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Research Progress on Industrial Robots: A Review

Recent Patents on Mechanical Engineering 2025年

作者： Shinde, Vilas B. Pawar, Padmakar J. Gadakh, Vijay S. Department of Automation & Robotics Engineering Amrutvahini College of Engineering Sangamner Ahmednagar Savitribai Phule Pune University Maharashtra Pune422 608 India Department of Robotics & Automation Engineering K. K. Wagh Institute of Engineering Education and Research Nashik Savitribai Phule Pune University Maharashtra Pune422 003 India

The success of the fourth and upcoming fifth industrial resolution lies majorly in automation and robotics. Industrial robots perform various manufacturing-related tasks due to their autonomy, flexibility, and autonomous work in a complex environment. Applications including drilling, material transfer, loading and unloading machines, processing, assembling, and inspection, welding, spray painting, machining, and so on are common. The present work comprehensively summarizes all the pertinent work related to the industrial robot, such as inverse kinematics problems, robot design, programming, scheduling, motion planning, and trajectory planning. In addition, the present work discusses various optimization algorithms employed in industrial robots. Furthermore, several recommendations for future research have been addressed. © 2024 Bentham Science Publishers.

关键词： Unloading

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Robust Practical Stabilization for Complex Dynamical Networks With DoS Attacks and Actuator Saturation

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3108-3118页

作者： Shi, Xueya Peng, Zhinan Yu, Junzhi Li, Hongfei Southwest University College of Electronic and Information Engineering Chongqing400715 China Sichuan Artificial Intelligence Research Institute Yibin644000 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China

This article addresses the problem of designing an attack-resilient adaptive event-triggered (AET) controller for complex dynamical networks (CDNs) under DoS attacks and actuator saturation, with a focus on robust practical stability (RPS). First, considering the impact of DoS attacks on closed-loop systems, an AET controller against DoS attacks is designed. Unlike other event-triggered controllers, the complete timeline is divided, and the AET controller is built with two switching modes based on the intervals of dormant and active periods of DoS attacks in which the system is located. Second, to reconcile AET controller with actuator saturation, a switched system modeling approach is established that explicitly incorporates saturation constraints into the coupled network dynamics. Third, a switched Lyapunov-Krasovskii functional (LKF) is proposed, with which sufficient conditions are provided to ensured the RPS, and a joint design strategy is developed for the desired triggered matrix and feedback gain using linear matrix inequalities (LMIs). Moreover, the results are generalized to the case of actuator faults, indicating that the system is able to achieve RPS with actuator faults. Finally, the proposed method is verified through an example. © 2013 IEEE.

关键词： Lyapunov functions

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Smart Saline Level Monitoring System using Liquid Level Switch Contactless Sensor, NodeMCU and MQTT-S 1

Smart Saline Level Monitoring System using Liquid Level Swit...

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1st International Conference on Applied Artificial Intelligence and Computing, ICAAIC 2022

作者： Kishore, S. Abarnaa, K.P. Priyanka, S. Sri Atchaya, S. Priyanka, P.L. Amala, Jerrin J Nikhil Bannari Amman Institute of Technology Department of Biomedical Engineering Sathyamangalam India Tu Dortmund University MSc Automation and Robotics Dortmund Germany

ISBN: (纸本)9781665497107

Advancement in the healthcare system is rapidly increasing in recent years due to the application of engineering principles and design concepts to medicine and biology. One of the most commonly used intravenous (IV) therapies, saline, plays a significant role in the treatment of disease patients. Saline plays a major role in replenishing lost fluid, extracellular fluid replacement like dehydration, hypovolemia, haemorrhage, sepsis. Generally, Surveillance of saline bottle levels is monitored by nurses and caretakers. There is an endless need to check the saline level after a particular time. If you don't, there's a good risk your blood may flow back into the saline bottle. Most of the time, due to negligence or an unusual scenario, the proper planning of removing the needle from the patient's vein is forgotten, resulting in a significant loss and maybe death. To avoid such accidents taking place due to the negligence of caretakers, it is proposed that the cost-effective smart saline level monitor which may be a reliable, user friendly and price effective system for saline level monitoring. This technique is built by employing a liquid level switch contactless sensor which is an ultra-low power and low cost sensor and NodeMCU ESP8266 Wi-Fi module microcontroller. The sensor's output is a specific voltage based on the presence of saline. The ESP8266 Wi-Fi module integrated on the NodeMCU microcontroller creates and broadcasts a specific message based on the voltage received from the sensor. MQTT-S is used to distribute/buy in convention, which works over TCP, to convey and introduce the communications to the end customer gadgets of endorsers such as specialists, medical attendants, or guardians. This proposed watching system ensures that messages are sent to supporters in a reliable manner, which is critical in medical treatment. © 2022 IEEE.

