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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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Stiffness and Vibration Resistance Analysis of Isotropic Stewart Platform (ISP) and Common Stewart Platform (CSP) 23

Stiffness and Vibration Resistance Analysis of Isotropic Ste...

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23rd International Conference on Control, automation and Systems, ICCAS 2023

作者： Tileukulova, Aisulu Rakhmetova, Perizat Yeshmukhametov, Azamat Koganezawa, Koichi Al-Farabi Kazakh National University Department of Physics and Technology Almaty Kazakhstan Nazarbayev University Department of Robotics Engineering Astana Kazakhstan Satbayev University Department of Robotics and Engineering Tools of Automation Almaty Kazakhstan School of Engineering and Digital Sciences Nazarbayev University Department of Robotics Engineering Astana Kazakhstan Tokai University Department of Mechanical Engineering Japan

ISBN: (纸本)9788993215274

Parallel manipulators found wide applications in the industry such as entertainment, heavy, and aerospace industries. However, the contemporary growth of the economy and industry demands additional and exceptional capabilities for robots. Parallel manipulator applications in the industry are pretty specific and complex rather than serial manipulators. Therefore in this research, we proposed an isotropic Stewart parallel manipulator to enhance robot stiffness and payload capacity capabilities. Moreover, proves the concept by experimental methods. The main contribution of this paper is to rely on robot design, joint positions, and comparison of experimental results to prove the concept idea. The research paper is organized in the following order: introduction, design concept, joint positions and simulation, experimental results, and conclusion. © 2023 ICROS.

关键词： Stiffness

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STOW-Net: Spatio-Temporal Operation Based Deep Learning Network for Classifying Wavelet Transformed Motor Imagery EEG Signals 38

STOW-Net: Spatio-Temporal Operation Based Deep Learning Netw...

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38th IEEE Region 10 Conference, TENCON 2023

作者： Rana, Md. Shohel Fattah, Shaikh Anowarul Saquib, Mohammad Institute of Robotics and Automation Buet Dhaka Bangladesh Buet Department of Eee Dhaka Bangladesh The University of Texas Department of Ee DallasTX United States

ISBN: (纸本)9798350302196

Brain-computer interface (BCI) systems rely on capturing characteristics of human brain activity from the electroencephalography (EEG) signals, especially for the reliable classification of motor imagery tasks. For multi-channel EEG signals, it is crucial to precisely capture the spatio-temporal variation along with the frequency characteristics. Hence, instead of directly operating on raw EEG data, in this paper, discrete wavelet transform (DWT) is first applied to the motor-imagery multi-channel EEG data and then a deep learning architecture is designed incorporating spatial-temporal operations, which operates on the DWT-transformed EEG signal. In the proposed architecture, temporal convolution followed by spatial convolution is performed on the DWT-operated MI-EEG signal, and this part is termed as SAT-net. Next, by considering all channels together convolutional operation is performed to reduce the number of channels and this part is termed as SOC-net. Finally, a fully connected layer is used to classify the MI-EEG data from the derived feature vector. Extensive experimentation is performed on multiple subjects taken from the MI-based EEG dataset BCI Competition IV 2a. It is found that the proposed model offers a classification accuracy of 84.65%, consistently providing better classification performance than that obtained by some state-of-the-art methods. © 2023 IEEE.

关键词： Discrete wavelet transforms

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic Systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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Automatic Docking of Drone Using Machine Learning for Power Line Inspection 8

Automatic Docking of Drone Using Machine Learning for Power ...

