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Joint International Conference of the 14th International Conference on Mechanisms and Mechanical Transmissions and 26th International Conference on robotics, MTM and robotics 2024

作者： Brad, Stelian Balog, Bogdan Florian, Vlad Deeb, Eyas Stan, Ovidiu Department Design Engineering and Robotics Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (纸本)9783031875366

The article explores how to resolve challenges in putting together electrical cabinets, particularly in managing wires and cables, with a focus on deformable linear objects (DLO). The study combines complex systems design techniques (CSDT) framework and the theory of inventive problem solving (TRIZ) in a structured way to handle and uncover creative ways to achieve desired results. The gripper model was derived from the methodology and by suggesting the reinforcement learning algorithm to enhance the route planning and further improving the adaptation of the electrical cabinet process for optimal assembly. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Grippers

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Research Regarding the Development of an Android Application Presenting Measurement, Drawing Indications and Explanations for Roughness Parameters

Research Regarding the Development of an Android Application...

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International Symposium for Production Research, ISPR 2023

作者： Pop, Grigore Marian Crisan, Liviu Adrian Tripa, Mihai Sorin Andresan, Dragos Department of Design Engineering and Robotics Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (纸本)9783031539909

This paper presents an android application developed for engineering students aiming to help them develop their skills to correctly interpret roughness parameters and their measurements according to the ISO standards. Due to the evolution of technology in the past 20 years and the need to constantly keep up with it, the learning and teaching process suffered a massive change. Students nowadays are high-tech learners, and they use their mobile devices in the learning process. Surface roughness is a critical factor that affects the performance and functionality of the engineering components. It is essential for the engineering students to understand how to measure and analyze the roughness parameters in order to ensure the quality and efficiency of the different machined products. The developed application provides guidelines for measuring different roughness parameters, according to ISO 4287, ISO 4288 and offers details regarding the indication of roughness parameters according to ISO 1302. The application also presents ranges of values for Ra and Rz obtained through different machining procedures. The aim of the developed application is to improve the quality of the teaching process of Tolerances and Dimensional Control and 3D Modelling courses for engineering students, covering the following lines of studies: design, robotics, industrial and mechanical engineering. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Students

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Self-Evolving Fuzzy-Based Control of Soft Pneumatic Rotary Actuators

Self-Evolving Fuzzy-Based Control of Soft Pneumatic Rotary A...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Kizhakkethil, Adil Mohammed Panigrahi, Siddhant Singh, Kumar Surjdeo Pramod, Avinash S Varala, Naveenreddy V Usama, Ansari Thondiyath, Asokan Indian Institute of Technology Madras Robotics Lab Department of Engineering Design Chennai India Indian Institute of Technology Madras Department of Engineering Design Chennai India

ISBN: (纸本)9781665481090

Physical environments in the real world are complex, unstructured, and often delicate. Pneumatic soft actuators draw inspiration from the adaptability of living organisms, enabling them to operate effectively in collaborative environments. Due to their compliant nature, the soft actuators present a solution for robots to interact safely with human co-workers and their surroundings. Multiple challenges arise while designing these actuators such as modelling, sensing, and controlling their continuously deformable structures. To address these issues, this research presents the dynamic modelling and self-evolving fuzzy-based closed-loop control for Soft Bidirectional Bending Actuator (SBBA) using visual feedback. This study discusses the hyper-elastic modelling of SBBA for bidirectional actuation, establishing a non-linear relationship between applied pressure and bending angle. Exteroceptive feedback is obtained from colour markers, which is integrated with the proposed control method to regulate the input pressure to the actuator. Experimental results demonstrate that the proposed control methodology can render the desired angle with an improvement of 22.97% in rise time, 33.61% in peak overshoot, and 30.35% in peak time, resulting in faster response and lower energy consumption. © 2024 IEEE.

关键词： Pneumatic actuators

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OFDM-structure based waveform designs for integrated sensing and communication

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Science China(Information Sciences) 2025年第5期68卷 267-284页

作者： Jiaqi LIU Ping YANG Ke JIANG Jiarong ZHAO Wei XIANG Jianping WEI Ruixiang DUAN Saviour ZAMMIT Tony Q.S.QUEK National Key Laboratory of Wireless Communications University of Electronic Science and Technology of China School of Computing Engineering and Mathematical Sciences La Trobe University Meituan Academy of Robotics Department of Communications and Computer Engineering University of Malta Information Systems Technology and Design Pillar Singapore University of Technology and Design

