mechanical Engineering Mechatronics Graduate Program Brasilia Brazil University of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program Brasilia Brazil

ISBN: (纸本)9798350374575

Vibration analysis is crucial for predictive maintenance of bearing systems, aiming to reduce costs and prevent failures. This paper investigates signal processing techniques such as FFTs and Hilbert Transforms for fault diagnosis, alongside decision tree models, particularly the J48 algorithm within the WEKA environment, for fault classification. The study emphasizes the integration of signal processing and machine learning for effective fault diagnosis and maintenance. Notably, a classification model with low computational cost has been chosen, facilitating implementation in embedded systems. This model also offers interpretability of outputs, as it is based on decision trees of frequency components obtained through preprocessing. © 2024 IEEE.

关键词： Predictive maintenance

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