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

作者： Xi, Rui-Dong Ma, Tie-Nan Xia, Bingyi Zhang, Xue Yuan, Yixuan Wang, Jiankun Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa999078 China Jiaxing Research Institute Southern University of Science and Technology Jiaxing314000 China Department of Electronic Engineering Chinese University of Hong Kong Hong Kong

Trajectory tracking control of autonomous trolley collection robots (ATCR) is a challenging task due to the complex environment, significant noise, and external disturbances. To address these challenges, this work investigates a control scheme for ATCRs subject to severe environmental interference. A fast-convergent, kinematics model-based adaptive sliding mode disturbance observer (ASMDOB) is first proposed to estimate lumped disturbances. Building upon this, a robust controller with prescribed performance is designed using the backstepping technique, improving transient performance and guaranteeing fast convergence. Simulation results have been given to illustrate the effectiveness of the proposed control scheme. © 2024 The Authors.

关键词： Disturbance rejection

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Analysis of the performance of robotic assembly systems considering the usage of tools or jigs for the task-board task in the WRS 2018

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Advanced robotics 2023年第20期37卷 1329-1346页

作者： Dobashi, Hiroki Ogawa, Koki Shibata, Mizuho Uemura, Wataru Yokokohji, Yasuyoshi Faculty of Systems Engineering Wakayama University Wakayama Japan Graduate School of Systems Engineering Wakayama University Wakayama Japan Department of Robotics Faculty of Engineering Kindai University Higashi-Hiroshima Japan Electronics Information and Communication Engineering Course Faculty of Advanced Science and Technology Ryukoku University Otsu Japan Department of Mechanical Engineering Graduate School of Engineering Kobe University Kobe Japan

A task-board task is a task in which robots perform a set of fundamental assembly operations related to the assembly of a specific product such as inserting a part into another part, tightening bolts and nuts, attaching flexible parts, etc. In the task-board task competition in the industrial robotics category of the World Robot Summit (WRS) 2018, 15 teams from around the world performed the task. In our previous work, we observed recorded videos of the competition frame by frame and manually investigated the performance of robotic systems of the top four teams, focusing only on whether robots contact target parts. In this paper, we introduce frame sets to represent mainly contact states between robots, tools, or jigs and target parts to be handled for such a frame-by-frame analysis of the recorded videos, and based on the frame sets, we analyze the performance of robotic assembly systems of other teams as well as the top four teams in the task-board task competition in the WRS 2018, considering the usage of tools or jigs. © 2023 Informa UK Limited, trading as Taylor & Francis Group and The robotics Society of Japan.

关键词： Robotic assembly

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Unleashing the potential of morphotropic phase boundary based hybrid triboelectric–piezoelectric nanogenerator

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Journal of Materiomics 2024年第4期10卷 792-802页

作者： Sugato Hajra Aneeta Manjari Padhan Basanta Kumar Panigrahi Phakkhananan Pakawanit Zvonko Jagličić Naratip Vittayakorn Yogendra Kumar Mishra Sanghoon Lee Hoe Joon Kim Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and TechnologyDaegu42988Republic of Korea Department of Electrical Engineering Siksha O Anusandhan UniversityBhubaneswar751030India Synchrotron Research and Applications Division Synchrotron Light Research InstituteNakhon Ratchasima30000Thailand Institute of Mathematics Physics and Mechanics&Faculty of Civil and Geodetic EngineeringUniversity of LjubljanaJadranska191000LjubljanaSlovenia Advanced Materials Research Unit Department of ChemistrySchool of ScienceKing Mongkut's Institute of Technology LadkrabangBangkok10520Thailand Mads Clausen Institute NanoSYDUniversity of Southern DenmarkAlsion 26400SønderborgDenmark Robotics and Mechatronics Research Center Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu42988Republic of Korea

