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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhao, Fuqun Xu, Donglai Jin, Xiaodong Guo, Sheng Xu, Kun Institute of Robotics Beihang University Beijing China Department of Mechanical Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9789819964888

To solve the lack of grasping performance caused by separate driven device installed at the end-effector of parallel grasping manipulator, a novel parallel grasping manipulator with configurable platform is presented in this paper. Firstly, the modified Grübler-Kutzbach equation is utilized to verify that the parallel grasping manipulator has 4 degree-of-freedom (DOF), including 3-DOF for plane motion and 1-DOF for grasping. Based on the link constraint equation, the input-output velocity relationship and Jacobian matrix are obtained. The workspace performance of the parallel grasping manipulator under the coupled DOFs is evaluated. Singularity analysis is studied to demonstrate the manipulator can produce ±90° large rotation angle due to kinematical redundancy. The optimum structure dimension parameters are determined by comparing workspace performance under the constraint range of each link. At last, a prototype is constructed based on the determined dimension parameters, and the experiment of motion DOFs and grasping ability are carried out. The results show that the proposed parallel grasping manipulator has good motion ability and grasping performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Manipulators

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Soft wearable flexible bioelectronics integrated with an anklefoot exoskeleton for estimation of metabolic costs and physical effort

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npj Flexible Electronics 2023年第1期7卷 535-544页

作者： Jihoon Kim Prakyath Kantharaju Hoon Yi Michael Jacobson Hyungkeun Jeong Hojoong Kim Jinwoo Lee Jared Matthews Nathan Zavanelli Hyeonseok Kim Heejin Jeong Myunghee Kim Woon-Hong Yeo IEN Center for Human-Centric Interfaces and Engineering and George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Department of Mechanical and Industrial Engineering the University of Illinois at ChicagoChicagoIL 60607USA Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoulRepublic of Korea Human Systems Engineering The Polytechnic SchoolIra A.Fulton Schools of EngineeringArizona State UniversityMesaAZ 85212USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Robotics and Intelligent Machines Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for MaterialsNeural Engineering CenterGeorgia Institute of TechnologyAtlantaGA 30332USA

Activities and physical effort have been commonly estimated using a metabolic rate through indirect calorimetry to capture breath *** physical effort represents the work hardness used to optimize wearable robotic ***,personalization and rapid optimization of the effort are *** respirometry is the gold standard for estimating metabolic costs,this method requires a heavy,bulky,and rigid system,limiting the system’s field ***,this paper reports a soft,flexible bioelectronic system that integrates a wearable ankle-foot exoskeleton,used to estimate metabolic costs and physical effort,demonstrating the potential for real-time wearable robot adjustments based on *** from a set of activities,including walking,running,and squatting with the biopatch and exoskeleton,determines the relationship between metabolic costs and heart rate variability root mean square of successive differences(HRV-RMSSD)(R=−0.758).Collectively,the exoskeleton-integrated wearable system shows potential to develop a field-deployable exoskeleton platform that can measure wireless real-time physiological signals.

关键词： skeleton wear estimation

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Experimental Characterization and Comparison of Three Typical Omnidirectional Mobile Robots 8

Experimental Characterization and Comparison of Three Typica...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Li, Zhuolun Long, Jiajun Zhang, Ximan Gao, Chengyuan Jiang, Shixing Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9798350300178

Omnidirectional vehicles (ODVs) or mobile robots are widely used in various industries due to their ability to move and rotate in narrow spaces without the need for multiple adjustments of moving direction or stopping. There are multiple types of ODVs, including those with standard wheels and those with special wheels such as Swedish wheels. Comprehensive characterization of the ODV's overall performance, which is very important when selecting specific configurations in the robot design process, is still missing in the literature. This paper qualitatively summarizes the comprehensive characteristics of three typical omnidirectional mobile robots in indoor scenarios through theoretical analysis and physical experiments. We compare the robot's performance through six representative evaluation metrics (maneuverability, efficiency, etc.) and express the results in a radar chart. The results of this study can assist designers in designing omnidirectional robots more effectively for specific application scenarios. © 2023 IEEE.

