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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Ali, Ahmed Gabellieri, Chiara Franchi, Antonio Faculty Robotics and Mechatronics Department Enschede7500 AE Netherlands Sapienza University of Rome Department of Computer Control and Management Engineering Rome00185 Italy

ISBN: (纸本)9798350316339

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF's, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations. © 2024 IEEE.

关键词： Feedback linearization

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The Impact of Testing in robotics Business for Sustainable Economic Growth

The Impact of Testing in Robotics Business for Sustainable E...

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IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Crina Duta Nicoleta Carutasu Robert - Emanuel Brezoaie Doctoral School of Industrial Engineering and Robotics Faculty of Industrial Engineering and Robotics Bucharest Romania Department of Engineering and Management Faculty of Industrial Engineering and Robotics Bucharest Romania Doctoral School of Computers and Information Technology Faculty of Automatics and Computers Bucharest Romania

ISBN: (数字)9798350361933

ISBN: (纸本)9798350361940

This article aims to present how some of the human occupations will be replaced by robots. It is already known that technology has made its presence in most fields of human activity and that with the development of technology, the population has felt its effects. For sustainable economic growth, it will be necessary to understand the importance of testing these robots before introducing them into our lives and the damage they can cause.

关键词： Economics Automation Sociology Statistics Robots Testing Business

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Uncovering Variability in Human Driving Behavior Through Automatic Extraction of Similar Traffic Scenes from Large Naturalistic Datasets

Uncovering Variability in Human Driving Behavior Through Aut...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Siebinga, Olger Zgonnikov, Arkady Abbink, David Delft University of Technology Human-Robot Interaction Group Faculty of Mechanical Engineering Department of Cognitive Robotics Delft Netherlands

ISBN: (纸本)9798350337020

Recently, multiple naturalistic traffic datasets of human-driven trajectories have been published (e.g., highD, NGSim, and pNEUMA). These datasets have been used in studies that investigate variability in human driving behavior, for example for scenario-based validation of autonomous vehicle (AV) behavior, modeling driver behavior, or validating driver models. Thus far, these studies focused on the variability on an operational level (e.g., velocity profiles during a lane change), not on a tactical level (i.e., to change lanes or not). Investigating the variability on both levels is necessary to develop driver models and AV s that include multiple tactical behaviors. To expose multi-level variability, the human responses to the same traffic scene could be investigated. However, no method exists to automatically extract similar scenes from datasets. Here, we present a four-step extraction method that uses the Hausdorff distance, a mathematical distance metric for sets. We performed a case study on the highD dataset that showed that the method is practically applicable. The human responses to the selected scenes exposed the variability on both the tactical and operational levels. With this new method, the variability in operational and tactical human behavior can be investigated, without the need for costly and time-consuming driving-simulator experiments. © 2023 IEEE.

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Characterizing Manipulator Motion Using an Evolving Type 2 Quantum Fuzzy Neural Network

Characterizing Manipulator Motion Using an Evolving Type 2 Q...

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

作者： Singh, Rupam Sloth, Christoffer Maersk Mc-Kinney Moller Institute Sdu Robotics University of Southern Denmark Faculty of Engineering Campusvej 55 Odense MDK-5230 Denmark

ISBN: (纸本)9798350312072

This paper presents a control algorithm based on the Evolving Type 2 Quantum Fuzzy Neural Network (ET2QFNN) for characterizing and controlling the joint-space motion of a manipulator. The approach integrates ET2QFNN, a hybrid neural network model that combines principles from quantum fuzzy sets and neural networks, to address the inherent complexity and uncertainty associated with manipulator systems. Unlike traditional control methods, the ET2QFNN-based approach learns and adapts through simulations of closed-loop torque control, incorporating joint position commands and corresponding motion data. By utilizing data from previous cycles, the ET2QFNN enhances the manipulator's performance and stability, particularly in repetitive tasks. To assess its effectiveness, a comparative analysis is conducted, contrasting the approach with finely tuned proportional-derivative (PD) control and integral sliding mode control (iSMC) in scenarios with and without non-parametric uncertainties. The results demonstrate the unique advantages and superior performance of the ET2QFNN-based control algorithm in addressing these challenges. © 2024 IEEE.

关键词： Fuzzy neural networks

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Text Extraction by Optical Character Recognition-Based on the Template Card 1

Text Extraction by Optical Character Recognition-Based on th...

