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Technologies Applied to Electronics Teaching (TAEE)

作者： Mbadiwe S. Benyeogor Tobore L. Igbigbi Olusegun I. Lawal Udoh T. Akpan Andrew O. Benyeogor Nnaemeka M. Mbachu Kosisochukwu P. Nnoli Muhammad S. Aliero Adeboye Olatunbosun Institute of Physics University of Münster Münster Germany Department of Public Utilities City of Cleveland Ohio State USA Advanced Aerospace Engines Lab. Nat. Space Research & Dev. Agency Oka Akoko Ondo State Nigeria Dept. Mechatronics Engineering Lagos State Univ. of Sc. & Tech. Ikorodu Lagos State Nigeria CTE Computer Science & Robotics International Leadership of Texas Aggieland Texas USA Dept. Comp. Sc. & Electrical Engineering Constructor University Bremen Germany ICT Department Kebbi State Univ. of Sc. & Tech Aliero Nigeria Dept. Electrical & Electronics Engineering Ajayi Crowther University Oyo Town Oyo State Nigeria

ISBN: (数字)9798350348675

ISBN: (纸本)9798350348682

Advances in microprocessor technology and software engineering have resulted in the development of sophisticated robots that are used in modern society as assistive automata for production, security, and farming, among other things. To sustain the development of robots, robotics education should be included in school curricula (i.e., teaching and learning process). However, schools in many developing nations, such as Nigeria, are unable to adapt to this trend due to personnel, technological, infrastructural, and fiscal limitations. To address this problem, a low-cost robotic manipulator arm with real-time control algorithms and a human-robot interface that allows it to be controlled by a microcomputer is developed. This includes its functional model, geometry of link movement, mechanical design, control circuitries, and a Teraterm-based human-robot interface (HRI). Furthermore, an encryption method was developed that maps selected control keys to actuation functions in manipulator chains. We also explored how this robotic manipulator may be used as a teaching tool, particularly for teaching three major industrial technologies: machine-making, electronics, and computing. Our manipulator arm has undergone both unit and system tests and has been used for classroom teaching. Results of its applicability assessment show that our system could aid the teaching of robotics and STEM subjects in schools, as a way to solve the trilemma of harmonizing the concept of machines, electronic control, and computation in multidisciplinary domains.

关键词： Service robots Educational robots Education Manipulators Real-time systems Production facilities Security

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Validation of Integrated EV Chassis Controller Using a Geographically Distributed X-in-the-loop Network

Validation of Integrated EV Chassis Controller Using a Geogr...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Viktar Beliautsou Jesus Alfonso Joris Giltay Florian Büchner Barys Shyrokau Jose A. Castellanos Valentin Ivanov Automotive Engineering Group TU Ilmenau Ilmenau Germany Mechatronics Dept Instituto Tecnologico de Aragon Zaragoza Spain Dept. of Cognitive Robotics Delft University of Technology Delft Netherlands Instituto de Investigación en Ingeniería de Aragón Universidad de Zaragoza Zaragoza Spain

ISBN: (纸本)9781665475884

This paper presents the validation of an integrated chassis controller that unites three groups of actuators for the electric vehicle (EV) with independent in-wheel electric motors (IWMs) for each wheel. Controlled actuators are the IWMs, the active suspension, and the braking system. The models of test benches and the designed architecture of the X-in-the-loop network are presented. The proposed design approach allows testing the developed controller on a vehicle model in real-time and on hardware components.

关键词： Suspensions (mechanical systems) Actuators Key performance indicator Wheels Process control Propulsion Real-time systems

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Application of deep convolutional and long short-term memory neural networks to red blood cells motion detection and velocity approximation

Application of deep convolutional and long short-term memory...

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Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Kornaev, Alexey V. Dremin, Viktor V. Kornaeva, Elena P. Volkov, Mikhail V. Dept. Of Mechatronics Mechanics and Robotics Orel State University 95 Komsomolskaya Street Orel302026 Russia Lab. of Artificial Intelligence Innopolis University 1 Universitetskaya street Innopolis 420500 Russia Research and Development Center of Biomedical Photonics Orel State University 95 Komsomolskaya Street Orel302026 Russia College of Engineering and Physical Sciences Aston University BirminghamB4 7ET United Kingdom Dept. of Information Systems Orel State University 95 Komsomolskaya Street Orel302026 Russia Faculty of Applied Optics ITMO University 49 Kronverksky St. Petersburg197101 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

The paper deals with processing data obtained using nailfold high-speed videocapillaroscopy. To detect the red blood cells velocity two approaches are used. The deterministic approach is based on pixel intensities analysis for object detection and calculation of the displacement and velocity of red blood cells in a capillary. The obtained data formulate targets for the second approach. The stochastic approach is based on a sequence of artificial neural networks. The semantic segmentation network UNet is used for capillary detection. Then, the classification network GoogLeNet or ResNet is used as a feature extractor to convert masked video frames to a sequence of feature vectors. And finally, the long short-term memory network is used to approximate the red blood cells velocity. The results demonstrated that the accuracy of the mean velocity approximation in the time range of several seconds is up to 0.96. But the accuracy at each specific time moment is less accurate. So, the proposed algorithm allows the determination of the RBCs mean velocity but it doesn't allow determination of the RBCs pulsations accurate enough. © 2022 SPIE.

