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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Nguyen, Trung-Tin Ngo, Trung Dung University of Prince Edward Island Faculty of Sustainable Design Engineering Canada More-Than-One Robotics Lab. Canada

ISBN: (纸本)9798350312072

Recent public perceptions indicate a positive shift towards a society with human and robot co-existing, especially aged populations. The ability to socially navigate become crucial for mobile robots by enabling them to guarantee not only human physical safety but also psychological comfort, and enhance robots contextual awareness in human-robot interactions (HRI). In this study, we introduce an extended navigation scheme to approach moving target based on the tracking of human spatiotemporal motion, social studies on proxemics, and kino-dynamics of the mobile robot. The strategy utilizes existing multi-layer cost-based navigation mapping for complete integration with plannings and introduce soft social constraints by extending the costmap value range. The primary contributions include (i) spatio-temporal motion profiles (SMPs) of all humans under tracking, (ii) a social navigation cost function (SNCF) for filtering socially-optimal goal poses. The results drawn from simulated testings across three normative social situations, and statistical analysis demonstrate the SMPs effectiveness through measured spatial and temporal coefficients. The driving factors safety and appropriate social construct are determined to be either statistically or practically significant, while also introducing a complete navigation scheme taking into account of socially acceptable behaviours for the robot. © 2024 IEEE.

关键词： Cost functions

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Effect of Magnetic Moments Towards Swimming Behavior and Performance of the Soft Milli-Robots 9

Effect of Magnetic Moments Towards Swimming Behavior and Per...

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9th International Conference on Control, Decision and Information Technologies, CoDIT 2023

作者： Tang, Xiuzhen Manamanchaiyaporn, Laliphat Research Unit of Small-Scale Robotics Center of Excellence in Creative Engineering Design and Development Thailand Thammasat School of Engineering Thammasat University Faculty of Engineering Department of Mechanical Engineering Thailand

ISBN: (纸本)9798350311402

Remote controllability, real-time response, and small size are critically requirement of medical devices operated in blind, unstructured, and fluidic environments of biomedical regions. Untethered swimming soft milli-robots have been developed to fulfill treatment and therapy in such that region under magnetic navigation. The soft robot's motor-less mechanism with a high-DOF utilizes magnetic compliance of the deformable structure with a minimal control of oscillating magnetic field. Theoretically, magnetic property of the robots is defined by magnetic moments consisting of orientation and strength. Orientation can be programmed by magnetizing technique, and strength is defined by quantity of magnetic moments in the structure. Herein, this work investigates how orientation and quantity of magnetic moments affect swimming behavior and performance of the robots. The soft robots are designed into three distinguish types of magnetic property embedded in the deformable structure;the I-robot has non-uniform magnetic orientation and uniform magnetic strength, the II-robot has uniform magnetic orientation and non-uniform magnetic strength, and the III-robot has non-uniform magnetic orientation and non-uniform magnetic strength. The results interestingly report that each type of robot's property functions mechanism and benefits swimming performance differently under the same control parameters. The I-robot does not have any exceptional potential, but the II-robot can be operated at the higher control frequency even reaching the step-out point. The III-robot shows the greatest performance in swimming and maneuverability. These results are useful to design a swimming soft-robot capable of applying for various purposes, especially when the demand concerns non-harm, small-scale, soft-interface, and remote controllability. © 2023 IEEE.

关键词： Magnetic moments

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Non-Assembly Walking Mechanism Utilizing a Hexapod Gait

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Journal of Artificial Intelligence and Technology 2022年第4期2卷 158-163页

作者： George Jackson-Mills Andrew R.Barber Andrew Blight Andrew Pickering Jordan H.Boyle Bilal Kaddouh Robert C.Richardson REAL Robotics Lab Institute of DesignRoboticsand Optimisation(iDRO)Mechanical EngineeringUniversity of LeedsLeeds LS29DYWest YorkshireUK Faculty of Industrial Design Engineering Delft University of TechnologyDelftNetherlands

Small inspection robots allow for the optimal exploration of environments and the collection of data from challenging areas,particularly where there may be small access points or tight and fragile *** robots can be custom-built for specific tasks,but the design and assembly process for this can be costly,both in resources and assembly *** use of 3D printing to create Non-Assembly mechanisms can assist in saving time and resources by reducing the number of different components required and removing the necessity for complex assembly *** iterating on previous work performed in the institute,this paper introduces a novel robot design to push the capabilities of Non-Assembly *** building on previous knowledge,this new walking robot improves on the previous iteration by creating a more robust and reliable system,more capable of effectively exploring challenging environments accurately,while still using practices designed to save on cost and production *** tests were performed to provide an accurate comparison against the previous design and highlight the robots marked improvements in positional accuracy over its predecessor.