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1st International Conference on robotics, engineering, Science, and Technology, RESTCON 2024

作者： Thongtaweechaikij, Panas Tangpong, Piyawat Inthiam, Jiraphan Tangsuksant, Watcharin King Mongkut's University of Technology Faculty of Engineering Department of Production and Robotics Engineering North Bangkok Thailand King Mongkut's University of Technology Department of Instrumentation and Electronics Engineering North Bangkok Thailand

ISBN: (纸本)9798350348842

This study evaluates Optical Character Recognition's (OCR) effectiveness in extracting and organizing data from student cards. Assessing diverse OCR techniques, it aims to identify optimal methods for accurate text extraction, considering different formats and languages. The research investigates OCR's impact on information retrieval, analyzing its integration into databases for improved searchability and usability. Our proposed method presents the pre-processing with OCR process including the SIFT, KNN feature matching, MSER technique for noise detection and image transformation. For the experiment, all student cards in King Mongkut's University of Technology North Bangkok capturing by smartphone, which the resolution of camera is greater than 2 megapixel. This research compares the different technique between traditional tesseract OCR and our proposed method by setting 50% and 70% of Intersection over Union (IoU), The experiment result shows that our proposed method with 70% of IoU has the highest accuracy as 97.36%. According to the result, the proposed illustrate the feasible method for our system. © 2024 IEEE.

关键词： Optical character recognition

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Real-Time Sound Source Localization Using Intensity Variations 10

Real-Time Sound Source Localization Using Intensity Variatio...

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10th IEEE Asia-Pacific Conference on Applied Electromagnetics, APACE 2024

作者： Nadzri, Muhammad Akmal Aliff Mohammed Raja, Joseph Emerson Center of Excellence Robotics and Sensing Technologies TM R&D Cyberjaya Malaysia Multimedia University Faculty of Engineering and Technology FET Melaka Malaysia

ISBN: (纸本)9798350364163

This paper presents a real-time method for sound source localization using a multi-channel sensor array and intensity-based weighted averaging. The system employs six analog sound sensors arranged in a circular configuration, each positioned at predetermined angles. Sound intensities from each sensor are captured, summed over time, and processed using a weighted average approach to estimate the direction of the sound source. By leveraging the relative strengths of the signals detected by the sensors, the system calculates a resultant angle that accurately represents the sound's direction. The proposed method focuses on intensity variations, making it both computationally efficient and well-suited for low-power devices such as microcontrollers. The performance of the system is evaluated in real-time using embedded hardware, demonstrating its applicability in various environments, such as robotics. This paper highlights the simplicity and effectiveness of using intensity-based sound localization with an average error of just over 5°, and the percentage error remained below 3% for most positions. © 2024 IEEE.

关键词： Acoustic generators

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Revolutionizing Marine Stability: A Review of Cutting-Edge Gyro Stabilizer Designs and Techniques for Vessels

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IEEE Access 2025年 13卷 89542-89555页

作者： Rahiman, Wan Ghazali, Mohamad Hazwan Mohd Mahmood, Iskandar Al-Thani Universiti Sains Malaysia Engineering Campus School of Electrical and Electronic Engineering Penang Nibong Tebal14300 Malaysia Daffodil International University Daffodil Robotics Lab Department of Computer Science and Engineering Dhaka1216 Bangladesh Universiti Kebangsaan Malaysia Faculty of Engineering and Built Environment Department of Mechanical and Manufacturing Engineering Selangor Bangi43600 Malaysia PETRONAS Research Sdn Bhd Selangor Kajang43000 Malaysia

Advancement in marine vessel stabilization technologies has greatly improved the safety and comfort for crews, cargo, and passengers, while also lowering the risk of capsizing. Marine vessels operating in open waters experience disturbances from unpredictable waves and strong winds, leading to instability and potential accidents. To mitigate these risks, stabilizers are integrated into ships to maintain stability, safety, and seaworthiness. As modern vessels evolve, stabilizers play an increasingly vital role, with gyro stabilizers emerging as a highly effective solution for mitigating roll motion without external appendages. This paper provides a comprehensive review of gyro stabilizer designs and techniques, covering their historical development, mathematical modeling, advantages, limitations, and case studies. A review of current research highlights a strong emphasis on simulating gyro stabilizer control systems, demonstrating their potential in enhancing vessel stability. However, key challenges persist, including accurate wave moment prediction during the design phase and gyroscopic drift, which can impact long-term performance and efficiency. Despite these challenges, recent advancements in control algorithms and optimization techniques have improved gyro stabilizer adaptability under varying sea conditions. By exploring the latest developments, this review serves as a valuable reference for researchers, engineers, and maritime professionals seeking to advance marine stabilization technologies. The findings underscore the potential of next-generation gyro stabilizers, including fiber optic gyros, in achieving higher precision, stability, and operational efficiency. © 2013 IEEE.

