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A Novel Solution to Transportation Safety 20

A Novel Solution to Transportation Safety

20th IEEE International Conference on Smart Communities: Improving Quality of Life using AI, robotics and IoT, HONET 2023

作者： Rodriguez, Jorge Diaz Steele, Steven Ovando, Ammy Debnath, Gopi Tanveer, Muhammad Hassan Voicu, Razvan Cristian Kennesaw State University Department of Robotics & Mechatronics Engineering Atlanta United States

ISBN: (纸本)9798350331110

As the popularity of autonomous cars increases, a significant number of semi-autonomous vehicles have been sold, highlighting the technology's imperfections through associated crashes. These incidents can render motor vehicle operators in-capacitated, hindering their ability to request assistance. Consequently, the Intelligence Autonomous Monitoring (IAM) concept emerged. IAM is an intelligent monitoring system developed using a Raspberry Pi 4B, an Intel Real Sense D-455 camera, and the Convolutional Neural Network Yolov7, trained on car crash images. Convolutional Neural Networks have proven in-valuable for object detection, encompassing various applications, including identifying vehicles and individuals. This review aims to aid future researchers in enhancing the device's detection and prevention capabilities. © 2023 IEEE.

关键词： Convolutional neural networks

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Identification of modal parametrs of transmission towers

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Diagnostyka 2016年第4期17卷 33-38页

作者： Lech, Lukasz Iwaniec, Marek Iwaniec, Joanna AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Mickiewicz Alley 30 Krakow30-059 Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Mickiewicz Alley 30 Krakow30-059 Poland

The paper presents theoretical basis for identification of nonlinear systems using the method based on Hilbert transform. Discussed method was verified by analyzing the synthesized signals of known parameters. Developed and verified mathematical tools were used for analysis of dynamic responses of the real object: a laboratory (physical) model of the transmission tower. For the considered laboratory model it was possible to simulate damages of individual truss elements and observe changes in system dynamic characteristics. Results of the carried out research proved that the first natural frequency and damping factor change in the observable extent as a result of damage presence. © 2016, Polish Society of Technical Diagnostics. All rights reserved.

关键词： Modal analysis

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System 8

Comparative Study of Anti-Swing Controllers for a Triple Lin...

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8th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2023

作者： Hazem, Zied Ben Bingul, Zafer University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey

ISBN: (纸本)9798350327090

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination. © 2023 IEEE.

关键词： Controllers

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Optimal impedance modulation and intention angle of elbow assistive robots: Based on human musculoskeletal model 15

Optimal impedance modulation and intention angle of elbow as...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Alizadeh, Tohid Fard, Behnam Miripour Mosadeghzad, Mohamad Department of Robotics and Mechatronics Nazarbayev University Astana010000 Kazakhstan Robotics Engineering Department Hamedan University of Technology Hamedan Iran

ISBN: (纸本)9781538660720

The assistive rehabilitation devices have been studied for over half-century. However;Assistive as needed (AAN) devices are emergent robots to aid the patients based on their muscle capability. Exposure of the patients to these devices demands more understanding of the human impedance and torque modulation. This paper investigates the impedance modulation of human's elbow joint based on optimal control and Computed Muscle Control (CMC) of the human forearm musculoskeletal systems. The human elbow is modeled as a single degree-of-freedom (DOF) system with an intrinsic passive stiffness and damping. The OpenSim program is exploited to derive the muscle activation and generate the resultant torque of the effective muscles around the elbow joint. Forearm tracks a sinusoidal pattern in the simulation. The consequent torque interpreted by the optimal control solution of the system which opens a new horizon in the assimilation of the human intention angle and elbow impedance in a trade-off for accurate tracking and energy consumption. © 2018 IEEE.

关键词： Muscle

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Balancing Worker Utility and Recruitment Cost in Spatial Crowdsensing: A Nash Game Approach 21

Balancing Worker Utility and Recruitment Cost in Spatial Cro...