关键词： Microcontrollers

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A low-cost digital twin for real-time monitoring of photovoltaic panels 32

A low-cost digital twin for real-time monitoring of photovol...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Hueros-Barrios, Pablo José Sánchez, Francisco Javier Rodríguez Tradacete-Ágreda, Miguel Martín, Pedro Pérez, Carlos Santos Perez-Saura, David University of Alcalá Department of Electronics Alcalá de Henares28801 Spain University of Alcalá Department of Signal Theory Alcalá de Henares28801 Spain Polytechnic University of Madrid Centre for Automation and Robotics Madrid28006 Spain

ISBN: (纸本)9798350399714

This work presents a cost-effective implementation method of a photovoltaic (PV) panel digital twin (DT) on a low-cost device. The proposed method uses a non-iterative and explicit parameter extraction of the Single Diode Model (SDM) based on the Lambert W function and utilizes an explicit Lambert W function-based method to calculate the I-V and P-V characteristics curves of the PV panel. The accuracy and performance results of the method have been tested, showing low errors in comparison with experimental data obtained by a PV panel Internet of Things (IoT) device that measures the panel electrical parameters. The DT will allow the IoT system to detect anomalies in the PV panel and accurately compare its expected and actual behavior in real-time. © 2023 IEEE.

关键词： Internet of things

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Effect of Layer Thickness on Marginal Gap of Zirconia Crowns Manufactured Using Additive Manufacturing with Top-Down Approach

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Korean Journal of Chemical Engineering 2025年第5期42卷 1143-1147页

作者： Lee, Sang-Kyu Park, Chan Jo, Kwang-Ho Choi, Sang-Hyun Lee, Hyein Jang, Kyoung-Jun Yu, Taekyung Department of Chemical Engineering College of Engineering Integrated Engineering Major Kyung Hee University Yongin17140 Korea Republic of Research Institute 3D Controls Co Busan46721 Korea Republic of Department of Prosthodontics School of Dentistry Chonnam National University Gwangju61186 Korea Republic of School of Robotics and Automation Engineering Dongyang Mirae University Seoul08221 Korea Republic of

For efficient 3D printing, fast printing (thick print layers) is necessary;however, in ceramic 3D printing, which involves printing heavy materials, changes in print speed can significantly affect precision. This study compares and analyzes the marginal fit of zirconia crowns produced with different layer thicknesses using a top-down additive manufacturing process. The results for a layer thickness of 50 μm showed lower fit in areas opposite the support compared to the results for layer thicknesses of 10 and 25 μm. It is believed that during very fast printing, the load applied during printing cannot be sustained. These findings can be used as important information for future printing of zirconia prostheses. © The Author(s), under exclusive licence to Korean Institute of Chemical Engineers, Seoul, Korea 2025.

关键词： Ceramic materials

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Real-Time Motion Generation and Data Augmentation for Grasping Moving Objects with Dynamic Speed and Position Changes

Real-Time Motion Generation and Data Augmentation for Graspi...

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IEEE/SICE International Symposium on System Integration

作者： Kenjiro Yamamoto Hiroshi Ito Hideyuki Ichiwara Hiroki Mori Tetsuya Ogata Robotics Research Department Connective Automation Innovation Center R&D Group Hitachi Ltd. Institute for AI and Robotics Future Robotics Organization Faculty of Science and Engineering Waseda University

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving objects, due to their dynamic properties, requires learning a wide range of factors such as the object's position, movement speed, and grasping timing. We propose a data augmentation method for enabling a robot to grasp moving objects with different speeds and grasping timings at low cost. Specifically, the robot is taught to grasp an object moving at low speed using teleoperation, and multiple data with different speeds and grasping timings are generated by down-sampling and padding the robot sensor data in the time-series direction. By learning multiple sensor data in a time series, the robot can generate motions while adjusting the grasping timing for unlearned movement speeds and sudden speed changes. We have shown using a real robot that this data augmentation method facilitates learning the relationship between object position and velocity and enables the robot to perform robust grasping motions for unlearned positions and objects with dynamically changing positions and velocities.

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Implementation of Sensor Fusion for a Mobile Robot Application 6

Implementation of Sensor Fusion for a Mobile Robot Applicati...

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6th International Conference on Recent Trends on Electronics, Information, Communication and Technology, RTEICT 2021

作者： Huggi, Arpita S Nilavar, Anushree C Bali, Jyoti Giriyapur, Arunkumar Ashwini, G.K. KLE Technological University Department of Automation and Robotics Karnataka Hubballi India

ISBN: (纸本)9781665435598

The proposed work focuses on sensor fusion technology for improving the navigation path in the mobile robot application. The objective here is to discuss the various issues involved, needs, and advantages of the sensor fusion process. State of the art, sensor fusion based algorithms is discussed. The factors, namely, choice of sensor and the algorithm for a mobile robot and implementation methodologies, are presented. The sensors used in the sensor fusion process are an Inertial Measurement Unit(IMU) and Global Positioning System(GPS). The relevance of selecting the Kalman filter-based sensor fusion process and the implementation steps using the different types of sensors is explained with the flow chart and the algorithmic steps. The systematic analysis of the sensor fusion process is carried out using error estimates of position and orientation achieved for the mobile robot application. © 2021 IEEE.

关键词： Kalman filters

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Estimation of Embedded System Synchronized Soft Effectiveness 10

Estimation of Embedded System Synchronized Soft Effectivenes...

