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

作者： Meng, Qiwei Liao, Jianfeng Jun, Shao Xu, Nuo Xu, Zeming Sun, Yinan Sun, Yao Zhu, Shiqiang Gu, Jason Song, Wei Center for Intelligent Robotics Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China School of Mechanical Engineering Zhejiang University Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax Canada

ISBN: (纸本)9789819964826

Object manipulation and environment interaction are of great significance for intelligent robots, especially service robots working under unstructured household and office scenarios. This paper proposes a novel approach for categorical unseen object grasping and manipulation. Different from recently popular end-to-end reinforcement learning methods, we develop models for geometric primitive abstraction of target objects, and accordingly estimate their pose as well as generate task-orientated grasp points. Such design emphasizes visual perception in guiding robotic manipulation, thereby enhancing model interpretability and reliability during implementation. In addition, we also conduct object grasping experiments both under simulation and real-world settings, which further verify the effectiveness and superiority of our method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Intelligent robots

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Energy Optimization of an Underwater Swimming Manipulator with Rotary Thrusters and Rolling Joints 41

Energy Optimization of an Underwater Swimming Manipulator wi...

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第41届中国控制会议

作者： Taisheng Ma Lili Wu Ziming Lin Chao Ren Shugen Ma School of Electrical and Information Engineering Tianjin University Beijing Electro-Mechanical Engineering Institute Department of Robotics Ritsumeikan University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The underwater swimming manipulator(USM) is a novel slender snake robot with several thrusters providing thrust in fixed ***,more thrusters mean much energy *** order to save energy by reducing the number of thrusters,in this paper,the rotary thrusters and rolling joints are applied to the USM,so that a rotary thruster can provide thrust to the USM in all directions through the rotation of itself and the rolling ***,an energy optimization algorithm is designed to enable the thrusters to provide the minimum thrust in the optimal position with different body ***,a cost function is designed to limit the energy consumption,which is solved by sequential quadratic programming algorithm to find the optimal angles for rolling ***,simulations verify the effectiveness of rotary thrusters,rolling joints,and the energy-saving effect of the proposed energy optimization algorithm.

关键词： Underwater swimming manipulator Rotary thrusters Rolling joints Energy optimization

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Data-Driven Control of Highly Deformable Robotic Endoscopes Using Proprioceptive Shape Feedback

Data-Driven Control of Highly Deformable Robotic Endoscopes ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Lu, Yiang Zheng, Jixuan Liu, Yun-Hui T Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Hong Kong

ISBN: (纸本)9781665481090

In this paper, we introduce a versatile data-driven approach for servo-controlling the highly deformable robotic endoscope equipped with Draw Tower Gratings (DTGs). The advancement of perception and decision-making technologies is pivotal for enabling flexible robots to execute automatic procedures. However, modeling these robots presents a significant challenge due to their large deformations and susceptibility to environmental disturbances. To address this issue, we propose a robust adaptive control framework that leverages DTG-based proprioceptive shape feedback. This automatic paradigm can online estimate the unknown deformation model of the flexible robot based on function approximation (FA), while also accounting for unknown perturbations without prior identification. By employing the proposed FA-based adaptive algorithm, we can ensure the convergence of the shape control error. Experimental results validating a highly deformable flexible robot embedded with DTG sensors showcase the efficiency of the proposed control strategy in unknown scenarios. © 2024 IEEE.

关键词： Adaptive algorithms

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An Intelligent Garbage Sorting Robot System Based on Machine Vision and Knowledge Base 42

An Intelligent Garbage Sorting Robot System Based on Machine...

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42nd Chinese Control Conference, CCC 2023

作者： Zhang, Maorong Xu, Qingchuan Luo, Aijia Kong, Yuqi Chi, Wenzheng Sun, Lining School of Mechanical and Electric Engineering Soochow University Department of Intelligent Manufacturing Suzhou215021 China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Suzhou215021 China

ISBN: (纸本)9789887581543

Garbage disposal has always been a widely concerned environmental problem. At present, garbage sorting mainly depends on manual work, with low efficiency, poor accuracy and easy to harm the staff. One way to solve the problem is to develop robots with garbage sorting function instead of manual operation. This paper presents a design scheme of intelligent garbage sorting robot system based on machine vision and knowledge base. The coarse localization of garbage is firstly detected by the YOLO-v5 algorithm with the RGB camera and the bounding box of the garbage can be obtained in the image coordinate system. Then, the depth information of the garbage is retrieved by the depth camera, and the garbage coordinates are obtained. After the coordinate conversion, the position of the garbage is set as the robot navigation target and the trajectory planning is carried out. When the robot reaches the target position, the YOLO algorithm is then utilized to refine the classification and the position of the garbage and the robot arm equipped on the robot is utilized to pick up the garbage. After the garbage recognition, the garbage type and the corresponding garbage bin location information can be retrieved according to the knowledge base. At the same time, it stores the garbage information of the current position in the knowledge base to facilitate the subsequent optimization of the cruise track. Finally, the robot navigates to the corresponding bin location, puts down the garbage, and completes the garbage sorting task. Experimental results show that this method can accurately identify garbage and effectively improve the efficiency of garbage sorting. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Cameras

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Design of a Control System on the HVAC Damper to Regulate Temperature and Humidity in the Isolation Room 4th

Design of a Control System on the HVAC Damper to Regulate Te...