关键词： Wheels

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A novel freemium code SAND(v1.0)for generation of randomly packed beds

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Particuology 2024年第12期95卷 198-211页

作者： Nikita Shadymov Viacheslav Papkov Dmitry Pashchenko Samara State Technical University Molodogvardeiskaya 244 StSamara443100Russia Department of Mechanical Engineering(Robotics) Guangdong Technion-Israel Institute of Technology241 Daxue RoadShantouGuangdong515063China Faculty of Mechanical Engineering Technion-Israel Institute of TechnologyTechnion CityHaifa3200003Israel Guangdong Provincial Key Laboratory of Materials and Technologies for Energy Conversion Guangdong Technion—Israel Institute of TechnologyGuangdong515063China

The main current approaches for generation of the packed bed models are based on rigid body dynamics(RBD)and Newton's laws(discrete element methods-DEM).This paper deals with the development and analysis of a novel code based on analytical geometry approach for the packed bed *** architecture and main algorithms of the novel code are described and *** parameters of the packed bed generated via the novel code are compared with experimental data and packed beds generated via Blender(RBD),Yade(DEM).The novel code demonstrates many advantages,such as good correlation with experimental data,no overlaps between pellets in the packed bed,and a low computational time for packed bed *** packed bed model can be directly exported *** *** advantages are also demonstrated and *** novel code is attached to this paper and can be freely used by engineers and scientists.

关键词： Packed bed Discrete element method Python-based code CAD software

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Performance analysis of an Injera baking machine by using solar energy

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Materials Today: Proceedings 2022年 56卷 3285-3293页

作者： Suresh, P. Ali, M.D. Irfan Rao, P. Govind Rudrapati, Ramesh Mechanical Engineering Department Bharat Institute of Engineering and Technology Mangalpally Telangana Sagar road Ibrahimpatnam RR Dist India Thermal & Aerospace Program School of Mechanical Chemical and Materials Engineering Adama Science and Technology Ethiopia Mechanical Engineering Department Avanthi Research and Technology Bhogapuram India School of Mechanical Industrial Engineering Bulehora University Bulehora Ethiopia

The majority of Ethiopia's population, primarily women, is susceptible to smoke inhalation during cooking, and they spend the majority of their time striving to collect firewood. Biomass deforestation for cooking harms the rural household economy and contributes to national and global environmental change, such as pollution and health issues. The effort should aim to integrate the Scheffler concentrator with a thermal storage system via the secondary solar cooking reflector in order to stimulate indoor cooking while avoiding concerns associated by carbon inhalation and deforestation. As a result, the Injera bakery system powered by solar thermal energy is born. There is a primary (Scheffler), secondary (reflective), and thermal storage device incorporated, as well as a cooking (pan) mounts. Solid works software was utilized for Scheffler focus and secondary reflector modeling and simulation. The thermal retention capacity of a storage device is determined using heating and cooling curves generated by software modeling and simulation. The findings gained would aid in the development of any comfortable indoor cooking system specifically for rural areas without a grid connection, and as a result of this study, carbon inhalation and deforestation difficulties would be mitigated. Through automation, the output rate would also increase the amount and efficiency of injera. This analysis focuses on the Injera baker concept for domestic applications. © 2021

关键词： Solar energy

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Optimizing Route Efficiency in Formula One (F1) Vehicles Using Reinforcement Learning Algorithms 4

Optimizing Route Efficiency in Formula One (F1) Vehicles Usi...

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4th IEEE International Conference on Artificial Intelligence in Cybersecurity, ICAIC 2025

作者： Narejo, Sanam Khan, Muhammad Taimoor Shaikh, Muhammad Zakir Dhirani, Lubna Luxmi Chowdhery, Bhawani Shankar Mehran Univerity of Engineering and Technology Department of Computer Systems Jamshoro Pakistan Mehran Univerity of Engineering and Technology Jamshoro National Centre for Robotics Automation and Artificial Intelligence Pakistan University of Malaga Mechanical Engineering and Energy Efficiency School of Industrial Engineering Malaga Spain University of Limerick Department of Electronic and Computer Engineering Limerick Ireland

ISBN: (纸本)9798331518882

This research explores the application of reinforcement learning (RL) to enhance route efficiency and performance of a Formula One (F1) car within a simulation environment. The simulation is implemented using Python, NEAT (NeuroEvolution of Augmenting Topologies), and PyGame to create a dynamic system where neural networks control the car's navigation. RL enables the F1 car, acting as an agent, to learn optimal decisions through a fitness-based reward mechanism by interacting with its environment. Equipped with radar sensors to detect obstacles and measure distances, the virtual car adjusts its speed and steering to avoid collisions and optimize movement. Over successive generations, the RL algorithm refines the car's driving ability, improving speed and directional control to maximize distance covered and minimize lap times. A fitness-based evaluation system tracks progress, providing metrics such as best and average fitness scores, which highlight the car's evolving performance. Results demonstrate the effectiveness of RL in enhancing autonomous driving capabilities, enabling the car to navigate complex environments and improve decision-making across generations. © 2025 IEEE.

