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作者： Liu, Zeyu Jalili, Nader Dadfarnia, Mohsen Dawson, Darren M. Department of Electrical and Computer Engineering Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634 United States Department of Mechanical Engineering Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634 United States

ISBN: (纸本)0791836290

An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the flexible arm to apply a controlled moment for vibration suppression requirement. Utilizing three measurable quantities (i.e., the base displacement, arm tip deflection and the strain at the root end of the arm), a reduced-order observer is designed to estimate the velocity related variables, which are not measurable. A simple PD controller is selected for the moving base regulation control, while a Lyapunov function candidate based on a very simple energy relationship is utilized for the PZT input voltage to make the closed-loop system energy dissipative and hence stable. In this paper, the PZT input voltage control uses the velocity related signals estimated by the reduced-order observer, which makes the control structure simpler. The feasibility of the controller is validated by the numerical simulations and experimental results. Copyright © 2002 by ASME.

关键词： Lyapunov functions

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Mohiz, Abdul Nasir, Fazal E. Shah, Kamran University of Engineering & Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

ISBN: (纸本)9781665464727

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used. © 2023 IEEE.

关键词： Tillage

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Direct current triboelectric nanogenerator nexus: Fundamentals to applications in self-powered systems

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Nano Energy 2025年 142卷

作者： Kaliyannan Manojkumar Mukilan Muthuramalingam Sugato Hajra Swati Panda Hoe Joon Kim Arunmetha Sundaramoorthy Hamideh Khanbareh Chris Bowen Venkateswaran Vivekananthan Center for Flexible Electronics Department of Electronics and Communication Engineering Koneru Lakshmaiah Education Foundation India Departement of Robotics and Mechatronics Engineering Daegu Gyenogbuk Institute of Science and Technology Daegu South Korea Department of Mechanical Engineering University of Bath Bath BA2 7AY UK

Direct Current Triboelectric Nanogenerators (DC-TENGs) have emerged as a promising technology for sustainable energy harvesting, enabling the direct conversion of mechanical energy into a stable DC output. Unlike traditional Alternating Current Triboelectric Nanogenerators (AC-TENGs), which require rectification, the output of DC-TENGs simplify system integration, thereby making them ideal for low-power devices such as wearable electronics, sensors, and Internet of Things (IoT) systems. This review highlights the recent progress in DC-TENGs, focusing on their fundamental working mechanisms, including those based on dual and electrostatic breakdown effects, material optimization, and structural enhancements. Key challenges in the field, which include material durability, efficiency of energy conversion, charge retention, and environmental sensitivity are explored in detail. In addition, future directions emphasize the development of advanced triboelectric materials, hybrid energy harvesting systems, scalable fabrication techniques, and the adaptation of DC-TENGs to a diverse range of environmental conditions. As a result of recent research and innovation, DC-TENG technology is well positioned to play a pivotal role in the next generation of energy harvesting solutions, providing a path toward decentralized, autonomous and self-sustaining power systems.

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NEURAL-NETWORK-BASED INSPECTION OF SOLDER JOINTS USING A CIRCULAR ILLUMINATION

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IMAGE AND VISION COMPUTING 1995年第6期13卷 479-490页

作者： KIM, JH CHO, HS Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 Korea

In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of three tiered circular colour lamps and one colour camera, gives good visual cues to infer 3D shape of the solder joint surface. A general aspect of this inspection is that the shape of the solder joint tends to greatly vary according to soldering conditions. Due to this, a neural network classifier based on a supervised version of Kohonen learning vector quantization (LVQ) is proposed to automatically and efficiently make classification criteria of the solder joint shapes according to their quality. The practical feasibility of the proposed approach is demonstrated by building a prototype inspection machine and testing its performance.

关键词： SOLDER JOINT INSPECTION CIRCULAR ILLUMINATION TECHNIQUE LEARNING VECTOR QUANTIZATION ADAPTIVE LEARNING MECHANISM

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Learning flatness-based controller using neural networks

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ASME Letters in Dynamic Systems and Control 2021年第2期1卷 021003页

作者： Ren, Hailin Qi, Jingyuan Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Department of Mechanical Engineering Virginia Tech BlacksburgVA24060 United States Department of Physics Virginia Tech BlacksburgVA24060 United States

This paper presents a method to imitate flatness-based controllers for mobile robots using neural networks. Sample case studies for a unicycle mobile robot and an unmanned aerial vehicle (UAV) quadcopter are presented. The goals of this paper are to (1) train a neural network to approximate a previously designed flatness-based controller, which takes in the desired trajectories previously planned in the flatness space and robot states in a general state space, and (2) present a dynamic training approach to learn models with high-dimensional inputs. It is shown that a simple feedforward neural network could adequately compute the highly nonlinear state variables transformation from general state space to flatness space and replace the complicated designed heuristic to avoid singularities in the control law. This paper also presents a new dynamic training method for models with high-dimensional independent inputs, serving as a reference for learning models with a multitude of inputs. Training procedures and simulations are presented to show both the effectiveness of this novel training approach and the performance of the welltrained neural network. Copyright © 2021 by ASME.

关键词： Machine learning

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A new extensible continuum manipulator using flexible parallel mechanism and rigid motion transmission

A new extensible continuum manipulator using flexible parall...