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10th Mediterranean Conference on Embedded Computing, MECO 2021

作者： Larkin, Eugene V Akimenko, Tatiana A Kuznetsova, Tatiana R Tula State University Department of Robotics and Automation Tula300012 Russia

ISBN: (纸本)9780738133614

Embedded control system by complex multi-component object, which operate in the real physical time, is considered. It is shown, that during solving the aim task it is necessary to synchronize controllable components operation by means of soft optimization. The model of embedded soft synchronization, based on discrete Petri-Markov net conception, is worked out. In the proposed conception time intervals are described with discrete distribution. Analytical simulation of the system soft operation is divided onto two parts: estimation of time interval discrete distribution of parallel soft operation inside synchronized block, and estimation of pre-determined plan realization effectiveness. Effectiveness criterion estimation is based on modified relay-race distributed forfeit method, due to which relay-race analysis with random time intervals is substituted by analysis of the randomly emerged rigid schedules systems, that essentially simplifies analysis procedure. © 2021 IEEE.

关键词： Embedded systems

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Optimizing Medication Compliance through Machine Learning and IoT for Personalized Health Management 9

Optimizing Medication Compliance through Machine Learning an...

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9th International Conference on Communication and Electronics Systems, ICCES 2024

作者： Balaji, P. Mohitha, I.K. Prashanthini, K. Sivaprakash, K. Rithick, P. Kasthuri, S. Sri Ramakrishna Engineering College Department of Electronics and Instrumentation Engineering Coimbatore India KGiSL Institute of Technology Department of Electronics and Communication Engineering Coimbatore India Sri Ramakrishna Engineering College Department of Robotics and Automation Engineering Coimbatore India Sns College of Engineering Department of Artificial Intelligence and Data Science Coimbatore India

ISBN: (纸本)9798350377972

Machine learning (ML) and Internet of Things (IoT) technologies have revolutionized the healthcare industry, particularly in the field of medication administration. Inadequate adherence to medication is a serious worldwide issue that can result in poor health and higher medical expenses. Through continuous monitoring and analysis of patient-specific parameters, such as vital signs, medication history, and lifestyle factors, the system dynamically adjusts medication schedules and dosages to optimize therapeutic efficacy while minimizing adverse effects. The system tracks medicine usage, vital signs, and ambient variables using data gathered from Internet of Things (IoT) devices like wearable devices and smart pill bottles. An ML model, trained to anticipate potential adherence problems, is then provided with this preprocessed data. Personalized interventions, like medicine reminders, educational content, and progress reports, are delivered by the Intelligent Medication Compliance System (IMAC) based on these predictions. The integration of IoT-enabled smart sensors and connectivity allows for smooth communication between patients, healthcare professionals, and medicine dispensers, permitting prompt interventions, prescription reminders, and remote monitoring. Additionally, the system makes it easier for patients and medical professionals to communicate, allowing for prompt modifications to treatment programs. Serving as an anticipatory system, the IMAC provides personalized interventions. Predicting possible adherence problems, such as missing doses or inadvertent drug interactions, is done by the model through data analysis. The proposed IMAS seeks to empower patients, personalized medication management, and eventually improve medication adherence by fusing real-time IoT data with ML-driven insights. © 2024 IEEE.

关键词： Personalized medicine

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Design and Simulation of a Micromachined Antenna for 60 GHz Millimeter-Wave Applications with Wet Etching Process using Inset-Fed Technique and Substrate Removal Enhancement 5

Design and Simulation of a Micromachined Antenna for 60 GHz ...

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5th International Conference on Electronics and Sustainable Communication Systems, ICESC 2024

作者： Anitha, G. Badrinathan, B. Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Saveetha University Department of Electronics and Communication Engineering Tamilnadu Chennai India Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Saveetha University Department of Automation and Robotics Engineering Tamilnadu Chennai India

ISBN: (数字)9798350379945

ISBN: (纸本)9798350379945

This study investigates the simulation and modeling of a microfabricated antenna designed to operate within the millimeter-wave spectrum at a frequency of 60 GHz. The antenna configuration proposed in this work is simulated on a gallium arsenide substrate with a dielectric constant 12.9. A unique aspect of this design is incorporating an angled side wall with a 54-degree inclination from vertical., which is achieved through a simulated wet etching process. The compact antenna dimensions of 2.1 mm x 2 mm make it suitable for integration into miniaturized devices. The simulations were performed utilizing the High Frequency Structure Simulator (HFSS) software, which is a computational electromagnetics tool for analyzing and designing complex RF and high-speed components. The antenna design employs an inset-fed technique to facilitate impedance matching and efficient power transfer. Additionally, a substrate removal technique was simulated to enhance the maximum gain. The simulation results demonstrate excellent performance, with the antenna attaining a maximum gain of 6.24 dBi, an exceptional return loss of -74.55 dB, and a voltage standing wave ratio (VSWR) of 1, indicating near-perfect impedance matching. These simulated results highlight the potential of this micromachined antenna design for a range of applications within the millimeter-wave frequency band, such as high-speed wireless communications, radar systems, and imaging devices, subject to successful fabrication and real-world testing. © 2024 IEEE.

关键词： Gallium arsenide

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