关键词： Stochastic systems

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Virtualization of the Behavior of Structures from Rubber-like and Metal Composites 5

Virtualization of the Behavior of Structures from Rubber-lik...

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5th International Conference on Information Technologies in engineering Education, Inforino 2020

作者： Duishembiev, Almaz S. Duishenaliev, Turatbek B. Talipov, Danil R. Kyrzyz State Technical University Named after I. Razzakov Dept. of Mechanics and Industrial Engineering Bishkek Kyrgyzstan National Research University MPEI Dept. of Robotics Mechatronics and Dynamiics of Machines Moscow Russia National Research University MPEI Moscow Russia

ISBN: (纸本)9781728148106

The article is devoted to mathematical modeling of large (geometrically nonlinear) deformations and displacements of rubber-like materials and metal alloys. It is shown that the Cauchy's tensor equally correctly describes the transformations for large, small, and infinitesimal values of gradients. A new approach to the formulation and solution of boundary value problems of statics is proposed. A mathematical model has been developed to analyze the stress-strain state of various structures. Developed computer programs calculate and build virtual graphs of transformations of various bodies under load and can be used when students study various sections of the mechanics of a deformable solid body. © 2020 IEEE.

关键词： Deformation

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Design of a user-friendly control system for planetary rovers with CPS feature

arXiv

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arXiv 2021年

作者： Chiodini, Sebastiano Giubilato, Riccardo Pertile, Marco Tedesco, Annarita Accardo, Domenico Debei, Stefano CISAS "Giuseppe Colombo" University of Padova Padova Italy Institute of Robotics and Mechatronics DLR Wessling Germany Dept. of Industrial Engineering University of Padova Padova Italy IMS Laboratory University of Bordeaux Bordeaux France Dept. of Industrial Engineering University of Napoli Federico II Napoli Italy

In this paper, we present a user-friendly planetary rover’s control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using commercially available off-the-shelf (COTS) joysticks or by command sequencing with interactive monitoring on the sensed map of the environment. During operations, high situational awareness is made possible thanks to 3D map visualization. The map of the environment is built on the on-board computer by processing the rover’s camera images with a visual Simultaneous Localization and Mapping (SLAM) algorithm. It is transmitted via Wi-Fi and displayed on the control base station screen in near real-time. The navigation stack takes as input the visual SLAM data to build a cost map to find the minimum cost path. By interacting with the virtual map, the rover exhibits properties of a Cyber Physical System (CPS) for its self-awareness capabilities. The software architecture is based on the Robot Operative System (ROS) middleware. The system design and the preliminary field test results are shown in the paper. © 2021, CC BY-NC-ND.

关键词： Rovers

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Experimental Study of Upper Limb Exoskeleton Control Based on IMUs Sensory System

Experimental Study of Upper Limb Exoskeleton Control Based o...

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2019 Novel Intelligent and Leading Emerging Sciences Conference, NILES 2019

作者： Atia, Mohamed G. B. Ibrahim, Khalil Salah, Omar Egypt-Japan University of Science and Technology Dept. of Mechatronics and Robotics Engineering Alexandria Egypt Assiut University Dept. of Mechanical Engineering Assiut Egypt

ISBN: (纸本)9781728131733

This paper describes experimental study of controlling an upper limb exoskeleton to track the user's arm. The main purpose of this paper is to discuss and evaluate the control strategies and sensory system with different users. Furthermore, this study has used IMU sensors which are put on the users arm to attain an outstanding interactive control to make the user's arm imitation to the exoskeleton much comfortable, flexible and improved. To evaluate that, several experiments are performed. The results of these experiments indicate that the sensory system and control system are successful and have good performance to track user arm and control all the system. © 2019 IEEE.

关键词： Exoskeleton (robotics)

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Adaptive PI-Based Fuzzy Logic Auto-Tuning Controller Design and Implementation for Tactile Shape Display Device 6

Adaptive PI-Based Fuzzy Logic Auto-Tuning Controller Design ...