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8th International Conference on Networking, Systems and Security, NSysS 2021

作者： Arafat, Md. Tanvir Emon, Mehedi Hasan Sarker, Sujan Razzaque, Md. Abdur Rahman, Md. Mustafizur Department of Robotics and Mechatronics Engineering University of Dhaka Bangladesh Department of Computer Science and Engineering University of Dhaka Bangladesh

ISBN: (纸本)9781450387378

Leveraging the power of mobile crowdsensing (MCS) to achieve unparalleled coverage of tasks by utilizing the crucial spatiooral co-relation between the workers and tasks results in the distributed sensing system named spatiooral crowdsensing system (STCS). An STCS outsources sensing tasks to ubiquitous mobile computing devices to exploit their multi-modal sensing capabilities, collects the sensing results and process those to provide meaningful services. While realizing sustainable crowdsensing services, an STCS struggles with two conflicting objectives- maximizing the assignment quality and minimizing the recruitment cost. The first one requires assigning highly reputed workers in the spatiooral task blocks which results in higher recruitment costs. Thus a tradeoff between the aformentioned objectives is required. Existing works bring this tradeoff either by formulating a single objective as the linear weighted sum of both of the objectives or incorporating one of these as a constraint to another, yielding to an unfair and skewed tradeoff. In this work, we formulate the worker recruitment problem in STCS as a Nash game to attain fairness between the objectives while bringing this tradeoff. The performance of the proposed system is evaluated using MATLAB and results show its effectiveness compared to the state-of-the-art works in terms of fairness and per cost utility gain. © 2021 ACM.

关键词： nash bargaining mobile crowdsensing cost and quality fair trade-off

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Distributed-parameters base modeling and vibration analysis of micro-cantilevers used in atomic force microscopy

Distributed-parameters base modeling and vibration analysis ...

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2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

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

The atomic force microscope (AFM) system has evolved into a useful tool for direct measurements of intermolecular forces with atomic-resolution characterization that can be employed in a broad spectrum of applications such as electronics, semi-conductors, materials, manufacturing, polymers, biological analysis, and biomaterials. The non-contact AFM offers unique advantages over other contemporary scanning probe techniques such as contact AFM and scanning tunneling microscopy. Current AFM imaging techniques are often based on a lumped-parameters model and ordinary differential equation (ODE) representation of the micro-cantilevers coupled with an ad-hoc method for atomic interaction force estimation (especially in non-contact mode). Since the magnitude of the interaction force lies within the range of nano-Newtons to pica-Newtons, precise estimation of the atomic force is crucial for accurate topographical imaging. In contrast to the previously utilized lumped modeling methods, this paper aims at improving current AFM measurement technique through developing a general distributed-parameters base modeling approach that reveals greater insight into the fundamental characteristics of the microcantilever-sample interaction. For this, the governing equations of motion are derived in the global coordinates via the Hamilton's Extended Principle. By properly selecting a set of general coordinates, the resulting non-homogenous boundary value problem is then converted to a homogenous one, and hence, analytically solvable. The AFM controller can then be designed based on the original infinite dimensional distributed-parameters system which, in turn, removes some of the disadvantages associated with the truncated-model base controllers such as control spillovers, residual oscillations and increased order of the control. Numerical simulations are provided to support these claims.

关键词： Distributed parameter control systems

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An investigation of damping mechanisms in translational Euler-Bernoulli beams using a Lyapunov-based stability approach

An investigation of damping mechanisms in translational Eule...

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2003 ASME International Mechanical engineering Congress

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

A translational cantilevered Euler-Bernoulli beam with tip mass dynamics at its free end is used to study the effect of several damping mechanisms on the stabilization of the beam displacement. Specifically, a Lyapunov-based controller utilizing a partial differential equation model of the translational beam is developed to exponentially stabilize the beam displacement while the beam support is regulated to a desired set-point position. Depending on the composition of the tip mass dynamics assumption (i.e. body-mass, point-mass, or massless), it is shown that proper combination of different damping mechanisms (i.e., strain-rate, structural, or viscous damping) guarantees exponential stability of the beam displacement. This novel Lyapunov-based approach, which is based on the energy dissipation mechanism in the beam, brings new dimensions to the stabilization problem of translational beams with tip mass dynamics. The stability analysis utilizes relatively simple mathematical tools to illustrate the exponential and asymptotic stability results. The numerical results are presented to show the effectiveness of the controller.

