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2023 International Conference on Ocean Studies, ICOS 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Feb Ras Vladivostok State University Laboratory of Robotic Systems Laboratory of Automation and Robotics Vladivostok Russia Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems Feb Ras Laboratory of Intelligent Information Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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An effect of process parameters during wire cut electrical discharge machining of Inconel 738 3

An effect of process parameters during wire cut electrical d...

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3rd International Conference on Sustainable Energy Solutions for a Better Tomorrow, SESBT 2022

作者： Devanathan, C. Natarajan, M.S. Shankar, E. Giri, R. Vigneshwaran, K. Department of Mechanical Engineering Rajalakshmi Engineering College Chennai602 105 India Department of Robotics and Automation Rajalakshmi Engineering College Chennai602 105 India

In the recent days, super alloys especially nickel based materials are used more than 50% of aerospace gas turbine components such as turbine disc, blades etc., It becomes very hard to shape these materials with the use of traditional machining processes due to its improved strength at higher temperature. To overcome the issues faced during conventional machining, the various advanced machining techniques are tried for machining these super alloys. In the present study, Inconel 738 was cut by wire electrical discharge machining using 0.25 mm diameter copper wire. Demineralized water was used as dielectric fluid between tool and workpiece electrode. During the process, voltage, wire feed rate, time of pulse on and pulse off were adjusted at four different values and totally sixteen slots were cut to analyze the machining characteristics. The machined surfaces were tested for its surface finish, rate of material removal and kerf width. The ANOVA was performed using Minitab software to find out the optimized variables and percentage contribution of each parameter in providing the influencing results. Wire feed rate was the most influencing parameter to have the lowest kerf width. As far as Material removal rate, the four parameters were had the significant impact in increasing the MRR. Voltage is the important process parameter to reduce the surface roughness. © 2023 Elsevier Ltd. All rights reserved.

关键词： Surface roughness

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Identifying Factors that Influence Student's Participation in an Online Discussion Forum 2

Identifying Factors that Influence Student's Participation i...

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2nd Edition of IEEE Delhi Section Owned Conference, DELCON 2023

作者： Shaikh, Mohammed Tayyab Koppikar, Unnati Vijayalakshmi, M. Kle Technological University Department of Automation and Robotics Hubballi India Kle Technological University Centre for Engineering Education Research Hubli India

ISBN: (纸本)9798350322064

Discussion forums are used frequently in online learning. They are effective tools to encourage critical thinking and analytical reasoning and motivate students to participate in discussions. By actively participating in discussion forums by reading their peer's posts and comments, students can increase their understanding by clarifying vague concepts. Due to the COVID-19 epidemic, educational institutions transitioned to an online teaching method, which was not widely used earlier. The dynamism of the lively discussions that would take place in the offline classes was lost during this time. As a result, many instructors use discussion boards to keep their students engaged in a specific topic and encourage them to debate, evaluate, and criticize one another's ideas. The social network analysis (SNA) method examines how students engage in an online asynchronous discussion forum. The research study is based on a course called "Engineering Exploration". During the COVID-19 pandemic's disruptions, this first-year engineering course was taught online. In order to engage in a case study for the Engineering Ethics module, students were invited to post their views and thoughts about the case study in the discussion thread and were informed to comment on their peer's posts. The research is based on information gathered from the discussion board. Through this study, the authors want to identify the effect of different parameters such as gender, stream, or grades on students' participation in the discussion forum. The course instructor will gain significant insight from the proposed work on integrating social network analysis on discussion boards. This research study will aid in understanding the network structures of learners' interactions. © 2023 IEEE.

