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International Electrical engineering Congress (iEECON)

作者： Panjawee Rakprayoon Akechai Ounsiri Ratchanon Chongyoa Dept. AI Engineering and Data Science Faculty of Engineering Bangkok University Pathum Thani Thailand DNA ROBOTICS and Automation System Company Limited Pathum Thani Thailand Dept. Computer and Robotics Engineering Faculty of Engineering Bangkok University Pathum Thani Thailand

ISBN: (数字)9798350383591

ISBN: (纸本)9798350383607

For an AI tic-tac-toe manipulator application, a real-time vision-based approach is proposed. The technique employs the RealSense camera to capture color and dept. images. Combining object detection and image processing techniques to identify X's and O's positions on the game board. However, we recognize that errors can occur during object movement when using only 2D images. To solve this problem, a calibration method between RealSense and the manipulator based on the point-to-plane ICP algorithm is presented. This method provides the 3D object position in the robot coordinate, resulting in increasing the accuracy from 86.25% to 97.25%. Our experiment shows that this technique is highly effective and can accurately identify position objects.

关键词： Three-dimensional displays Robot kinematics Robot vision systems Games Object detection Manipulators Real-time systems

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On the Enhancement of Energy Efficiency of Wireless Rechargeable Sensor Networks through Mobile Charger Scheduling

On the Enhancement of Energy Efficiency of Wireless Recharge...

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Distributed Computing and Optimization Techniques (ICDCOT), International Conference on

作者： Md. Kamaruzzaman Abhijit Chandra Md. Azharuddin Dept.of Robotics and Automation The Neotia University Kolkata India Dept. of Instrumentation and Electronics Engineering Jadavpur University Kolkata India Dept. of Computer Science and Engineering Aliah University Kolkata India

In recent years, wireless rechargeable sensor networks (WRSNs) have become more popular because of its diverse array of applications. However, the limited energy resources of individual sensors pose a significant challenge in maintaining network operations over an extended period. To address this challenge, this research paper presents an energy-efficient scheduling scheme based on distance based scheduling for mobile charging vehicle (MCV) in WRSNs. The proposed scheme capitalizes on the MCV, allowing them to dynamically adjust their charging schedules to cater to the energy demands of sensor nodes (SNs). By efficiently allocating charging tasks to MCV, the scheme aims to balance the energy distribution and mitigate the energy imbalance across the network. By conducting comprehensive simulations with various scenarios, the proposed scheme has been compared with some existing schemes in relation to charging path length, total energy received and charging utility. The simulation results manifest significant advantages of the proposed scheme.

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Enhanced Streetlight Management: Using IoT and ESP32 for Automated Fault Detection

Enhanced Streetlight Management: Using IoT and ESP32 for Aut...

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India Council International Subsections Conference (INDISCON), IEEE

作者： Swati Bhisikar Prabodh Jagtap Shilpa Sonawane Hrushikesh Sawant Prerana Pisal Dept. of Electronics and Telecommunication Rajarshi Shahu College of Engineering Pune India Dept. of Information Technology Vishwakarma Institute of Information Technology Pune India Dept. of Automation and Robotics Rajarshi Shahu College of Engineering Pune India

ISBN: (数字)9798350376753

ISBN: (纸本)9798350376760

The core focus of this paper is to implement a cutting-edge system for intelligent streetlight management, leveraging an automotive monitoring system to identify and rectify any faults within the streetlight infrastructure. Rapid response of the proposed fault detection system will help save the time of the linemen, which is wasted in manually detecting the faults at streetlights, and will help to reduce the workload of the linemen. Also, most of the time, the detection of the problem mainly depends on the grievances of the local people. Thus, this causes delays in the maintenance of the streetlights, wastage of power, and problems for the local people. So, to reduce such problems, we have developed an automatic detection system for streetlight faults. During nighttime, this system will detect faults such as whether the lamp is ON or OFF, or if a wire cut is in the circuit. As the fault is detected, the information will be provided to the authorized person; the information will contain the type of fault that occurred in the streetlight system.