关键词： Damping

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A Poisson-based methodology for deformable object simulation

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International Journal of Modelling and Simulation 2008年第2期28卷 156-164页

作者： Zhong, Y. Shirinzadeh, B. Alici, G. Smith, J. Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University VIC 3800 Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong 2522 NSW Australia Department of Surgery Monash Medical Centre Monash University VIC 3800 Australia

This paper presents a new methodology for the deformation of soft objects by drawing an analogy between Poisson equation and elastic deformation. The potential energy stored in a soft body as a result of a deformation caused by an external force is propagated among mass points by Pwoisson equation. The novelty of the methodology is that Poisson-based techniques are established to propagate the energy generated by the external force and to extrapolate the internal forces of a deformed object. A cellular neural network model is established to solve the Poisson model for the real-time requirement of soft object deformation. This proposed methodology not only deals with large-range deformations, but also accommodates isotropic, anisotropic and inhomogeneous materials by simply modifying constitutive coefficients.

关键词： Poisson equation

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Prediction of directivity characteristics of piezoelectric macro-fiber composite interdigital transducers: a semi-analytical approach 11

Prediction of directivity characteristics of piezoelectric m...

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11th European Workshop on Structural Health Monitoring, EWSHM 2024

作者： Raorane, Siddhesh Ambrozinski, Lukasz Stepinski, Tadeusz Packo, Pawel Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow30-059 Poland

The employment of guided waves for structural health monitoring applications has attracted substantial attention in recent years. Piezoelectric transducers are frequently employed in these systems for elastic wave generation and acquisition. Their dynamic properties, i.e., direction-dependent frequency characteristics such as directivity patterns, are an important feature for designing a reliable monitoring strategy. Although analysis of the transducer directivity pattern can be performed using finite element models, these usually tend to be computationally very expensive, especially for parametric and optimization studies. In this paper, a semi-analytical framework is proposed that can predict the far-field directivity patterns of complex transducers of arbitrary shape and structure mounted on a substrate. The framework described in this paper integrates analytical far-field predictions with a local finite element model evaluating the traction field produced by the transducer. Consequently, the FE model accurately captures near-field responses, whereas the analytical component predicts the far-field responses. The implementation of this semi-analytical framework requires the development of analytical and numerical approaches. The former includes computation of dispersion curves of the inspected plate, the stress and displacement profiles of wave modes, and ultimately, the excitability relations, while the latter includes estimation of the traction field between the transducer and the plate using the FE model. Owing to the popularity of piezoelectric macro-fiber composite (MFC) transducers, in this paper, we apply the proposed method to predict the directivity patterns of MFC M2807-P2 transducer. To validate the reliability of the proposed method, the predicted patterns are compared with experimental results obtained using Laser Doppler Vibrometer. © 2024 11th European Workshop on Structural Health Monitoring, EWSHM 2024. All rights reserved.

关键词： Piezoelectric transducers

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Experimental investigation of 2D cylindrical pair height adjustment in a static environment 3

Experimental investigation of 2D cylindrical pair height adj...

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3rd IFAC Symposium on Mechatronic Systems 2004

作者： De Waas Tilakaratna, Prasan Shirinzadeh, Bijan Alici, Gursel Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne Australia

In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based on the force and torque data provided by a wrist mounted F/T sensor is developed. For small clearances between the links, the assumption of using zero misalignment in the formulations is justified by means of simulations. Friction, which is a key parameter for contact type identification is experimentally determined. Preliminary experimental results indicate that the presented technique is effective in determining the type of contact for the height adjustment operation. Copyright © IFAC Mechatronic Systems, Sydney, Australia, 2004.

关键词： Friction

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