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Fabrication of Microchannels on Aluminium-Coated Polymethyl Methacrylate (PMMA) Using a Low Power CO2 Laser

Lasers in Manufacturing and Materials Processing 2024年第4期11卷 868-886页

作者： Okello, Job Lazarus El-Bab, Ahmed M. R. Fath Yoshino, Masahiko El-Hofy, Hassan A. Industrial and Manufacturing Engineering Department Egypt-Japan University of Science and Technology New Borg El-Arab City Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology New Borg El-Arab City Egypt Department of Mechanical Engineering Tokyo Institute of Technology Tokyo Japan Department of Production Engineering Faculty of Engineering Alexandria University Alexandria Egypt

The emergence of microfluidics as one of the most viable technologies for making various microfluidic devices has greatly enhanced miniaturization in several areas. The utilization of polymethyl methacrylate (PMMA) for making such devices using CO2 lasers has significantly increased due to the flexibility, time, and cost-effectiveness involved. However, attaining microchannels with accurate dimensions is a challenge because of the resulting defects like bulges, high heat-affected zone (HAZ), and surface roughness (Ra). This paper presents a novel attempt to engrave rectangular microchannels on PMMA substrates using a CO2 laser by coating the substrates with a thin layer of 1 μm thickness of 99.95% pure aluminium. The study investigated the effects of power, and speed on the quality of the microchannels. The fabrication was done on both coated and uncoated substrates under the same conditions and the results were compared. Power and speed ranged from 1.5 to 7.5 W and 5 to 17.5 mm/s, respectively. At 1.5 W and 17.5 mm/s, the aspect ratio increased by 37.16%. However, the microchannel depth, width, HAZ, and Ra all reduced by 44.66%, 59.68%, 29.44%, and 64.74% respectively. At 7.5 W and 5 mm/s, the aspect ratio increased by 81.46%. However, the microchannel depth, width, HAZ, and Ra all reduced by 21.84%, 54.64%, 32.36%, and 72.70% respectively. The coated substrates produced better microchannels than the uncoated ones. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： Carbon dioxide lasers

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Disturbance Observer-Based Robust Control for Redundant Manipulators Towards Conditional Monitoring

Disturbance Observer-Based Robust Control for Redundant Mani...

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International Conference on Biomimetic Intelligence and robotics & Medical robotics Forum, ICBIR+MRF 2024

作者： Ma, Tie-Nan Xi, Rui-Dong Liang, Wei-Xiang Yang, Zhi-Xin Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa999078 China Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China

Conditional monitoring is crucial for preserving the functionality and longevity of electro-mechanical equipment. The adoption of robots is an effective method for improving the traditional approaches that rely on fixed monitoring sites. Therefore, this work investigates the motion control of a redundant robot manipulator in operational space for the application of conditional monitoring. A simple and efficient kinematic tracking differentiator (KTD) is proposed to convert operational space trajectories into joint space tracking. Redundancy is handled using a null space vector with time delay method. Additionally, a fixed-time terminal sliding mode controller (FxTSMC) is designed with a disturbance observer to improve fast convergence and disturbance rejection ability. Simulation results have been demonstrated to show the effectiveness of the proposed control scheme. © 2024 The Authors.

关键词： Disturbance rejection

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Are Robots Social Beings? Exploring Embodiment and Social Presence in Human-Robot Interactions 25

Are Robots Social Beings? Exploring Embodiment and Social Pr...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Sharni Konrad Buddhi Gamage Damith Herath Janie Busby Grant Collaborative Robotics Laboratory Faculty of Health University of Canberra Collaborative Robotics Laboratory Faculty of Science and Technology University of Canberra

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

As robots are becoming increasingly common within social settings, understanding the drivers of effective Human-Robot Interaction (HRI) becomes crucial. One factor emerging as a potential key variable in HRI is social presence, which is the extent to which a person feels connected to, or aware of, the presence of another. In the context of HRI, social presence has been identified as a factor that shapes human responses to robots, impacting outcomes such as attachment, trust, and social influence. Social presence itself appears to be influenced by factors including the nature of the embodiment. However, HRI research examining social presence is limited by the lack of consistent operationalization of social presence and conflation with the variance in embodiment of the robot. The current pilot study is designed to tease apart embodiment and social presence by exploring the relative impacts of interactions with two matched representations of a social robot (physical and virtual), finding that even controlling for size, proximity and response mechanisms, physical embodiment is associated with higher reported social presence. The study also identified both consistencies and inconsistencies in the measurement of social presence across assessments. The findings provide a foundation for further study into social presence in HRI, by clarifying mechanisms of quantifying and experimentally manipulating social presence, allowing insight into ways in which this factor drives HRI.