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8th International Conference on robotics and automation Engineering, ICRAE 2023

作者： Aiswarya, A. Kiran, R. College of Engineering Robotics and Automation Dept of Ece Kerala Trivandrum India College of Engineering Department of Electronics and Communication Kerala Trivandrum India

ISBN: (纸本)9798350327656

Unmanned aerial vehicles (UAVs) have gained sig-nificant attention in the field of power line inspection due to their ability to access challenging locations and capture high-resolution imagery. However, the manual control and landing of UAVs on power line structures pose risks and operational challenges. To address these issues, we proposes a machine vision based automatic docking system for drones, specifically designed for power line inspection. A specially engineered gripper module enables the system to securely dock onto a power line. The proposed system incorporates a machine learning-based model that detects and tracks the power line using onboard cameras, enabling the drone to align itself accurately with the power line. Experimental evaluations demonstrate the effectiveness and fea-sibility of the automatic docking system, showcasing its potential to streamline power line inspection processes. Utilizing machine learning for automatic drone docking in power line inspections is driven by the pursuit of safety, as drones eliminate human exposure to high-risk situations commonly encountered during manual inspections. This approach is time-efficient and cost-effective, offering the capability for real-time, highly accurate data analysis. The scalability of machine learning models enables consistent inspections over vast power line networks. As machine learning models continually refine themselves with more data and serves as a testament to modernization and safety. © 2023 IEEE.

关键词： Drones

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SURROGATE MODELS FOR COMPLIANT JOINTS IN PROGRAMMABLE STRUCTURES

SURROGATE MODELS FOR COMPLIANT JOINTS IN PROGRAMMABLE STRUCT...

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ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2024

作者： Pieber, Michael Zhang, Zhaowei Manzl, Peter Gerstmayr, Johannes University of Innsbruck Department of Mechatronics Innsbruck6020 Austria State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China

ISBN: (纸本)9780791888438

This work focuses on compliant joints in autonomous cells. These cells are able to preserve the underlying geometry of a mesh and enable self-reconfiguration through the utilization of six-bar linkages. The six-bar linkages, essential for maintaining triangular mesh geometry, are realized as 3D-printable compliant mechanisms. However, challenges arise from compliance in the hinges and deviation from the desired center of rotation which results in positioning errors. To address these issues, a surrogate model which is derived from beam elements, is used to predict positioning errors during self-reconfiguration. Finally, these errors are corrected by solving the inverse kinematics of a hyper-redundant manipulator. Our study illustrates the benefits of utilizing a surrogate model, which reduces computation time compared to beam elements. For the first time, we successfully correct positioning errors within a system of cells. Copyright © 2024 by ASME.

关键词： Inverse kinematics

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Collaborating for Success: Optimizing System Efficiency and Resilience Under Agile Industrial Settings 23

Collaborating for Success: Optimizing System Efficiency and ...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Katyara, Sunny Sharma, Suchita Damacharla, Praveen Garcia, Carlos O'Farrell, Francis Long, Philip Irish Manufacturing Research Company Ltd Department of Robotics & Automation Ireland Software Engineering Division Shutterfly United States KineticAI Inc WoodlandsTX United States

ISBN: (纸本)9798350373578

Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges concerning environment perception and robot control. In this research, we introduce a novel approach for collaborative environment monitoring and robot motion regulation to address this multifaceted problem. Our study proposes novel computation and division of safety monitoring zones, adhering to ISO 13855 and TS 15066 standards, utilizing 2D lasers information. These zones are not only configured in the standard three-layer arrangement but are also expanded into two adjacent planes, thereby enhancing system uptime and preventing unnecessary deadlocks. Moreover, we also leverage 3D visual information to track dynamic human articulations and extended intrusions. Drawing upon the fused sensory data from 2D and 3D perceptual spaces, our proposed hierarchical controller stably regulates robot velocity, validated using Lasalle in-variance principle. Empirical evaluations demonstrate that our approach significantly reduces task execution time and system response delay, resulting in improved efficiency and resilience within collaborative settings. © 2024 IEEE.

关键词： Efficiency

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Advancement in Smart Cane Technology: Enhancing Mobility for the Visually Impaired Using ROS and LiDAR 6

Advancement in Smart Cane Technology: Enhancing Mobility for...