Morphotropic phase boundary(MPB)-based ceramics are excellent for energy harvesting due to their enhanced physical properties at phase boundaries,broad operating temperature range,and ability to customize properties for efficient conversion of mechanical energy into electrical *** this work,Bi_(1–x)Na_(x)Fe_(1–x)Nb_(x)O_(3)(x=0.20,0.30,0.32 and 0.40,BNFNO abbreviation)based ceramics were synthesized using a solid-state route and blended with Polydimethylsiloxane(PDMS)to achieve flexible *** material characterization and energy harvesting were performed by designing a hybrid piezoelectric(PENG)-triboelectric(TENG)*** voltage and current of PENG,TENG,and hybrid bearing same device area(2 cm×2 cm)were recorded as 11 V/0.3μA;60 V/0.7μA;110 V/2.2μ*** strategies for enhancing the output performance of the hybrid device were evaluated,such as increased surface area(creating micro-roughness and porous morphology)and increasing electrode size and multi-layer hybrid device *** self-powered acceleration monitoring was demonstrated using the hybrid ***,the low-frequency-based wave energy is converted into electrical energy,confirming the usage of hybrid PENG-TENG devices as a base for battery-free sensors and blue energy harvesting.

关键词： Lead-free Acceleration Wave energy Morphotropic

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Design Documentation Agreement Automated System with Approving Person Intelligent Support

Design Documentation Agreement Automated System with Approvi...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Viktoriya Latypova The Faculty of Informatics and Robotics Ufa University of Science and Technology Ufa Russia

The design documentation agreement procedure is one of the production process stages. The procedure is usually rather long because it demands the participation of a large group of staff, conducting the complex documentation control execution. During the agreement process errors in design documentation are identified and a review with relevant remarks to finalize it is formed, typically in manual mode. This operation is repeated until all remarks are finally eliminated. In the latter case, the design documentation agreement procedure ends. In existing research attention has been paid to automation and information support in different stages of the agreement procedure. But the issue of automatization of approving person review formation has not been given enough attention. A method of automated review formation, when agreeing on the design documentation, using text mining of approving person remarks and an automated system, implementing this method, is proposed to solve the problem. Approbation of the automated system was carried out in the agreement of design documentation on the example of design models of printed circuit boards of electronic devices for CNC machines for plasma metal cutting. The results of approbation show that the usage of an automated system allows to reduce the time of review preparation by approving persons. This in turn allows to decrease the time of the design documentation agreement process execution and the time of the manufacturing process in general.

关键词： Text mining Industries Manufacturing processes Printed circuits Metals Documentation Production

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Decision Support based on Analysis of Relationship between Errors using Association Rule Mining on the Example of Graduate Students' Scientific Papers

Decision Support based on Analysis of Relationship between E...

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Ural Symposium on Biomedical Engineering, Radioelectronics and Information technology (USBEREIT)

作者： Viktoriya Latypova The Faculty of Informatics and Robotics Ufa University of Science and Technology Ufa Russia

Educational data mining has been actively developed in recent years in connection with the massive usage of online learning and large amount of data accumulation on it. Scientists in the field of education widely apply different methods of data mining, in particular association rule mining. The method is based on identification of rules, having necessary “strength”, which is measured by the particular metrics: support, confidence, etc. Found rules become the core of different decision support systems in educational process. Despite extensive research in the field of association rule mining application, a question about finding possible relationship between students' errors, in particular in scientific papers, which are prepared by them during research work, has not been sufficiently studied. Also, the opportunity for the realization of decision support using this relationship has not been investigated. A new approach of decision-making support based on analysis of relationship between errors by means of association rule mining is proposed in the paper. The approach is implemented as a module in the automated work checking system. The approach and the module have been tested on data obtained during conducting research work by graduate students in Ufa University of science and technology.