关键词： robot 3D printing walking hexapod

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Bioactive injectable composites based on insulin-functionalized silica particles reinforced polymeric hydrogels for potential applications in bone tissue engineering

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Journal of Materials Science & Technology 2022年第10期105卷 153-163页

作者： Aleksandra Krajcer Joanna Klara Wojciech Horak Joanna Lewandowska-Łańcucka Faculty of Chemistry Jagiellonian UniversityGronostajowa 2Kraków 30-387Poland AGH University of Science and Technology Faculty of Mechanical Engineering and RoboticsDepartment of Machine Design and TechnologyAl.Mickiewicza 30Kraków 30-059Poland

Novel bioactive injectable composites based on biopolymeric hydrogels reinforced with insulin-functionalized silica particles were *** insulin(INS)was immobilized on the surface of amine-modifed silica particles employing covalent attachment by EDC/NHS chemistry and via electrostatic *** resulting formulations were examined for the morphology(SEM),chemical composition(FTIR,XPS)as well as protein *** facilitate the injectability and support the bone regeneration,developed particles were dispersed in biopolymeric sol composed of collagen,chitosan and lysinemodifed hyaluronic acid and crosslinked with *** means of rheological study,the sol-gel in situ transition of obtained systems was *** was found in vitro study that MG-63 cells cultured on the developed composites exhibit signifcantly higher alkaline phosphatase(ALP)activity,compared to the pristine ***,the biomineralization ability in the simulated body fluid(SBF)model was also *** fndings suggest that proposed herein novel hydrogel-based composites might be the promising formulation for regeneration of bone defects,especially as a less-cost effective support/alternative for BMP-2 systems.

关键词： Injectable composites Biopolymers Insulin-functionalized silica particles Bone tissue engineering

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Optimum design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System 48

Optimum Design of a Wire-Driven Redundant Spherical Parallel...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Gamal, Ahmed Mohamed, Abdelfatah Iwata, Hiroyasu Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to such cases, their high cost and the lack of professional caregivers arise the need for robotic rehabilitation systems. On the other hand, the existing robotic systems for foot-drop rehabilitation are heavy and bulky. Therefore, in this paper, a lightweight foot-drop rehabilitation system based on a wire-driven redundant spherical parallel manipulator (RSPM) is developed. The proposed RSPM can provide 3-DOF movements to exercise the dorsiflexion, plantarflexion, supination, lateral and medial rotations. Kinematic and static analyses are performed for the proposed rob RSPM. In order to guarantee permissible positive tensions for the wires of the RSPM, a new performance index is introduced, called permissible tension index. Optimum design based on optimizing certain performance indices is carried out to obtain the proper dimensions of the movable platform design parameters of the proposed RSPM. A new index called permissible tension index is introduced to guarantee permissible positive tensions for the wires of the RSPM. A weighted sum of the global kinematic dexterity, global minimized transmission and the global permissible tension indices is considered for the objective function of the optimization process. The RSPM performance is evaluated over its range of motion and the reaction forces exerted on the ankle are shown to be tolerable by an injured ankle. Additionally, the Jacobian-based kinematic controller is shown to be capable of tracking the normal gait trajectories with acceptable tracking errors. © 2022 IEEE.

关键词： Kinematics

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design and Hybrid Impedance Control of a Compliant and Balanced Wrist Rehabilitation Device 48

Design and Hybrid Impedance Control of a Compliant and Balan...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yellewa, Mwayi E Mohamed, Abdelfatah Ishii, Hiroyuki Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wrist rehabilitation robotic devices have delivered the repetitive and gradual training necessary to rehabilitate individuals with wrist impairments properly. Generally, there are two approaches for the design of the wrist rehabilitation devices. In one approach, the motors are placed on the forearm with complex transmission mechanisms to reduce the weight and inertia. In the other approach, rotary motors are placed close to the wrist joints with simple design, and this leads to high weight and inertia. In this paper, a simple design of two-degrees of freedom compliant and balanced wrist rehabilitation device is proposed. It can provide the radial-ulnar deviation and flexion-extension rehabilitation motions. In the proposed design, the servomotors that are placed close to the wrist joints are counterweight balanced to reduce the inertia and the required torques. The balancing is carried out by optimizing the center of mass of the device in the SolidWorks model. A custom design series elastic unit is proposed to be coupled to the servomotor to achieve the compliance for safe human-robot interaction. Based on the device dynamics modeled by ADAMS software, hybrid position and force tracking impedance control is developed for position and force tracking through the different therapeutic exercises. The device is shown to be capable of achieving the different therapeutic exercises compliantly such as the passive, active-assisted and isometric exercises. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Automated Ultrasonic Testing of Carbon-Carbon Composite Materials 7

Automated Ultrasonic Testing of Carbon-Carbon Composite Mate...