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6th International Conference on Advanced Control Circuits and Systems and 5th International Conference on New Paradigms in Electronics and Information Technology, ACCS/PEIT 2019

作者： Alsayed, Y.M. Abouelsoud, A.A. Fath Elbab, A.M.R. Cairo Egypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Mechatronics and Robotics Engineering Department PO Box: 21934 New Borg El Arab City Alexandria Egypt Cairo University Dept. of Electrical Engineering Cairo Egypt Assiut University Dept. of Mechanical Engineering Assiut Egypt

ISBN: (纸本)9781728163543

Tactile displays have been proposed as a human-computer interface. Nowadays, it is utilised in hundreds of applications and a standard means of information presentation. Shape information display became essential to many surgical tasks (finding hidden anatomical features and locating tumours). There is a strong need for shape tactile display devices particularly for specialists who ought to feel the tissue shape and hardness amid laparoscopic surgeries. This paper describes the design and implementation of adaptive position controller for a tactile shape display device. The proposed display comprises of an cluster of 3×3 upward/downward free mobile pins based on SMA actuators. Each actuator is competent of creating a 5 mm uprooting as greatest. Due to the complex hysteresis and non-linear response of SMA actuators, a fuzzy logic auto-Tuner algorithm is constructed to create the PI controller gains adaptive. The suggested controller is implemented to control the shape display tactile system. The proposed controller present prevalent response over existing controllers in the survey from point of no steady state error, no overshoot, no chattering and minimized hysteresis. © 2019 IEEE.

关键词： Controllers

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Crumpled Carbon Nanotube Thin Film Heaters for High Sensitivity Hydrogen Sensing

Crumpled Carbon Nanotube Thin Film Heaters for High Sensitiv...

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IEEE Sensors

作者： Jeonhyeong Park Ilryu Jang Hoe Joon Kim Dept. of Robotics Engineering DGIST Daegu South Korea

This paper reports the fabrication and characterization of crumpled multi-walled carbon nanotube (CNT) thin film heater and its application towards hydrogen gas sensing. We have fabricated MWCNTs thin film heater by a simple spray coating and thermally shrinking the polystyrene (PS) substrate. Thermal shrinkage results crumpled CNTs with closely packed junctions, leading to a higher heating temperature at a given input voltage. Such efficient heating capabilities of the crumpled CNT heater are favorable for hydrogen gas sensing with good desorption characteristics. Our results show that higher operating temperatures result in better measurement sensitivities. In addition, the heating performance and temperature coefficient of resistance (TCR) of CNT heaters are analyzed for an accurate temperature control. The suggested crumpled CNT heaters can be applied for low-voltage gas sensing platforms.

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Single Support Phase Gait Kinematics and Kinetics for a Humanoid Lower Limb Exoskeleton

Single Support Phase Gait Kinematics and Kinetics for a Huma...

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IEEE Region 10 Symposium

作者： Ganesh Roy Sourajit Mukherjee Tiasa Das Subhasis Bhaumik Dept. of Aerospace Engineering and Applied Mechanics Indian Institute of Engineering Science and Technology Shibpur Howrah India Dept. of Instrumentation Engineering Central Institute Technology Kokrajhar Kokrajhar India School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Shibpur Howrah India Dept. of Mechanical Engineering National Institute Technology Durgapur Durgapur India

ISBN: (数字)9781728173665

ISBN: (纸本)9781728173672

The field of assistive robotics has gained increasing importance among robotics and mechatronics researchers in recent years. The use of exoskeleton devices has become popular due to an increase in the number of aged as well as physically weak or injured people and stroke patients. The present work has been initiated, keeping in mind all the challenges faced by them. A 10 Degree of Freedom (DoF) lower-limb exoskeleton device has been considered as the most suitable configuration for an assistive robotic device. At first, a simple 3 DoF two-dimensional bipedal manipulator kinematic and dynamic equations have been derived. This knowledge has been utilized to develop the kinematic model for the Single Support Phase (SSP) of the main exoskeleton system, by dividing it into four parts for ease of tracking the manipulator in real-time, as well as to increase the speed of inverse kinematic calculation. It is essential for a hyper-redundant manipulator. The equations have been validated then with the help of standard software tools (MATLAB Simscape). Finally, human gait biomechanics have been compared with the exoskeleton kinematics and kinetics to validate the simulated observations against analytical values.

关键词： Mathematical model Exoskeletons Manipulators Kinematics Kinetic theory Legged locomotion Hip

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Simulation of Deep Learning Control Systems to Reduce Energy Loses due to Vibration and Friction in Rotor Bearings 3

Simulation of Deep Learning Control Systems to Reduce Energy...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Kornaev, Alexey Zaretsky, Roman Egorov, Sergey Dept. of Mechatronics Mechanics and Robotics Orel State University Named after I.S. Turgenev Orel Russia Dept. of Computer-Aided Systems in Mechanical Engineering Tambov State Technical University Tambov Russia

ISBN: (纸本)9781728124704

the paper considers a simulation model of a rotor-bearing complex with a bearing geometry control system based on reinforcement learning algorithm. The simulation results showed that reinforcement learning allowed to reduce friction and vibration losses in a rotary machine by directly controlling the clearance in the bearings and indirectly controlling the resulting hydrodynamic force and the trajectory of the rotor. © 2019 IEEE.

关键词： Control systems

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