The future sixth-generation(6G) paradigm aims to seamlessly integrate communication and environmental sensing capabilities into a single radio signal, promising improved efficiency and cost-effectiveness through simultaneous data communications and environmental perception. At the core of this evolution, orthogonal frequency division multiplexing(OFDM) and its advanced waveforms emerge as pivotal for integrated sensing and communications(ISAC). This study introduces a concise and unified ISAC waveform design framework based on orthogonal multicarriers. This framework supports versatile applications of OFDM and its derivative waveforms within a generalized ISAC system, marking a significant leap in integrating communication and sensing capabilities. A distinguishing feature of this framework is its adaptability,allowing users to intelligently select modulation strategies based on their specific environmental needs. This adaptability optimizes performance across diverse scenarios. Central to our innovations is the proposal of discrete Fourier transformspread OFDM with index modulation(DFT-S-OFDM-IM). This framework is paired with newly proposed signal processing methods for single-input single-output and multiple-input multiple-output(MIMO) systems. Extensive evaluations highlight DFT-S-OFDM-IM's superiority, including dramatically reduced peak-to-average power ratios(PAPRs), competitive communication performance, and exceptional sensing capabilities, striking an elegant balance between communication capacity and environmental sensing precision.

关键词： DFT-S-OFDM-IM index modulation integrated sensing and communication OFDM

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Active 2-Axis Ankle-Foot Exoskeleton Using Single Actuator for Physiotherapy

Active 2-Axis Ankle-Foot Exoskeleton Using Single Actuator f...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Nirmal, Aswin Beckham Pramod, Avinash S Thondiyath, Asokan Indian Institute of Technology Madras Robotics Laboratory Department of Engineering Design Tamil Nadu Chennai600036 India

ISBN: (纸本)9781665481090

Stroke patients perform resistance training during the recovery phase to regain muscle strength and neuromuscular functioning. The active ankle-foot exoskeletons (AAFE) available in the market, used for leg muscle training, have multiple actuators to facilitate multiple ankle movements. This increases the complexity, weight and makes the device less portable. In this paper, we propose an AAFE having a spatial mechanism that can facilitate variable resistance training during plantarflexion/dorsiflexion and inversion/ eversion using a single actuator. Based on the focus on the group of muscles to be trained, an independent motion is achieved by arresting the redundant joints. The paper presents the design and analysis of the AAFE, and the performance of the fabricated exoskeleton is demonstrated for three different training modes. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Geometrical Tolerances Android Application Developed for Student for a Better Understanding of Orientation Tolerances According to the Latest ISO Standards 1

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22nd International Symposium for Production Research, ISPR 2022

作者： Pop, Grigore Marian Comes, Radu Neamtu, Calin Crisan, Liviu Adrian Andresan, Dragos Department of Design Engineering and Robotics Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (数字)9783031244575

ISBN: (纸本)9783031244568

In the year 2021, a virtual reality training application has been developed, specifically for the Oculus Quest 2 headset, in order to allow the users to view and analyse 3D models for a wide variety of geometrical tolerances, tolerance zones and even the conformity condition and the datum features. This application allows the students to better understand the geometrical tolerances in accordance with the latest ISO GPS standards by using different 3D interactive models in order to highlight different types of geometrical tolerances and tolerance zones. In order to try to make the virtual reality training application more mobile and accessible for students, a mobile application, designed for the android operating system smartphones, has been developed. This application can facilitate better learning outcomes within the teaching-learning process by enabling the students to visualize a wide variety of 3D models representing different types of geometrical tolerances. Due to the dramatic evolution of technology in the past 20 years and the need to constantly keep up with it, the learning and teaching process suffered a massive change. The Covid pandemic has closed Universities all over the world and so, for the teaching process to continue, a sudden shift from traditional teaching to a more modern one involving the digital world was needed. Thanks for the fact that, nowadays, students are more inclined to use different types of mobile devices, the shift to the new learning paradigm has not left a great "scar" on student and teachers. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Students

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An Open Framework for Smart Retrofitting of Legacy Industrial Machines Towards Industry 4.0

An Open Framework for Smart Retrofitting of Legacy Industria...

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2024 IEEE Region 10 Conference, TENCON 2024

作者： Patel, Deep Muthuswamy, Sreekumar Indian Institute of Information Technology Centre for AI IoT and Robotics Design and Manufacturing Department of Mechanical Engineering Chennai600127 India

ISBN: (纸本)9798350350821

This paper presents a six-layer framework for smart retrofitting of legacy industrial machines to align with Industry 4.0 standards, using open-source technologies for cost-effectiveness and scalability. The layers include edge data acquisition, data preprocessing, Digital Twin technology, long-term data storage, AI-based data analysis, and real-time visual-ization. Implemented and evaluated through a case study on a legacy CNC lathe, the framework demonstrated reliable communication and effective performance across various layers. The results validate the framework's feasibility and highlight the need for further fine-tuning of open large language models with manufacturing domain knowledge. © 2024 IEEE.

关键词： Smart manufacturing

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A Low Cost on-Device Intruder Detection System for Smart Home Environment 8

A Low Cost on-Device Intruder Detection System for Smart Hom...