关键词： Smart cities Local government Fault detection Light emitting diodes Maintenance Circuit faults Wire Internet of Things Monitoring Intelligent sensors

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Microfluidic Lab-on-a-Chip Design and Analysis for GFAP Biomarker Detection Using Machine Learning Algorithms

Microfluidic Lab-on-a-Chip Design and Analysis for GFAP Biom...

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Communication, Control and Intelligent Systems (CCIS)

作者： P. Balaji D. Devasena P. Rithick T. Karthi K. Rishmitha R. Roopa Dept. of. Electronics and Instrumentation Engineering Sri Ramakrishna Engineering College Coimbatore Tamilnadu Dept. of Robotics and Automation Engineering Sri Ramakrishna Engineering College Coimbatore Tamilnadu Dept. of Automobile Engineering Kongu Engineering College Erode India Dept. of Artificial Intelligence and Data Science Arjun College of Technology Coimbatore Tamilnadu

ISBN: (数字)9798331528201

ISBN: (纸本)9798331528218

The detection of Glial Fibrillary Acidic Protein (GFAP) is a crucial biomarker for diagnosing neurological conditions such as traumatic brain injuries (TBI) and astrocytoma. This paper presents the design and analysis of a novel microfluidic Lab-on-a-Chip (LoC) platform for GFAP biomarker detection. The system integrates microfluidic channels with embedded gold nanoparticle-functionalized electrochemical sensors for high-sensitivity biomarker capture. The microfluidic chip is designed using soft lithography and PDMS (Polydimethylsiloxane), allowing for precise fluid handling and minimal sample consumption. The electrochemical sensors generate voltage signals corresponding to GFAP concentration levels, which are processed using digital filtering techniques to mitigate noise and improve signal quality. For accurate biomarker quantification, machine learning algorithms, including Random Forest ,KNN and Support Vector Machine (SVM), are employed to classify sensor output data into clinically significant concentration ranges. The model is trained on both simulated and experimentally collected sensor data, achieving an accuracy of over 93 percent in distinguishing low (below 50 ng/mL) and high (above 50 ng/mL) GFAP concentrations. The combination of microfluidic precision, sensitive electrochemical detection, and data analysis enables rapid and reliable detection of GFAP , providing a scalable and portable solution for early diagnosis of brain injuries and neurodegenerative diseases. This system highlights the potential of integrating microfluidics and machine learning in next-generation point-of-care diagnostic devices.

关键词： Support vector machines Soft lithography Machine learning algorithms Accuracy Data analysis Lab-on-a-chip Sensor systems Biosensors Microfluidics Brain injuries

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Emerging Trends of Digital Manufacturing in Bioimplants

Emerging Trends of Digital Manufacturing in Bioimplants

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engineering Informatics, IEEE

作者： Rohit P. Jadhav Abhijit A. Patil Shrikant.B. Thorat Dept. of Robotics & Automation Engineering D.Y. Patil College of Engineering Akurdi Pune India Dept. of Mechanical Engineering Sanjay Ghodawat University Kolhapur India

ISBN: (数字)9798350338522

ISBN: (纸本)9798350338539

Industry 4.0 has seen a significant shift in the manufacturing of metallic biomaterials, which are used to manufacture devices and products for biomedical sector applications, owing to the emergence of digital manufacturing technologies like 3D printing. Compared to conventional fabrication techniques, 3D printing techniques allow the fabrication of metallic materials that are extremely specific and inexpensive. In this context, this paper focuses on the design, manufacturing, and analysis of SS316L powder stents using Selective Laser Melting (SLM). However, the stent design and its manufacturing process viability were examined using Design for Additive Manufacturing (DFAM) tools such as CREO, Materialize Magics, and EOSTATE software. Further, the laser power and scan speed were selected as SLM input parameters, and their results were evaluated in terms of surface roughness parameters, surface topography, and geometrical features. Findings indicated that the obtained values of Ra 0.484 μm, Rq 0.560 μm, Rt 2.789 μm, and Rz 1.98 μm were within an acceptable range. SEM analysis of the resulting surface topography supported these findings. The overall study shows that Industry 4.0 digital techniques, like SLM, are an emerging approach to manufacturing bio-implants.