关键词： Shape Social robots Human-robot interaction

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Reframing Social Presence for Human Robot Interaction 25

Reframing Social Presence for Human Robot Interaction

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Nipuni H. Wijesinghe Yue Peng Sharni Konrad Maleen Jayasuriya Janie Busby Grant Damith Herath Collaborative Robotics Laboratory Faculty of Science and Technology University of Canberra Collaborative Robotics Laboratory Faculty of Health University of Canberra

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

Social Presence (SP) is a critical factor in human-robot interaction (HRI), influencing how users perceive and engage with social robots. Traditionally, SP has been conceptualized by focusing on the user's subjective perception of a robot's social capabilities, which we label, Attributed Social Presence (ASP). However, this perspective overlooks the inherent capabilities of robots that can engender a sense of presence, which we argue can be termed, Intrinsic Social Presence (ISP). In this paper we explicitly explore and distinguish between ASP and ISP, highlighting the limitations of solely focusing on attributed user perceptions in HRI. We address the challenges associated with the conceptual ambiguity of SP, the difficulties in benchmarking due to inconsistent definitions, and the lack of research examining robot presence modulation. To overcome these issues, we propose reframing SP as a multidimensional construct encompassing three interconnected domains. By emphasizing ISP and providing a practical framework for its implementation, this paper aims to enhance the development of adaptable, responsive robots capable of meaningful engagement. This approach bridges the gap between rigid robotic behaviour and the fluid, adaptive presence characteristic of human interactions, emphasizing that genuine trust and connection are integral to the full functionality and effectiveness of social robots.

关键词： Fluids Social robots Modulation Focusing Psychology Benchmark testing Robot sensing systems Real-time systems Robots Intelligent robots

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Research and Simulation of Step-Up Converter of Battery Power Supply for DC Drive System 22

Research and Simulation of Step-Up Converter of Battery Powe...

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22nd International Symposium on Power Electronics, Ee 2023

作者： Arbuzina, Arina Arkharova, Margarita Politsinsky, Alexander Demidova, Galina Garg, Akhil Poliakov, Nikolai Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350343175

Algorithms of evaluation battery state of charge (SoC) and power consumption should be implemented to electrical drive systems to control parameters of a battery. In the course of the work, the characteristic of discharge of the battery was obtained, the control system for a semiconductor step-up voltage converter for the battery management system (BMS) was developed, and the accuracy of the model was evaluated. A simulation model of the «PWM converter-DC drive» system with the battery was developed. Simulation results were compared with experimental data and conclusions were drawn about the possibility of determining the SoC of the battery. © 2023 IEEE.

关键词： Battery management systems

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Evaluation of Self-localization Estimation in Indoor Environments Using Cameras for Small Drones 6

Evaluation of Self-localization Estimation in Indoor Environ...

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6th International Symposium on Advanced Technologies and Applications in the Internet of Things, ATAIT 2024

作者： Higashiuchi, Genki Shimada, Tomoyasu Nishikawa, Hiroki Kong, Xiangbo Tomiyama, Hiroyuki Graduate School of Science and Engineering Ritsumeikan University Japan Graduate School of Information Science and Technology Osaka University Japan Department of Intelligent Robotics Faculty of Information Engineering Toyama Prefectural University Japan

Recently, the demand of drones has increased dramatically. Drones are employed in variety fields, e.g., border security, search and rescue, surveying and recreational activities. Drones have become indispensable tools in each of these fields. Self-localization is an essential function that enables UAVs to fly autonomously. While Global Positioning System (GPS) is effective outdoors, GPS is dysfunctional in the indoor environment because of signal blocking or irregular reflection. Additionally, small drones valued for their agility in narrow spaces. However, they are often limited by weight and cost constraints, restricting their sensor capabilities. In this paper, we investigates self-localization for small drones using monocular camera images. Specifically, we will employ Visual Odometry [1] to estimate the drone’s position. By analyzing the impact of varying the number of image frames used per estimation, we aim to evaluate potential improvements in self-localization accuracy quantitatively. For the three pre-defined paths, the average error when using 25 images per estimation was found to be 89.17 cm. © 2024 Copyright for this paper by its authors.

关键词： Drones

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Output Tracking Control of a Nonlinear System Based on Takagi-Sugeno Fuzzy Model: Generalized Partial Eigenstructure Assignment Approach

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IEEE Access 2024年 12卷 18520-18535页

作者： Soltanian, Farzad Shasadeghi, Mokhtar Mobayen, Saleh Skruch, Pawel University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2M9 Canada Shiraz University of Technology Electrical Engineering Faculty Shiraz71557-13876 Iran National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper introduces an innovative optimal control approach to achieve output tracking while incorporating H2-performance specifications in a specific class of nonlinear dynamics modeled by the Takagi-Sugeno fuzzy model (TSFM). The primary innovation lies in extending partial eigenstructure assignment to TSFM-based nonlinear systems within the framework of sliding mode control (SMC). We propose a two-step methodology for designing optimal sliding surface gains. Initially, optimal state feedback gains are computed for each rule consequence containing a linear subsystem, adhering to predetermined eigenvalues and satisfying H2-performance criteria. Subsequently, using a convex combination, the overall state feedback gain is calculated and utilized to design sliding matrix gains. The sliding matrix gains are then determined by strategically combining previously calculated state-feedback gains in a convex optimization problem. We reframe the output tracking strategy as a stabilization problem using a virtual control input and reformulate the optimization task concerning tracking state errors. This process yields state feedback gains, sliding gains, and the formulation of the virtual control input. The effectiveness of our approach is verified through comprehensive simulations, emphasizing its capability in addressing output tracking challenges within nonlinear systems. © 2013 IEEE.