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4th International Conference on Experimental and Computational Mechanics in engineering, ICECME 2022

作者： Salamul Fajar Sabri, M. Rizal, Samsul Kurniawan, Rudi Putra, Rachmad Almi Suheri, Suheri Master of Mechanical Engineering Program Faculty of Engineering Universitas Syiah Kuala Banda Aceh23111 Indonesia Department of Mechanical and Industrial Engineering FacultyofEngineering Universitas Syiah Kuala Banda Aceh23111 Indonesia Doktoral Program Faculty ofEngineering Universitas Syiah Kuala Banda Aceh23111 Indonesia

ISBN: (纸本)9789819974948

Most infectious diseases are caused by viruses that are spread from one person to another through the air. Isolation room is a room that keeps virus in infected people from spreading to other people by maintaining temperature and humidity. Therefore, a system is needed that regulates the isolation room to remain sterile, where this system must control and maintain the stability of air circulation in the room. For this purpose, this study proposes the design of an automated control system to regulate the temperature and humidity in an isolated room by controlling the supply air with damper. The method that is used in making this control system is experimental and analysis from sensor readings that will be used as a sign of decision-making for the damper output that will control the air flow to the isolation room with closed loop algorithm for the system control, the controller will send digital signal to the damper relay based on sensor reading, so that the data results of the experiment and analysis can see whether the control system can work well or not. The successful performance of the control system is seen from results of sensor readings;when the system changed the damper position it can maintain the isolation room situation around 22 °C to 24 °C for temperature and 50% until 60% for the humidity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Viruses

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Microstructure and mechanical properties of A356/Al2O3/MoS2 hybrid nanocomposites

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Materials Today: Proceedings 2022年 54卷 415-420页

作者： Ajay Kumar, K. Mallikarjuna, C. Department of Mechanical Engineering MIT Thandavapura Mysore571302 India Department of Industrial Automation and Robotics PG Studies VTU Mysore570029 India

The technology of hybrid reinforcements responds to the ever-increasing dynamic demand for services in industries such as automobile, transportation, marine, and aerospace because of its appealing properties like high conductivity, high ductility and light weight. At this level, a study has been conducted to evaluate the microstructure and mechanical characteristics such as tensile strength and hardness of A356 hybrid nanocomposites reinforced with nano Al2O3 (0.5, 1, and 1.5 wt% of Al2O3) and soft solid lubricant nano MoS2 (0.5 wt% of MoS2) using stir casting procedure. Microstructural analysis of A356 reinforced with nano Al2O3 and nano MoS2 hybrid composites was conducted using SEM and which reveals that particles are distributed uniformly in the A356 matrix. The hardness and tensile tests have showed that adding Al2O3 and MoS2 particles to the A356 matrix resulted in a nanocomposite with excellent mechanical characteristics. Theoretical and actual densities of cast composite materials are determined by the Rule of mixture method and Archimedes principle respectively. Actual density of cast composite material is lesser when compared to the theoretical density of the material. © 2021

关键词： Tensile strength

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Feasibility Study of Finger Interface for Miniature Surgical Instruments 1

Feasibility Study of Finger Interface for Miniature Surgical...

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1st IEEE Conference on Telepresence, Telepresence 2024

作者： Cha, Serin Kim, Sebin Ryu, Seok Chang Ewha Womans University Graduate Program in Smart Factory BioRobotics Laboratory Department of Mechanical and Biomedical Engineering Seoul03760 Korea Republic of Ewha Womans University BioRobotics Laboratory Department of Mechanical and Biomedical Engineering Korea Republic of

ISBN: (纸本)9798331528249

This paper presents a study on the design of a finger interface to improve the teleoperation of a miniaturized surgical instrument with a bendable distal section. A unique design principle employing the kinematic similarity between the human motion and the follower robot has been proposed for such instruments, which may result in embodied teleoperation, enhancing the overall telepresence experience. According to the principle, a design for an index finger interface was proposed, consisting of a sub-unit measuring finger motion and a handle. When the interface is connected to a robotic platform, it can control the entire tool motion in two separate ways: distal bending by the sub-unit and overall tool motion by the handle. A human subject test was conducted for trajectory-following tasks in a virtual environment, and their performance score was quantified for analysis of the learning curve. Based on the satisfactory learning rate of 75.78% for all nine subjects, the proposed finger interface could be a promising interface for a miniature surgical instrument with a long bendable section at the distal end. © 2024 IEEE.