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8th IEEE International Conference on Information and Communication Technology, CICT 2024

作者： Maiti, Chayan Vivekanand, E. Muthuswamy, Sreekumar Indian Institute of Information Technology Design and Manufacturing Centre for AI IoT and Robotics Department of Mechanical Engineering Kancheepuram Chennai India

ISBN: (纸本)9798331531539

Robust security is tritical for smart homes to protect families and goods from potential intruder threats. Vision-based intruder detection systems are commonly used for this task. However, only a few households have adopted such security technology because of its high cost, which includes both expensive devices and service costs. To address this issue, a low-cost intruder detection system is investigated in this study, leveraging a Raspberry Pi 4 with a camera module. Smart resource utilization strategies are employed to enable on-device local processing for privacy preservation of sensitive video data. To achieve real-time processing on resource constrain hardware, efficient motion detection is accomplished using the frame subtraction technique, while rapid face detection is accomplished through the haar cascade utilizing Kalman filter. Face identification using OpenFace model is speed up by subsequent template matching technique. The proposed algorithm achieved an average frame rate of 22 FPS making it capable for real-time intruder detection with environmental constrain. © 2024 IEEE.

关键词： Smart homes

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Gait dynamic stability evaluation on inclined surfaces for inverted or everted feet walking

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Fuss und Sprunggelenk 2024年第4期22卷 254-268页

作者： Raza, Anam Mahmood, Imran Sultana, Tayyaba Sultana, Salma Dehghani-Sanij, Abbas A. Department of Zoology Government College University Faisalabad Pakistan Mechatronics and Control Engineering Department Faisalabad Campus UET Lahore Pakistan Institute of Design Robotics and Optimisation School of Mechanical Engineering University of Leeds United Kingdom

Background: This study investigates gait dynamic stability on inclined surfaces while walking with foot rotational impairments such as everted and inverted feet. Walking stability is assessed during gait transitional periods i.e. weight loading and unloading phases. Methods: Foot rotational impairments (eversion and inversion) are imitated using wedged foot insoles. A total of ten healthy subjects performed five trials for each of the inverted, everted, and normal feet conditions. Experimental data was collected using a twelve-camera motion capture system and a force plate installed on an inclined platform. Lower limb joint kinematics were computed in Visual-3D motion analysis software to evaluate the degree of foot rotational impairments. Gait dynamic stability was assessed by analysing the centre of mass and centre of pressure signals as neuromechanical input and output responses respectively. Both signals were modelled in time and frequency domains and stability margins were quantified by applying Nyquist and Bode (N&B) methods from control engineering theory. Results: Stability margins quantified from N&B methods illustrated the loading phase as stable and the unloading phase as unstable gait transitions. During the loading phase, both rotational impairments illustrated a decrease in stability (p < 0,05) for the ramp ascent walk and an increase in stability (p < 0,05) for the ramp descent walk. However, there was no difference observed for the respective unloading phases. Results from neuromotor outputs (CoP-velocity) illustrated a strong interlimb correlation (p < 0,001) during gait transitional periods, implying a compensatory stability interaction exists between opposite limbs. Further, stabilities quantified from outputs were found greater in magnitudes than the instability quantified from inputs illustrating the robustness of neuromotor balance control. Conclusions: Results support the hypothesis that gait stability gets affected while walking with rotation

关键词： Balance control Foot Gait stability Inclined walk Rotational impairments

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Forearm-Driven Soft Prosthetic Hand designed for Children with the Ability to Execute Intricate and Skillful Motions 11

Forearm-Driven Soft Prosthetic Hand Designed for Children wi...

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11th International Conference on Mechatronics and robotics engineering, ICMRE 2025

作者： Taniguchi, Hironari Yakami, Ren Morinaga, Kosuke Wakimoto, Shuichi Osaka Institute of Technology Department of Robotics and Design Osaka Japan Hiroshima International University Department of Rehabilitaion Higashi-Hiroshima Japan Okayama University Department of Systems Engineering Okayama Japan

ISBN: (纸本)9798331509293

The prosthetic hand we have developed is powered by air pressure, and its functionality is not impaired even when the finger joints are flexibly deformed. This makes it possible to grasp objects of various shapes, and it has the advantages of durability and high safety for the user and others. We have evaluated the performance of the developed prosthetic hand and conducting user tests using only the prosthetic hand. Of the 19 tasks performed, 14 were successfully completed. The user was able to achieve movements that were comparable to those of normal subjects in the task using grip strength grasping. The results of the user test confirmed several issues regarding the functionality of the prosthetic hand, but it was thought that it could sufficiently fulfill the purpose of assisting bimanual motion in an environment where children actually use the prosthetic hand. © 2025 IEEE.

关键词： prosthetic hand soft actuator soft robotics

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