关键词： Transient analysis

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Deep Transfer Hashing for Adaptive Learning on Federated Streaming Data 8

Deep Transfer Hashing for Adaptive Learning on Federated Str...

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8th International Workshop and Tutorial on Interactive Adaptive Learning, IAL@ECML-PKDD 2024

作者： Röder, Manuel Schleif, Frank-Michael Faculty of Computer Science and Business Information Systems TUAS Würzburg-Schweinfurt Würzburg Germany Faculty of Technology Bielefeld University Bielefeld Germany Center for Artificial Intelligence and Robotics Würzburg Germany

This extended abstract explores the integration of federated learning with deep transfer hashing for distributed prediction tasks, emphasizing resource-efficient client training from evolving data streams. Federated learning allows multiple clients to collaboratively train a shared model while maintaining data privacy - by incorporating deep transfer hashing, high-dimensional data can be converted into compact hash codes, reducing data transmission size and network loads. The proposed framework utilizes transfer learning, pre-training deep neural networks on a central server, and fine-tuning on clients to enhance model accuracy and adaptability. A selective hash code sharing mechanism using a privacy-preserving global memory bank further supports client fine-tuning. This approach addresses challenges in previous research by improving computational efficiency and scalability. Practical applications include Car2X event predictions, where a shared model is collectively trained to recognize traffic patterns, aiding in tasks such as traffic density assessment and accident detection. The research aims to develop a robust framework that combines federated learning, deep transfer hashing and transfer learning for efficient and secure downstream task execution. © 2024 Copyright for this paper by its authors.

关键词： Federated learning

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Capabilities2 for ROS2: Advanced Skill-Based Control for Human-Robot Interaction 20

Capabilities2 for ROS2: Advanced Skill-Based Control for Hum...

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20th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2025

作者： Pritchard, Michael Ratnayake, Kalana Gamage, Buddhi Jayasuriya, Maleen Herath, Damith University of Canberra Collaborative Robotics Laboratory Faculty of Science and Technology Australia

ISBN: (纸本)9798350378931

In the early days of the Open Source robotics Foundation, a lesser-known project aimed to design an 'app-able robot', leading to the creation of the 'Capabilities' package for the Robot Operating System (ROS). Over a decade later, formulating robot capabilities remains a significant technical hurdle in bringing robots from the lab into everyday life. This paper introduces Capabilities2, a successor to the original Capabilities package, now reimagined for ROS2. Capabilities2 enhances the original design by enabling advancements in skill-based control techniques and offering a more efficient, extensible framework for defining and utilising robot capabilities. We delve into its application in new real-world scenarios, with a particular focus on human-robot interactions and the deployment of collaborative mobile robots in human-centric environments. Capabilities2 addresses challenges in implementing intuitive, collaborative robots by introducing an abstracted database handler, an object-relational mapping for capability models, and a plugin architecture for capability execution. These features support dynamic capability representation, runtime adaptability, and integration with modern AI techniques for skill-based task planning. By providing a standardised yet flexible framework, Capabilities2 reduces the integration effort required to develop top-level controls for real-world scenarios, facilitating rapid development and deployment. Our contributions include the reimplementation of the Capabilities package in ROS2, enhancements to support contemporary robotic applications, and demonstrations of new use cases enabled by Capabilities2. We believe that Capabilities2 significantly advances the field of robotics by equipping developers with tools to create more capable, adaptable, and interactive robots. Capabilities2 is available at https://***/CollaborativeroboticsLab/capabilities2. © 2025 IEEE.

关键词： Collaborative robots

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Developing a Framework for Natural Human Movement Mimicry of Low-Dynamic Motions in Mobile-Based Humanoids

Developing a Framework for Natural Human Movement Mimicry of...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Gormuzov, Simon Wang, Yushi Yang, Pinchu Miyake, Tamon Ogata, Tetsuya Sugano, Shigeki Waseda University Graduate School of Creative Science and Engineering Tokyo Japan Waseda University Future Robotics Organization Tokyo Japan Waseda University Faculty of Science and Engineering Tokyo Japan The National Institute of Advanced Science and Technology Tokyo Japan

ISBN: (纸本)9798331531614

In this work, we propose a framework that facilitates natural whole-body movements for a mobile-based humanoid. The framework takes bipedal human motion animation as input. After re-targeting the motion to the robot rig, the joint space data is applied to a physics-enabled robot model for balance confirmation and then deployed one-shot to the real robot. This method is beneficial for: 1) mapping expressive and low-dynamic whole-body motions, such as walking, to mobile-based robots;and 2) serving as a basis for training more complex control policies for more dynamic motions. Experiments were conducted by deploying human walking animations to the robot, assessing its ability to mirror the movements, and evaluating the subjective feelings of humans observing the robot performing the motions generated by both the proposed method and the traditional method. The results indicated that the proposed method is effective for mimicking human movements and consistently delivered a better overall impression in the natural appearance of the motion, the human-like factor, and friendliness. © 2025 IEEE.

关键词： Animation

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