关键词： Industries Surface morphology Surface emitting lasers Three-dimensional printing Surface roughness Surface topography Rough surfaces

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Development of a Wheeled Mobility Device to Facilitate Chair Transfers

Development of a Wheeled Mobility Device to Facilitate Chair...

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Moratuwa engineering Research Conference (MERCon)

作者： Dilmie De Silva Sulaksha Pieris Eranja Perera H. H. M. J. De Silva R. A. R. C. Gopura R. K. P. S. Ranaweera M. Hordagoda A. G. B. P. Jayasekera Dept. of Mech. Engineering Bionics Lab University of Moratuwa Moratuwa Sri Lanka Dept. of Electrical Eng Robotics and Automation Lab University of Moratuwa Moratuwa Sri Lanka

ISBN: (数字)9798331529048

ISBN: (纸本)9798331529055

This paper proposes a wheeled mobility device specifically designed to facilitate chair transfers. This design introduces a novel seating function that can be used as a conventional wheelchair. It also includes an innovatively designed seat to enhance patient comfort during transfer and transport. In addition to this, the design integrates a specialized Stand Assistive Device to assist patients in standing and sitting. It includes several user-friendly features, a parallelogram mechanism that ensures that the user stays upright during the process and a lower limb locking mechanism to ensure stability. It also incorporates low physical strain to the caregiver providing a safe and feasible operation. An experiment was conducted to observe the path of the shoulder joint during assisted standing. The results obtained by this was integrated into the kinematic analysis of the Stand Assist Device. A kinetic analysis of the user and the Stand Assist device is presented in the paper. A functional prototype, incorporating several safety features, was fabricated and tested by four healthy users with varying anthropometric data.

关键词： Wheelchairs Shoulder Prototypes Manuals Kinematics Stability analysis Safety Kinetic theory Usability Strain

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Actor–Critic Learning Based Pid Control for Robotic Manipulators

SSRN

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SSRN 2023年

作者： Nohooji, Hamed Rahimi Zaraki, Abolfazl Voos, Holger Automation Robotics Research Group University of Luxembourg Luxembourg Robotics Research Group University of Hertfordshire United Kingdom Dept. of Engineering University of Luxembourg Luxembourg

In this paper, a reinforcement learning structure is proposed to auto-tune PID gains by solving an optimal tracking control problem for robot manipulators. Taking advantage of the actor-critic framework implemented by neural networks, optimal tracking performance is achieved while unknown system dynamics are estimated. The critic network is used to learn the optimal cost-to-go function while the actor-network converges it and learns the optimal PID gains. Furthermore, Lyapunov’s direct method is utilized to prove the stability of the closed-loop system. By that means, an analytical procedure is delivered for a stable robot manipulator system to systematically adjust PID gains without the ad-hoc and painstaking process. The resultant actor-critic PID-like control exhibits stable adaptive and learning capabilities, while delivered with a simple structure and inexpensive online computational demands. Numerical simulation is performed to illustrate the effectiveness and advantages of the proposed actor-critic neural network PID control. © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Design and Characterization of a Novel, Low-Cost Resistive Stretch Sensor Band for Interactions in HCI Applications

Design and Characterization of a Novel, Low-Cost Resistive S...

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International Conference on Computing and Networking Technology (ICCNT)

作者： B. Sankar Arun Kumar Dhuraisamy S Sindhu S. Rajath Dept. of Mechanical Engineering Indian Institute of Science (IISc) Bangalore India Dept. of Robotics & Automation Engineering PSG College of Technology Coimbatore India Dept. of Electronics Engineering Vellore Institute of Technology (VIT) Chennai India Dept. of Design and Manufacturing Indian Institute of Science (IISc) Bangalore India

ISBN: (数字)9798350370249

ISBN: (纸本)9798350370270

In recent years, Human-Computer Interaction (HCI) technology has progressed significantly toward creating immersive experiences. Yet, the physical interaction within these environments often relies on hand controllers or hand tracking systems using gestures that lack the naturalistic feeling of grasping objects and are computationally expensive, respectively. This study introduces the Resistive Stretch Sensor (RSS) Band, a novel approach to bridging this gap by enabling interactions in HCI through the use of conductive rubber. The RSS is designed as a wearable band that conforms to the user’s forearm, responding to muscle expansion during a full power grasp and release motion. As the RSS band stretches, its resistance value changes, which can be used as input for interactions within a virtual environment. The research characterises the conductive rubber material to determine the optimal RSS band design. The design process of the RSS band is detailed, considering ergonomic factors and the need for reliable and repeatable sensor output. A calibration method is developed to translate resistance changes into accurate input for HCI systems. The study concludes by examining the RSS’s potential applications, such as in human-computer interaction.