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AUTONOMOUS MOBILE PLATFORM WITH UV RAY DISINFECTION SYSTEM, A MODULAR AND AFFORDABLE SOLUTION FOR VIRUS ELIMINATION

International Journal of Mechatronics and Applied Mechanics

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International Journal of Mechatronics and Applied Mechanics 2024年第15期2024卷 146-157页

作者： Țîțu, Aurel Mihail Bâlc, Daniel Gusan, Vasile Bogorin-Predescu, Adrian Tertereanu, Petrică Stanciu, Andreea Lucian Blaga University of Sibiu 10 Victoriei Street Sibiu Romania National University of Science and Technology POLITEHNICA Bucharest Faculty of Industrial Engineering and Robotics Splaiul Independenţei no. 313 6th District Bucharest Romania National Institute of Research and Development in Mechatronics and Measurement Technique INCDMTM Bucharest Romania

In the post-COVID erа, there hаs been а growing emphasis on the significance of disinfecting objects individuals come into contаct with. Mobile disinfection robots hаve emerged аs а definitive solution to meet this demаnd. However, inherent issues in their current design mаy pose chаllenges leаding to: continuous virus contamination (there is a risk that mobile UV robots may fail to reach all areas or fully eliminate pathogens, which could allow viruses to survive and subsequently spread infections);increase in the number of disease cases (incomplete disinfection may lead to the persistence of viruses in the environment, thereby increasing the likelihood of disease transmission and the emergence of a greater number of infection cases);illness among medical staff (if the environment in which medical staff operate is not fully disinfected, they may be exposed to the risk of infection with various pathogens, jeopardizing their health and ability to provide adequate medical care);the loss of human lives (inefficiency in disinfection can contribute to the spread of infectious diseases, leading to a higher number of deaths among the population, underscoring the need to address and resolve these issues). This scientific endeаvor аims to outline the primаry chаllenges аssociаted with conventional mobile disinfection robots and introduce a solution through the implementation of аn Аutonomous Mobile Plаtform equipped with а UV Ray Disinfection System. A critical issue identified in conventional mobile disinfection robots pertаins to their inаbility to ensure mаximum efficiency in preventing the spreаd of viruses. This limitаtion is often linked to their stаtic structure аnd the incаpacity to efficiently cover the entire space. Furthermore, the risk of continuous аthe introduction of аn Аutonomous Mobile Plаtform integrated with а UV Rаy Disinfhumection System. This innovаtive аpproаch effectively addresses existing limitations in conventional robots. The autonomous mobile plа

关键词： Disinfection

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SoGraB: A Visual Method for Soft Grasping Benchmarking and Evaluation

SoGraB: A Visual Method for Soft Grasping Benchmarking and E...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Benjamin G. Greenland Josh Pinskier Xing Wang Daniel Nguyen Ge Shi Tirthankar Bandyopadhyay Jen Jen Chung David Howard CSIRO Robotics Australia The University of Queensland Australia Faculty of Science and Technology University of Canberra Australia Queensland University of Technology Australia

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

The need for industrially relevant tools to safely handle delicate and deformable goods has driven a recent explosion in soft robotic gripper designs. However, there is currently no meaningful way to compare different designs. No commonly available, standardised evaluation protocol exists to assess the performance of soft grippers. This work introduces the Soft Grasping Benchmarking and Evaluation (SoGraB) method to evaluate grasp quality. It quantifies object deformation, and hence grasp quality, by measuring the Density-Aware Chamfer Distance (DCD) between point clouds of soft objects recorded before and after grasping. Through extensive experimentation, we demonstrate the method’s ability to evaluate the quality of soft grasps, rank different gripper designs, select soft grippers for complex grasping tasks, and benchmark them for comparison against future designs. We believe SoGraB can be a standard for grasp evaluation and invite future users to contribute by benchmarking their own soft designs against our baselines or adding objects to the dataset.

关键词： Point cloud compression Visualization Protocols Density measurement Grasping Benchmark testing Soft robotics Explosions Grippers Standards

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Reviewer Assignment Decision Support in an Academic Journal based on Multicriteria Assessment and Text Mining

Reviewer Assignment Decision Support in an Academic Journal ...