关键词： Reinforcement learning

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Initial State Update-Based Position Control of Flexible Continuum Manipulators Utilizing Virtual Actuation Space

Initial State Update-Based Position Control of Flexible Cont...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Firdaus, Md Modassir Prajapati, Smit Vadali, Madhu Indian Institute of Technology Department of Mechanical Engineering Gandhinagar India Indian Institute of Technology Research Intern at IITGN Robotics Lab Gandhinagar India

ISBN: (纸本)9781665481090

Continuum manipulators have proven their importance in applications requiring high articulation and their use in confined space usability. However, their control continues to remain a challenge. This paper proposes a novel control method for tendon-driven flexible continuum manipulators (FCMs). The proposed kinematic control exploits the fact that any three-dimensional motion of the FCM can be transformed into planar motion along a bending plane. Thus, a virtual actuation space is proposed with a virtual tendon and the angle of the bending plane as inputs with continuous adjustment of the initial state of FCM. A detailed formulation of the control methodology in the virtual actuation space is discussed in the paper. The methodology is validated experimentally for multiple positions with errors around 5% to 10%. © 2024 IEEE.

关键词： Inverse kinematics

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A Conceptual Framework Towards the Realization of In situ Monitoring and Control of End-to-End Additive Manufacturing Process

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Micro and Nanosystems 2023年第2期15卷 92-101页

作者： Karadgi, Sachin Bhovi, Prabhakar M. Patil, Arun Y. Ramaiah, Keshavamurthy Venka-Teswarlu, K. Langdon, Terence G. Department of Automation & Robotics KLE Technological University Karnataka Hubballi580031 India School of Mechanical Engineering KLE Technological University Karnataka Hubballi580031 India B.V.B. College of Engineering and Technology Mechanical Engineering KLE Technological University Karnataka Hubballi580031 India Department of Mechanical Engineering Dayananda Sagar College of Engineering and Technology Karnataka Bengaluru560078 India Benga-luru Karnataka India Materials Research Group School of Engineering Sciences University of Southampton SouthamptonSO17 1BJ United Kingdom

Additive Manufacturing (AM) is considered one of the key technologies for realizing Industry 4.0. There are numerous stages in the end-to-end AM process, including component design, material design, build, and so on. An enormous amount of data is generated along the end-to-end AM process that can be acquired from the 3D printer in real-time, micro-characterization studies, and process plan details, among others. For instance, these data can be employed to predict the printed compo-nents’ quality and, at the same time, proactively adapt the 3D printer parameters to achieve better qual-ity. This end-to-end AM process can be mapped onto the digital thread. The current article elaborates on a conceptual framework to acquire the data from various sources associated with the end-to-end AM process and realize monitoring and control of the end-to-end AM process, leading to an intelligent AM process. © 2023, Bentham Science Publishers. All rights reserved.

关键词： 3D printing

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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

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IEEE Transactions on robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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Selective Privacy Control on Video Feed Using Pre-Trained DNN

Selective Privacy Control on Video Feed Using Pre-Trained DN...

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2024 IEEE International Conference on Intelligent Signal Processing and Effective Communication Technologies, INSPECT 2024

作者： Ghosh, Anupam Mukherjee, Sayan Khan, Shamir Singh, Swarit Anand Boby, Riby Abraham Indian Institute of Technology Jodhpur Inter-disciplinary Research Platform - Robotics and Mobility Systems Department of Mechanical Engineering Rajasthan Jodhpur342030 India

ISBN: (纸本)9798350379525

This article introduces an approach to provide privacy control on live video feeds using a pretrained D NN model. Due to privacy being a major concern in today's world, this approach would ensure the blurring of the faces in live feeds on a real-time basis to protect the privacy of participants. Users are also provided with the liberty to selectively blur/unblur the face of any specific participants as required, thereby providing enhanced flexibility and control over privacy settings during live video conferences or communications. The proposed approach also lets users upload a picture of someone. This ensures that the person's identity stays unobfuscated in the video stream. This feature comes in handy when some people are required to be seen, for example, in work meetings and online conferences. The developed solution can blur faces in real time and let users unblur or keep certain faces clear. This gives users a complete set of tools to handle privacy concerns. It tackles the growing concerns about facial privacy in our digital world. This solution enhances privacy during live video calls by utilizing advanced computer vision to selectively blur unwanted faces while maintaining clear visibility of intended participants. © 2024 IEEE.

关键词： Differential privacy

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