关键词： Students

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Few-Shot Object Detection via Dual-Domain Feature Fusion and Patch-Level Attention

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清华大学学报自然科学版（英文版） 2025年第3期30卷 1237-1250页

作者： Guangli Ren Jierui Liu Mengyao Wang Peiyu Guan Zhiqiang Cao Junzhi Yu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics Peking UniversityBeijing 100871China

Few-shot object detection receives much attention with the ability to detect novel class objects using limited annotated *** transfer learning-based solution becomes popular due to its simple training with good accuracy,however,it is still challenging to enrich the feature diversity during the training *** fine-grained features are also insufficient for novel class *** deal with the problems,this paper proposes a novel few-shot object detection method based on dual-domain feature fusion and patch-level *** original base domain,an elementary domain with more category-agnostic features is superposed to construct a two-stream backbone,which benefits to enrich the feature *** better integrate various features,a dual-domain feature fusion is designed,where the feature pairs with the same size are complementarily fused to extract more discriminative ***,a patch-wise feature refinement termed as patch-level attention is presented to mine internal relations among the patches,which enhances the adaptability to novel *** addition,a weighted classification loss is given to assist the fine-tuning of the classifier by combining extra features from FPN of the base training *** this way,the few-shot detection quality to novel class objects is *** on PASCAL VOC and MS COCO datasets verify the effectiveness of the method.

关键词： few-shot object detection dual-domain feature fusion patch-level attention

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Fuzzy Adaptive Multimodel Based Enhanced PID Controller With Kick Elimination for Smooth Power Control of Pressurized Water Reactor

Fuzzy Adaptive Multimodel Based Enhanced PID Controller With...

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2023 International Conference on System, Computation, automation and Networking, ICSCAN 2023

作者： Govindan, V. Pappa, N. Manakula Vinayagar Institute of Technology Department of Robotics and Automation Puducherry605107 India Anna University Department of Instrumentation Engineering Mit Campus Chennai600044 India

ISBN: (纸本)9798350315127

This paper aims at design of Enhanced PID (PIDE) controller that eliminates kick based on adaptive fuzzy scheme for the higher order point -kinetic model of the pressurized water reactor (PWR) to assure stable smooth power operations under load following operating conditions, sudden external disturbances and model uncertainties. The dynamics of PWR type of nuclear reactor is significantly changing with power levels, hence fixed weighted multi-modelbased gain scheduled PID controller (FW -GSPID) and adaptive fuzzy based gain scheduled enhanced PID controller (AF-GSPIDE) are proposed with appropriately identified input variables to accommodate the scheduling of controller parameter as function of power level with ability to reject the kicks expected in the control signal. In order to regulate the reactor core power, the reactor model is linearized and the PID controller parameters are optimally tuned for different power levels with these multi-models. Most of the reported works on fuzzy based control schemes uses error and change in error as input variables for the controller design whereas the novelty in the proposed AF-GSPIDE is that the controller parameters KP, K I and KD are tuned based on process variable i.e. neutron density (nr) and rate of change of process variable (dnr) to ensure the smooth control under sudden changes in the load disturbances and parameter variations. With proper choice of membership functions and formulation of rule base along with newly identified inputs, the simulation results shows the improved potential of the proposed scheme at different power levels in the presence of uncertainties and external disturbances. © 2023 IEEE.

关键词： Pressurized water reactors

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Development of a portable and compact robotic ankle rehabilitation system 68

Development of a portable and compact robotic ankle rehabili...

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68th International Conference on Vibroengineering

作者： Zhetenbayev, Nursultan Sergazin, Gani Jamwal, Prashant Uzbekbayev, Arman Sagidoldin, Daulet Department of Electronics and Robotics Almaty University of Power Engineering and Telecommunications Almaty050013 Kazakhstan Academy of Logistics and Transport Almaty050012 Kazakhstan Nazarbayev University School of Engineering and Digital Sciences Astana010000 Kazakhstan Department of Robotics and Technical Means of Automation Satbayev University Almaty050013 Kazakhstan

As part of this study, an ankle rehabilitation device was developed for patients suffering from motor disorders caused by incomplete spinal cord injury (ISCI), stroke, or cerebral palsy. First, the research models and dynamic equations of the device were considered. Secondly, the prototype ankle rehabilitation device is made of PLA plastic and uses linear actuators to simulate outward and inward flexion exercises (dorsiflexion and plantar flexion) for the patient. The advantages of the device are its simple design, low cost, and the possibility of installation on recovery equipment. The device can work quickly in experiments, in addition, the rehabilitation robot can work stably and is convenient to use for patients. © 2024 Nursultan Zhetenbayev, et al.

关键词： Linear actuators

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A Study on Laser Beam Machining and Prediction of Surface Finish and Material Removal Rate by Fuzzy Clustering 1st

A Study on Laser Beam Machining and Prediction of Surface Fi...