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ASME 2020 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Liu, Yujiong Ben-Tzvi, Pinhas Robotics and Mechatronics Laboratory Mechanical Engineering Department Virginia Tech BlacksburgVA United States

ISBN: (纸本)9780791883990

An extensible continuum manipulator (ECM) has specific advantages over its non-extensible counterparts. For instance, in certain applications, such as minimally invasive surgery or tube inspection, the base motion might be limited or disallowed. The additional extensibility provides the robot with more dexterous manipulation and larger workspace. Existing continuum robot designs achieve extensibility mainly through artificial muscle/pneumatic, extensible backbone, concentric tube, and base extension etc. This paper proposes a new way to achieve this additional motion degree of freedom by taking advantage of the rigid coupling hybrid mechanism concept and a flexible parallel mechanism. More specifically, a rack and pinion set is used to transmit the motion of the i-th subsegment to drive the (i+1)-th subsegment. A six-chain flexible parallel mechanism is used to generate the desired spatial bending and one extension mobility for each subsegment. This way, the new manipulator is able to achieve tail-like spatial bending and worm-like extension at the same time. A proof-of-concept prototype was integrated to verify the mobility of the new mechanism. Corresponding kinematic analyses are conducted to estimate the workspace and the motion non-uniformity. Copyright © 2020 ASME

关键词： Manipulators

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Development of a Semi-Rigid Tendon Actuated Limb for robotics Applications 5

Development of a Semi-Rigid Tendon Actuated Limb for Robotic...

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5th International Conference on robotics and Automation engineering, ICRAE 2020

作者： Nurtay, Bekarys Suranshy, Tomiris Folgheraiter, Michele Nazarbayev University School of Engineering and Digital Sciences Department of Robotics and Mechatronics Nur-Sultan Kazakhstan

ISBN: (纸本)9781728189819

This paper presents the design and modeling of a lightweight tendon actuated robotic limb. The mechanical structure consists of a sequence of four semi-rigid segments realized in thermoplastic polyurethane material and connected through torsional springs. This allows the limb to keep a straight position without the application of forces and facilitates the control of the limb while performing flexion and extension movements. A static model is presented to predict the tension of the tendons in order to reach a defined orientation. Simulations were conducted in a V-REP Python environment to demonstrate the controllability of the limb while performing simple movements and trajectories. © 2020 IEEE.

关键词： Tendons

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Development of an Automated Wheelchair for Visually Impaired People 23

Development of an Automated Wheelchair for Visually Impaired...

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23rd IEEE International Multi-Topic Conference, INMIC 2020

作者： Siddiqui, Arslan Anwer, Talha Zafar, Saqib Maqbool, Hafiz Farhan Siddiqi, Dilruba Ahmad, Nasir Mehmood, Muhammad Armghan Riaz, Ahsan University of Engineering and Technology Department of Mechatronics and Control Engineering Lahore Pakistan Human Centered Robotics Lab National Center of Robotics and Automation Lahore Pakistan

ISBN: (纸本)9781728198934

This paper presents the development of an automated wheelchair, a mobility-assistive device that helps visually impaired people in the community. For such people, there are many constraints associated while moving to their desired destination. One of the main objectives of the current work is to design and develop a low-cost smart wheelchair that navigates to its destination autonomously. This smart navigation system (SNS) uses a machine vision technique for localization and path planning and proximity sensors for obstacle avoidance. The wheelchair can autonomously navigate to the location selected by the user through a braille keypad interface. The mechanical design is focused to make a finished product that is stable and according to basic medical considerations. The hardware design in the paper aims to enable a visually impaired person to perform daily routine tasks without the need for any assistance. © 2020 IEEE.

关键词： Computer vision

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New Educational Technologies for Training Specialists in the Field of mechatronics and robotics 7

New Educational Technologies for Training Specialists in the...

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7th International Conference on Information Technologies in engineering Education, Inforino 2024

作者： Deeb, Delshan Merkuryev, Igor Pakhomov, Vasily Moscow Power Engineering Institute Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Russia

ISBN: (纸本)9798350371369

The development and integration of robotics education encompass a multifaceted approach that combines theoretical knowledge with practical application. The educational process is geared toward producing highly qualified specialists and supporting the development of innovative mechatronic modules and robotic systems. The article introduces new practice-oriented educational technologies designed to train specialists in mechatronics and robotics, with a focus on creating robotic systems for competitions and human interaction. The study has started at the Moscow Power engineering Institute in 1931 with the activities of student design and engineering bureaus. Improving the professional level of graduates led to winning several international competitions, which had the greatest role in the formation of the Technology Support Center for Education in 2012. Scientific research continues to this day in the field of designing robots and finding optimal methods for their implementation. Ultimately, this study suggests prioritizing sponsorship and enhancing competition, offering additional technological and material resources to students and researchers, and formulating long-term strategies to anticipate and address technological obstacles. The article concluded by examining the step-by-step advancement of technical education in preparing skilled professionals in robotics and mechatronics, and highlighting the potential future prospects and obstacles for educating students in this field. © 2024 IEEE.

关键词： Students

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Controllable postures of a dual-crawler-driven robot 9th

Controllable postures of a dual-crawler-driven robot

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9th IFAC Symposium on Robot Control, SYROCO 2009

作者： Quan, Qiquan Ma, Shugen Liu, Rongqiang Department of Robotics Ritsumeikan University Japan School of Mechatronics Engineering Harbin Institute of Technology China

ISBN: (纸本)9781617825583

This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as transmission device and provides two outputs in different forms with only one actuator. The robot that contains two crawler modules can generate several configurations through controlling cooperatively the two actuators. This tracked robot, which uses two actuators to give four outputs, however could have less realizable postures than that where each output is provided by one actuator exactly. To figure out what postures can be generated by the introduced dual-crawler robot, the quasi-static analysis of the robot has been conducted in case of taking the rolling resistance into consideration, and its realizable postures are obtained numerically. The posture transition of the robot is also discussed in this paper.

关键词： Actuators

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