关键词： Machine design

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INTEGRATION OF IOT NETWORK AND SENSORS WITH A FULL-SIZED QUADRUPED IN A SIMULATED HUMAN-CENTERED ENVIRONMENT

INTEGRATION OF IOT NETWORK AND SENSORS WITH A FULL-SIZED QUA...

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ASME 2024 International mechanical engineering Congress and Exposition, IMECE 2024

作者： Ho, Jonathan Cajuste, Jefferson Schneidler, Alexander Tatoglu, Akin Sohn, Kiwon Department of Electrical and Computer Engineering University of Hartford West HartfordCT United States Robotics Engineering University of Hartford West HartfordCT United States Department of Mechanical Aerospace and Acoustical Engineering University of Hartford West HartfordCT United States

ISBN: (纸本)9780791888636

This paper presents the updated mechanical design, integrated IoT network, and developed inverse kinematics and gait models of HARQ (Human Assistive and Robust Quadruped). Based on the mechanical limitations of its predecessor, a new connector, foot, planetary gearbox, leg, and body design are presented. Due to additions and improvements to the mechanical design, new inverse kinematics and gait modes are developed to permit HARQ to navigate a physical workspace. To make use of these improvements, an IoT network is integrated with HARQ to allow the quadruped to wirelessly gather and respond to information in real-time. To evaluate HARQ, an indoor experimental space was designed to accommodate an isolated IoT network, sufficient workspace, and simulate a typical human environment. HARQ was able to respond to wireless motion sensor data proctored over an MQTT network. The results are promising steps towards IoT integration into robots. Copyright © 2024 by ASME.

关键词： Inverse kinematics

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ANALYZING EXPERIMENTALLY THE DYNAMIC CHARACTERISTICS OF JOURNAL BEARINGS UNDER VARIOUS LOAD CONDITIONS 1

ANALYZING EXPERIMENTALLY THE DYNAMIC CHARACTERISTICS OF JOUR...

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1st International Conference on Materials Innovation in engineering and Technology, ICMIET 2024

作者： Moorthy, Appusamy Anandha Madheswaran, Subramaniyan Babu, Ganesh L. Murthi, M.K. Nanthakumar, S. Senthilkumar, Kallipatti Laxmanan Selvakumar, Andiappan Mechanical Engineering Bannari Amman Institute of Technology Tamilnadu Erode638401 India Department of Robotics and Automation Rajalakshmi Engineering College Tamil Nadu Chennai602 105 India Department of Mechanical Engineering Nandha Engineering College Tamil Nadu Perundurai638 052 India Department of Mechanical Engineering PSG Institute of Technology and Applied Research Tamil Nadu Coimbatore641 062 India Fashion Institute of Technology VIT Tamil Nadu Chennai600 046 India

This paper aims to experimentally assess the performance of plain bearings casted as self-lubricating composite materials. Metal stir casting is used to prepare plain bearings based on composite materials, which are made of AA 2218 Al alloy, 4% MoS2, and 15% fly ash. Arrangement of shafts in the textile industry is reflected in the impression of the experimental setting, which was derived from earlier literature. To obtain vibration signals, the DAQ kit and accelerometer were connected using the Laboratory Virtual Instrument engineering Workbench (LAB-view) as a graphical data collection and interpretation system. Different loads were applied to journal bearings with and without lubrication. The outcome demonstrates the amplitude fluctuation, temperature rise, and mass loss of journal bearings for Gun metal (Red brass), AA2218, and self-lubricating composite materials. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Textile industry

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Model Predictive Torque Control of Six-Phase Switched Reluctance Motors Based on Improved Voltage Vector Strategy

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7650-7661页

作者： Yang, Yifei Sun, Xiaodong Dianov, Anton Demidova, Galina Prakht, Vladimir Wang, Yong Han, Shouyi Suzhou Vocational University School of Mechanical and Electrical Engineering Suzhou215104 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China

To rapidly and accurately establish the model of switched reluctance motors (SRMs) and enhance torque control performance, this paper proposes a model predictive torque control (MPTC) strategy based on the optimized voltage vector. First, a fourth-order Fourier series is used to calculate the flux and torque models, and a complete nonlinear model of the SRM is constructed using the Kriging model. Second, the torque characteristics are used to divide the sectors, thereby reducing the number of candidate voltage vectors (CVVs) and effectively decreasing the computational burden of predictive control. Finally, an adaptive adjustment algorithm for the sector boundary angle is proposed, where the position of the sectors is determined based on variations in speed and load. The proposed method reduces torque ripple and enhances dynamic response capability. The effectiveness of this approach is validated through experiments on a 12/10 pole six-phase SRM prototype. © 2015 IEEE.

关键词： Vectors

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