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6th International Conference on robotics and automation in Industry, ICRAI 2024

作者： Zafar, Saqib Maqbool, Hafiz Farhan Ahmad, Naveed Ali, Arham Moeizz, Abdul Ali, Faizan Taborri, Juri Rossi, Stefano University of Tuscia Department of Economics Engineering Society and Business Organization VT Viterbo01100 Italy University of Engineering and Technology Lahore Department of Mechanical Mechatronics and Manufacturing Engineering Faisalabad Campus Lahore38000 Pakistan National Center of Robotics and Automation Human-Centred Robotics Lab Pakistan

ISBN: (纸本)9798350355703

Visual impairment affects the ability to navigate independently in an unknown environment due to reliance on human/dog assistance, potential miscommunication, and discomfort during mobility. To make the visually impaired (VI) individuals self-reliant and confident in their mobility the proposed system has been developed that contains a light detection and ranging (LiDAR) sensor for obstacle detection and two omni-wheels coupled with the DC gear encoder motors for precise movement in any direction without lifting the cane. Hector Simultaneous Localization and Mapping (SLAM), A, and steering wheel algorithms have been implemented in the robot operating system (ROS) for real-time environment mapping, efficient path planning, and navigating in an unknown indoor static environment, respectively. The Raspberry Pi 3B+ and Arduino Mega 2560 are used in the master-slave configuration for decision-making on path planning and controlling the maneuverability of the system in real-time. The proposed system in the paper is successfully tested on one subject in two indoor environments. The results demonstrate that the system serves as an assistive mobile robot, helping the VI individual to navigate confidently in an unknown environment and reach the destination without assistance. © 2024 IEEE.

关键词： Motion planning

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Assistive robots for Beijing Winter Paralympic torch relay: Accessible technologies to restore human functionality

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The Innovation 2024年第1期5卷 19-20页

作者： Bi Zhang Mei Shuai Bicheng Han Shuo Li Lianqing Liu Xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationCASShenyang 110016China Institutes for Robotics and Intelligent Manufacturing CASShenyang 110169China Department of Biomedical Engineering Beihang UniversityBeijing 100191China Beijing AI-Robotics Technology Co. Ltd.Beijing 100176China Zhejiang BrainCo Technology Co. Ltd.Hangzhou 311121China

The success of the Beijing Winter Olympics and Paralympics epitomized the vision of a community with a shared future for *** robots and artificial intelligence technologies were used in various games and events,such as assisting in parades,logistics,and security *** integration of unmanned robotic systems into torch relays was one of the highlights of the Winter Olympics.

关键词： Winter Access artificial

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Light-based 3D printing of stimulus-responsive hydrogels forminiature devices:recent progress and perspective

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Bio-Design and Manufacturing 2024年第5期7卷 721-746页

作者： Chen Xin Neng Xia Li Zhang Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong Kong 999077China Multi-Scale Medical Robotics Center Hong Kong Science ParkShatin NTHong Kong 999077China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong KongHong Kong 999077China Department of Surgery The Chinese University of Hong KongHong Kong 999077China CUHK T Stone Robotics Institute The Chinese University of Hong KongHong Kong 999077China

Miniature devices comprising stimulus-responsive hydrogels with high environmental adaptability are now considered competitive candidates in the fields of biomedicine,precise sensors,and tunable *** and advanced fabricationmethods are critical formaximizing the application capabilities ofminiature ***-based three-dimensional(3D)printing technology offers the advantages of a wide range of applicable materials,high processing accuracy,and strong 3D fabrication capability,which is suitable for the development of miniature devices with various *** paper summarizes and highlights the recent advances in light-based 3D-printed miniaturized devices,with a focus on the latest breakthroughs in lightbased fabrication technologies,smart stimulus-responsive hydrogels,and tunable miniature devices for the fields of miniature cargo manipulation,targeted drug and cell delivery,active scaffolds,environmental sensing,and optical ***,the challenges in the transition of tunable miniaturized devices from the laboratory to practical engineering applications are *** opportunities that will promote the development of tunable microdevices are elaborated,contributing to their improved understanding of these miniature devices and further realizing their practical applications in various fields.

关键词： 3D printing Stimulus-responsive hydrogels Miniature devices Shape-morphing

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