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1st International Conference on Energy and Materials Technologies, ICEMT 2021

作者： Devanathan, C. Giri, R. Dhandapani, S. Muthiah, C.T. Sivanand, A. Department of Mechanical Engineering Rajalakshmi Engineering College Thandalam Chennai602105 India Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai602105 India

ISBN: (纸本)9789811938948

Laser beam machining is a non-traditional manufacturing method which melts, vaporizes and thermally changes the characteristics of the material by focusing a monochromatic coherent light beam on the workpiece. This research article focuses on studying the laser beam machining of mild steel material by varying the input parameters like cutting speed, gas pressure and laser power. The parameters were varied in three levels, and totally, nine experiments were conducted based on orthogonal array. The output parameters such as material removal rate and surface roughness were analyzed, and the experimental results revealed that cutting speed and laser power were the most dominating parameter for getting good surface refinish and better material removal rate, respectively. The interaction effects of the parameters were also significant. The fuzzy c-means (FCM) clustering and fuzzy subtractive clustering (FSC)-based fuzzy inference systems are modeled to predict the output characteristics material removal rate (MRR) and surface roughness. It is found that the fuzzy subtractive clustering-based fuzzy inference systems are very effective in predicting the outputs. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Surface roughness

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Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis

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Journal of Bionic Engineering 2023年第3期20卷 992-1007页

作者： Ning Li Tie Yang Yang Yang Wenyuan Chen Peng Yu Chuang Zhang Ning Xi Ying Zhao Wenxue Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong999077China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang110004China

Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.

关键词： Unpowered exoskeleton Health-paralysis combination Energy transfer Self-rehabilitation Shoulder mechanism design

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Drone-Based Predictive Structure Analysis: A Review

Drone-Based Predictive Structure Analysis: A Review

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2023 International Conference on Sustainable Emerging Innovations in Engineering and Technology, ICSEIET 2023

作者： Patil, Trushant Nandan, Durgesh Sharma, Kanhaiya Parashar, Deepak Department of Robotics and Automation Pune India Department of Electronics and Telecommunication Engg. Pune India Department of Computer Science & Engineering Pune India Faculty of Engineering Pune India

ISBN: (纸本)9798350329186

Drone-based predictive structure analysis is a rapidly growing field that has the potential to revolutionize infrastructure and building inspection. In this review of the research, we give a general overview of how drones could increase the effectiveness and precision of structural analysis, particularly for keeping an eye on difficult-to-reach locations. The usage of drones for 3D mapping, inspection, and monitoring of diverse constructions, such as concrete buildings, bridges, tunnels, and dams. The investigations show that drone-based inspection can produce 3D models and high-resolution photos, allowing for remote monitoring and the early identification of possible problems. The findings show that drones may greatly boost infrastructure management's safety and effectiveness, making them an important tool for predictive structural research. © 2023 IEEE.

关键词： Drones

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Wear Analysis of copper based surface composites prepared by friction stir processing

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Materials Today: Proceedings 2022年 62卷 475-480页

作者： Loganathan, K. Hariram, S. Devanathan, C. Giri, R. Kumar, S. Department of Mechanical Engineering Rajalakshmi Engineering College Chennai Thandalam 602 105 India Department of Robotics and Automation Rajalakshmi Engineering College Chennai Thandalam 602 105 India

Copper based surface composites are widely getting importance in various applications because of their decent mechanical, tribological and thermal properties. In the present experimental work, an attempt was made to prepare the surface composites with copper material as substrate using friction stir processing method. Three specimens were prepared by adding aluminium oxide, boron carbide and the mixture of both particles to the surface of the copper and stirred using a square pin profiled tool. The various process parameters of the friction stir process were maintained constant. The wear behaviour of the specimen such as wear rate, coefficient of friction, and friction force was studied using Pin on disc method. The test results revealed that hybrid surface composites had better wear resistance due to/ the low coefficient of friction and friction force followed by boron carbide and aluminium oxide particles mixed surface composites. The friction force was 20 times higher than the friction coefficient and this factor remains constant for the entire test run. © 2022

关键词： Aluminum oxide

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