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International Journal of Mechatronics and Applied Mechanics 2022年第11期2022卷 303-313页

作者： Ciobanu, Costin Alexandru Alionte, Andreea Dana Ungureanu, Liviu Marian Alionte, Cristian Gabriel Sorin, Munteanu Iulian Faculty of Industrial Engineering and Robotics University POLITEHNICA of Bucharest Romania

The research paper analyses the structure and kinematics of the mechanisms in the composition of mobile mini-robots, as well as the architecture of a mobile mini-robot model to optimize and correct performance. There are many approaches to mobile robots, there are several types of mobile robots, and the paper addresses the construction and programming of a moving mobile robot with a serial structure, intended for carrying out operations of transporting objects and inspecting surfaces with a high degree of danger. The research paper addresses parallel structures of mobile robots, thus drawing a parallel between the two major types of robots: serial and parallel. Research on parallel structures highlights the advantages of serial structures. The stepping robot is equipment that does not operate in isolation but works with other robots and/or special devices. To obtain flexibility in use, together with autonomy and safety in operation, a unitary approach of both structural parameters (elements that make up the mobile structure of the robot) and kinematic parameters (angular displacements offered by actuators, including the mode of motion transmission) as well as the control parameters. © 2022, Cefin Publishing House. All rights reserved.

关键词： Kinematics

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THERMAL FIELD MEASUREMENT DURING WELDING USING INFRARED THERMOGRAPHY

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UPB Scientific Bulletin, Series B: Chemistry and Materials Science 2023年第3期85卷 167-178页

作者： Florea, Adrian Petriceanu, Ștefan Constantin Rontescu, Corneliu Bogatu, Ana Maria Cicic, Dumitru Titi Faculty of Industrial Engineering and Robotics University POLITEHNICA of Bucharest Romania Department of Quality Engineering and Industrial Technologies University POLITEHNICA of Bucharest Romania

The Gas Metal Arc Welding (GMAW) welding process is used to make welded joints using different types of materials, where the temperature of the thermal cycle must be carefully monitored. The paper presents the possibility of monitoring the temperature of the thermal cycle during welding using infrared thermography. The comparative analysis carried out in relation to the measurements made with the help of contact thermocouples, highlighted the fact that the temperature difference between the two methods was between 0 and 200C, with a maximum error of 2.75%. From the analysis of the obtained results, it can be seen that the infrared thermography method can be successfully applied in the case of monitoring the temperature of the welding process. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Thermography (imaging)

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Leveraging Dual Timestamps to Enhance Process Model Construction Using Time-Infused Inductive Miner

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IEEE Access 2025年 13卷 88535-88556页

作者： Effendi, Yutika Amelia Kim, Minsoo Airlangga University Faculty of Advanced Technology and Multidiscipline Department of Robotics and Artificial Intelligence Engineering Surabaya60115 Indonesia Pukyong National University College of Engineering Department of Industrial and Data Engineering Busan48547 Korea Republic of

In business process management, the increasing complexity of modern business processes underscores the need for accurately understanding parallel activities to efficiently allocate and utilize limited corporate resources. However, many existing event log analysis algorithms focus solely on the sequence of executed activities, limiting their ability to model processes involving simultaneous activities effectively. This research seeks to enhance the inductive miner, which is known for its flexibility, formal guarantees, and scalability, by enabling it to better capture and represent the complexities of real-world business processes. The core modification involves leveraging dual timestamps, which utilize both the start and end times of activities. This approach enhances the algorithm's ability to understand parallel structures within process models. Through experimentation, limitations of single timestamp were identified, including reduced accuracy in modeling parallel activities. The proposed approach also demonstrates the capability to effectively minimize dummy activities when discovering process models containing both sequential and parallel activities. Experimental results highlight the improved performance of the proposed algorithm, with metrics showing a fitness score of 0.815, precision of 0.827, generalization of 0.846, and simplicity of 0.834. Moreover, the algorithm achieves the highest conformance results with fewer traces required compared to the alpha miner, fuzzy miner, heuristic miner, and the original inductive miner. © 2013 IEEE.

关键词： Enterprise resource planning

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Experimental Setup for Automatic Position Control of an Adjustable Cantilever under External Load 16

Experimental Setup for Automatic Position Control of an Adju...

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16th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2024

作者： Mocanu, Stefan Dumitriu, Cristian-Stefan Barbulescu, Alina Technical University of Civil Engineering Faculty of Mechanical Engineering and Robotics in Constructions Bucharest Romania Transilvania University of Brassov Faculty of Civil Engineering Brasov Romania

ISBN: (纸本)9798350371154

This paper presents an experimental stand designed to demonstrate the influence of the elastic deformation of a metallic cantilever under an external loading force. An automatic position-adjusting system of the cantilever was built and configured to compensate for the elastic deformation computed into the automation management software using the known material resistance theories. The stand can help estimate the position errors due to the mechanical and constructive tolerances of the equipment it is built on. © 2024 IEEE.