关键词： Human computer interaction Technological innovation Sensitivity Ergonomics Virtual environments Muscles Reliability engineering Physiology Rubber Immune system

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Regrasping on Printed Circuit Boards with the Smart Suction Cup

Regrasping on Printed Circuit Boards with the Smart Suction ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jungpyo Lee Zheng Sun Zhipeng Dong Fei Chen Hannah S. Stuart Dept. of Mechanical Engineering Embodied Dexterity Group University of California Berkeley Berkeley CA USA The Dept. of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The disposal of waste electrical and electronic equipment (WEEE) presents a sustainability challenge, particularly for waste printed circuit boards (PCBs). PCBs are challenging to sort out from other waste materials in part because traditional industrial end-effectors struggle to reliably grip these irregularly shaped objects with unmodeled surface-mounted components. Vision-based separators, while effective for object categorization, face challenges with identifying precise grasp points on PCB surfaces. This paper studies regrasping control to enhance suction cup grasping performance on PCBs, addressing issues arising from uneven surfaces and intricate features that interfere with suction sealing. We categorize PCBs into two recycling levels – with large surface features intact or removed – and conduct experiments on both stationary and conveyor belt setups with realistic vision-based grasp planners. Results show that jumping regrasping improves pick-and-place success rate. Haptically driven jumping – using the Smart Suction Cup – is especially useful for unprocessed waste PCBs with large surface mount parts. The proposed method offers a promising solution to enhance the efficiency and reliability of robotic grasping in recycling applications.

关键词： Particle separators Surface mount technology Grasping Electronic waste Recycling Object recognition Integrated circuit reliability

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PyFCS: A new Python library to create and manipulate Fuzzy Color Spaces

PyFCS: A new Python library to create and manipulate Fuzzy C...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Rafael Vazquez-Conejo María Tejada-Casado Luis Javier Herrera Razvan Ghinea Jose Manuel Soto-Hidalgo Dept. Optics University of Granada Spain Dpt. Optics University of Granada Spain Dpt. Computer Engineering Automation and Robotics University of Granada Spain

ISBN: (数字)9798350319545

ISBN: (纸本)9798350319552

Color, as a fundamental element in digital imagery, plays a vital role across various domains, from art and design to scientific imaging. However, its representation and manipulation are challenged by the inherent subjectivity of human color perception and the limitations of traditional color naming and categorization methods. Addressing these challenges, this paper introduces PyFCS, a novel Python library developed to create and manipulate fuzzy color spaces, offering a more nuanced and realistic approach to color modeling. PyFCS leverages fuzzy logic and the conceptual spaces theory to allow flexible and accurate representation of color categories, overcoming the constraints of crisp boundaries. Building upon the groundwork laid by the Java-based JFCS software, PyFCS harnesses Python's strengths in computation and its rich ecosystem of libraries for enhanced data processing and image analysis capabilities. The library's user-friendly and scalable design, coupled with its integration with Python's computational resources, makes it accessible to a broad range of users, from beginners to advanced researchers. The efficacy of PyFCS is demonstrated through a case study involving the creation of fuzzy color spaces from a paint catalog and its subsequent application in mural painting, exemplifying its practical utility in real-world scenarios. Furthermore, this paper details how PyFCS seamlessly integrates with other libraries to offer a comprehensive color analysis, exemplified by linguistic description of colors present in an urban mural painting. This study introduces a sophisticated color space tool and enhances scientific collaboration by providing open-source access to PyFCS on GitHub.

关键词： Fuzzy logic Accuracy Image color analysis Color Machine learning Media Libraries

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