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Information technology and Nanotechnology (ITNT), International Conference on

作者： Viktoriya Latypova The Faculty of Informatics and Robotics Ufa University of Science and Technology Ufa Russia

Reviewer assignment to papers is one of the most significant stages of the scientific publishing process. It determines whether high-quality scientific papers are accepted for publication, while low-quality papers are rejected or sent to be improved to the required level. This in turn affects the status of academic journals and the level of scientific papers in general. A large number of researchers deals with issues of improving and speeding up of the reviewer assignment procedure, frequently using intellectual methods. However, insufficient attention is given to comprehensive reviewer assessment in their assignment to papers. A method of reviewer assignment decision support in an academic journal based on a joint use of multicriteria assessment and text mining is proposed in the paper. Calculation of an integral indicator with the use of additive folding of weighted reviewer’s indicators is at the core of the method. Text mining of manuscripts and reviewer’s papers is utilized to determine value of one of significant indicators. The proposed method allows to assess reviewers not only by authority and expertise, but also allows to take into account their work in the role of a reviewer, deciding how good they are in this role, with the use of previously collected statistical information refers to the carried out reviewing. The method has been successfully tested on data of peer-reviewed academic journal "Modeling, Optimization and Information technology".

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Distributed Task Assignment Method for Multiple Robots Based on Dynamic Auction Rules 3

Distributed Task Assignment Method for Multiple Robots Based...

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3rd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2023

作者： Xu, Jiajie Chen, Chinyin Chen, Silu Liu, Qiang Ningbo University Faculty of Electrical Engineering and Computer Science Ningbo China Ningbo Institute of Materials Technology Engineering Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China

ISBN: (纸本)9798350331578

Existing researchs on multi-robots task assignment focus on improving the task assignment efficiency without considering the task execution time and ignoring the overall task completion efficiency, which leads to its low computational efficiency in dynamic task assignment scenarios. In addition, the use of a centralized control structure requires high communication quality between robots. To address the above issues, we propose a distributed task assignment method for multiple robots based on dynamic auction rules. The method uses distributed control of robot swarms to share and dynamically update each other's task sets, employs dynamic auction rules for task bidding, adds links to adjust the task execution order, and considers the overall task completion efficiency. Finally, relevant experiments are designed, and the experimental results show that the algorithm is more efficient in terms of distribution and stability, balancing higher execution efficiency and lower motion cost. © 2023 IEEE.

关键词： Computational efficiency

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Intelligent Decision Support System for Assessing Works with Free Response based on Production Model

Intelligent Decision Support System for Assessing Works with...

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technology Enhanced Learning in Higher Education (TELE), International Conference on

作者： Viktoriya Latypova The Faculty of Informatics and Robotics Ufa University of Science and Technology Ufa Russia

Works with free response are usually used in training, as well as in engineering education. These works assessment faces a lot of challenges, especially in conditions of online learning. The use of criteria system underlies the formation of a score for work with free response. In the case of works like essays the assessment can be made without the participation of expert-tutor by means of automated essay scoring systems. In the other cases his engagement is required, and the assessment takes place usually manually with the use of a rubric. This procedure is very long and labour-intensive for tutors, particularly with the large number of works, which are to be assessed as quickly as possible. The challenge is further amplified by iterativeness of assessment procedure which is typical, for example, to term papers, productive and pre-diploma practice reports actively used in engineering education when students are as close as possible to real tasks implementation. Another question arises, because work assessment is carried out without consideration for work correction characteristics, that is why a formed score is inaccurate. A student work with free response assessment model based on production model that takes into account the efficiency of work correction made by student, and whose application allows to ease the formation of a score for work with free response, is proposed in the paper. The assessment model is implemented in an intelligent decision support system, which was used in assessing pre-diploma practice reports in Ufa State Aviation Technical University during online learning.

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