关键词： Warships

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DESIGN AND IMPLEMENTATION OF AN EEG-BASED BCI PROSTHETIC LOWER LIMB USING RASPBERRY PI 4

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical engineering and Computer Science 2023年第3期85卷 353-366页

作者： Drăgoi, Marius-Valentin Hadăr, Anton Goga, Nicolae Grigore, Lucian-Ștefăniță Ștefan, Amado Ali, Haider Abdullah Faculty of Industrial Engineering and Robotics University POLITEHNICA of Bucharest Romania Academy of Romanian Scientists Technical Sciences Academy of Romania Romania Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Romania Military Technical Academy FERDINAND I Bucharest Romania

This paper presents a design and implementation of a mind-controlled prosthetic lower limb prototype to help leg amputees who lost their lower limbs due to different reasons. The system contains a prosthetic lower limb equipped with two servomotors, a motor driver module, a Raspberry Pi, a neuro-headset, and a computer. The prosthetic lower limb prototype is a low-cost 3D-printed prosthetic controlled by brain signals. The prototype has two degrees of freedom for the knee and ankle, which are flexion, extension, plantarflexion, and dorsiflexion. The implemented prototype has been tested on a healthy subject in real-time using the detected brain signals. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Electroencephalography

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Load-Side Dynamics Introduces Complex Effects on Orthotic Actuator Performance in Benchmarking

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Journal of Mechanisms and robotics 2025年第5期17卷 051012页

作者： Sun, Mingrui Oetomo, Denny Tan, Ying Kulić, Dana Baček, Tomislav Human Robotics Lab Department of Mechanical Engineering The University of Melbourne Parkville VIC 3053 Australia Monash Robotics Faculty of Engineering Monash University Clayton VIC 3800 Australia

Series elastic actuators are increasingly adopted in wearable robots, due to superior sensing and actuating capabilities provided by the added internal compliance. However, when evaluating their performance in benchtop setups, the dynamics of the physical human–robot interface (i.e., external compliance) are usually overlooked despite it causing energy dissipation and delays in power transmission. This work closes the gap by emulating in a test bench the physical human–robot interaction dynamics and validating actuator performance against commonly used performance indices, including torque bandwidth, torque tracking, and transparency. The results show a significant impact of the interaction dynamics on the actuator performance. When interface dynamics is present, decreasing the actuator (internal) compliance has little to no effect on its bandwidth. When delivering a walking torque, decreasing internal (actuator) and external (interface) compliance has the same decreasing effect on the motor’s peak electrical power in the hip joint. Conversely, the motor peak electrical power decreases with an increase in internal (actuator) compliance but increases with an increase in external (interface) compliance in the knee joint. As such, this work demonstrates the importance of including interaction dynamics as a norm in designing and evaluating actuation units in wearable robots.

关键词： Design bio-inspired Torque Stress Actuators Springs collaborative robots and human–robot interaction Control equipment Motors Engines Knee Stiffness

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Fabrication & Development of Mobile Operated Cleaning & Sanitizing Bot 2

Fabrication & Development of Mobile Operated Cleaning & Sani...

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2nd IEEE International Conference on Futuristic Technologies, INCOFT 2023

作者： Choudhari, Anagha Sonaskar, Sandeep Urkude, Pradyumna Yeshwantrao Chavan College of Engineering Electronics & Telecommunication Engineering Department Nagpur India Rashtrasant Tukdoji MaharajNagpur University Faculty of Engineering & Technology Robotics Department Nagpur India

ISBN: (纸本)9798350308846

Healthy living is influenced directly by proper hygiene and cleanliness, which also influences our houses and surroundings. We've done a study and developed a design and operation model of a floor cleaning robot with this goal in mind. Cleanliness has recently become a crucial component of enhancing one's health. The proposed model is automated so as to reduce labor and offer convenient, quick, and effective cleaning accentuating any interior area. Dust is a serious threat to human health which is observed in every residence, hospital, hotel rooms, dorm rooms, schools, and universities. Due to their Ability to arbitrarily cut labor expenses, automatic machine cleaners are essential in modern life. The majority of these cleaning products are made to specifically satisfy the needs of consumers. They are a collection of different fixed elements such as the chassis, a few motors, and several electromechanical devices. This paper describes a functional model of a cleaning device that could be operated at home with only handful of resources. © 2023 IEEE.

关键词： Arduino Nano Bluetooth floor cleaner Solar Panels

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