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7th International Conference on Information, Control, and Communication Technologies, ICCT 2023

作者： Pavlukhin, Evgeniy A. Kinzhagulov, Igor Y. Fedorov, Alexey V. Omarov, Magomed A. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia Inst. of Science 'Engineering and Design Center for Support of the Operation of Space Technology ST Petersburg Russia

ISBN: (纸本)9798350340945

The quality of products made of carbon-carbon composite materials (CCCM) is influenced by many factors, including the parameters of the technological process and the technical level of equipment for the manufacture of materials and structures. One of the most important moments in the process of creating products from CCCM is the formation of reinforcing components, matrix and their structural bonds. The efficiency of the system of structural bonds depends on the homogeneity (heterogeneity) of the material structure. The required mechanical and thermal properties of CCCM are ensured by the uniformity (continuity) of the structure, the change of which affects the properties of the material as a whole. In the event of discontinuity, an uneven distribution of mechanical and thermal fields can occur, which will jeopardize the performance of the entire structure, so non-destructive testing (NDT) of CCCM is an important task. The ultrasonic shadow method of control was chosen as the NDT method. This method makes it possible to detect structural inhomogeneities in the material of the test object - accumulations of pores and microcracks (at the microlevel), cracks, zones of low density, local heterogeneity of the structure (at the macrolevel). This article discusses the automation and ultrasonic testing of products from CCCM. © 2023 IEEE.

关键词： Nondestructive examination

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Online robotics Learning STEM Activities for Robot and Packaging design Camp 8

Online Robotics Learning STEM Activities for Robot and Packa...

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8th International STEM Education Conference, iSTEM-Ed 2023

作者： Prongncuh, Sethakarn Thitinaruemit, Aphirak Sang-Aroon, Patinya Suan Sunandha Rajabhat University Faculty of Industrial Technology Dept. of Robotics Engineering Dusit Bangkok Thailand Suan Sunandha Rajabhat University Faculty of Industrial Technology Dept. of Industrial Design and Packaging Dusit Bangkok Thailand

ISBN: (纸本)9798350342628

This paper introduces an online robotics learning STEM activities for the robot and packaging design camp to develop soft skills in knowledge management. The main purpose is to contribute the understanding of robotics and packaging design, how to use product and packaging design principles to build a Tiger cardboard robot, that can inspire youth to pursue education in robotics engineering with industrial design and packaging. This camp is two course content from online STEM activities such as: robot and packaging design contents. There are 18 students participating in the camp. Pretest and posttest on the content of both courses are used in project-based learning evaluation. The results demonstrate that learner outcomes can reach the 15.6% baseline. © 2023 IEEE.

关键词： Cardboard

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Shaping Drivers’ Understanding of Control: The Effect of Visual User Interfaces on Control Responsibilities in Automated Vehicles

SSRN

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SSRN 2024年

作者： Kim, Soyeon Nordhoff, Sina van Egmond, René Happee, Riender Department of Human-Centered Design Faculty of Industrial Design Engineering Delft University of Technology Netherlands Department Transport & Planning Faculty of Civil Engineering and Geosciences Delft University of Technology Netherlands Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Netherlands

As vehicles transition between driving automation levels, drivers need to be aware of their responsibilities and the function of automation mode. This study investigates the impact of visual user interfaces (UIs) on drivers' mode awareness in SAE Level 2 automated vehicles. It focuses on their understanding of lateral control, longitudinal control, and steering wheel requirements presented through UIs. Forty-five UIs were generated, presenting for activation of Lane Keeping Assist (LKA) and Adaptive Cruise Control (ACC) and requirements of Hands-on steering wheel. Through an online questionnaire with 1080 respondents with experience of SAE Level 2 partial driving automation, the study evaluated how visual UIs influenced users' understanding of control responsibilities, information usability, and trust in automated vehicles. The results show the important role of UI in shaping users' understanding of control responsibility. Hands-on steering wheel UIs significantly improved the understanding of hands-on steering wheel requirements, whereas ACC UIs and LKA UIs had no significant effects. The hands-on steering wheel UI combining the hands on the wheel icon and the text "Keep hands on steering wheel" yielded 94.4% correct understanding and outperformed the UI with hands but without text (87.8% correct) or no UI (82.5% correct). The response of longitudinal and lateral control responsibility was independent of the ACC UI and LKA UI. This study contributes to the understanding and design of visual UIs for effective communication of driver responsibilities in automated vehicles. © 2024, The Authors. All rights reserved.

关键词： User interfaces

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Trajectory Tracking Using Linear State Feedback Controller for a Mecanum Wheel Omnidirectional 6th

Trajectory Tracking Using Linear State Feedback Controller f...

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6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Thai, Nguyen Hong Ly, Trinh Thi Khanh Long, Nguyen Thanh Dzung, Le Quoc Department of Mechanical Design and Robotics School of Mechanical Engineering HanoiUniversity of Science and Technology Hanoi Viet Nam Faculty of Automation Technology Electric Power University Hanoi Viet Nam

ISBN: (纸本)9783030918910

This paper presents a method to design a linear state feedback controller for the mecanum wheel omnidirectional to track a NURBS curve trajectory. Firstly, the robot's kinematic model and kinematic error were established to design a linear state feedback controller. Then, determine the parameters of the controller according to the varying angular velocity for the desired trajectory. An omnidirectional robot platform has been experimental designed and manufactured for experimental verification of the proposed controller. The simulation and experimental results show that the kinematic controller devel-oped by this study has high-performance trajectory tracking with minor tracking errors. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Controllers

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