关键词： Elastic deformation

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A deep learning-based model for automated STN localization using local field potentials in Parkinson’s disease

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Soft Computing 2025年第4期29卷 2343-2362页

作者： Hosny, Mohamed Naeem, Mohamed A. Zhu, Minwei Gao, Wenpeng Elshenhab, Ahmed M. Fu, Yili Department of Electrical Engineering Benha Faculty of Engineering Benha University Benha Egypt State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China Department of Mechatronics and Robotics Engineering Faculty of Engineering South Valley University Qena Egypt First Affiliated Hospital Harbin Medical University Harbin150001 China School of Life Science and Technology Harbin Institute of Technology Harbin150080 China Department of Mathematics Faculty of Science Mansoura University Mansoura35516 Egypt

Accurate identification of the subthalamic nucleus (STN) borders is time-consuming, relying heavily on the neurosurgeon expertise in manually interpreting the electrophysiological signals. Local field potentials (LFPs) have garnered imperative attention due to their strong correlation with the STN. However, existing detection models often face challenges with high computational complexity, hyperparameter optimization and lack of explainability, making them unreliable for clinicians. Therefore, this study introduces an explanatory framework using convolutional neural networks (CNN) for detecting the STN region from LFPs. Continuous wavelet transform is employed to convert LFPs signals into scalogram images, which are then processed by sixteen CNN models. We evaluated our framework by examining the impact of various limiting factors on the classification performance, including model size, learning rate (LR), optimizers and data scaling. Deep features are extracted from the top-performing CNN architectures to capture rich representations of the scalograms. These features are then fused and classified using k-nearest neighbour algorithm. Gradient-weighted class activation mapping is used to explain the decisions made by the proposed model. Our approach achieved an accuracy of 99.61%, outperforming individual CNN models for STN localization. The experimental results revealed that CNN models, embedded with additional hyperparameters and layers, generally outperformed smaller models. Besides, low LR significantly enhanced the performance compared to high LR. Moreover, features extracted from untuned networks produced lower performance than tuned networks. The proposed system could revolutionize deep brain stimulation surgery by increasing efficiency and reducing reliance on clinician expertise for STN detection. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Wavelet transforms

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IMPROVING THE LEARNING PROCESS FOR STUDENTS. PERSONALIZING LEARNING THROUGH SOFTWARE APPLICATIONS

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

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UPB Scientific Bulletin, Series C: Electrical engineering and Computer Science 2025年第1期2025卷 157-166页

作者： Drăgoi, Marius-Valentin Puiu, Roxana-Adriana Petrea, Gabriel Burtea, Cătălin Spiridon – Mocioacă, Teodora – Mihaela Puiu, Mihail Suciu, Cosmin Petru Faculty of Industrial Engineering and Robotics National University of Science and Technology POLITEHNICA Bucharest Romania National research and development institute for gas turbines COMOTI Bucharest Romania

Universities often utilize the technique of enhancing educational outcomes by focusing on improving student learning. This technique has seen substantial development via the incorporation of sophisticated software tools, which provide the advantage of not only tackling intricate programming difficulties but also actively assisting students in their educational advancement. These software solutions provide a distinct benefit by facilitating customized learning experiences and enhancing study approaches in a more effective manner. This paper presents an efficient method for comprehending the significance of certain key phrases in a course: to use software that can systematically extract and analyze paragraphs that include those important terms. By prioritizing these essential topics, students may acquire profound perspectives on the subject matter, resulting in a more thorough comprehension. This article introduces a bespoke software program that has been created with the explicit purpose of improving the learning process. The system presented in this article can also deal with Romanian, where this could be a great advantage and a novelty since there is no such advantage of similar systems (to the best of our knowledge). We will showcase the potential influence of this application on student engagement and academic achievement. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Contrastive Learning

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Real-Time UAV Fault Detection and Classification Using Measurement Data from the PADRE Database

Real-Time UAV Fault Detection and Classification Using Measu...

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

作者： Puchalski, Radoslaw Giernacki, Wojciech Ha, Quang Institute of Robotics and Machine Intelligence University of Technology Faculty of Control Robotics and Electrical Engineering of Poznan Poznan Poland School of Electrical and Data Engineering University of Technology Sydney Faculty of Engineering and Information Technology UltimoNSW2007 Australia

ISBN: (纸本)9798350312072

The growing number of applications for unmanned aerial vehicles operating in close proximity to humans calls for strict safety requirements. To ensure reliability and safety, fast and effective diagnosis of possible drone faults is needed. In this paper, a study on the detection of damage to the propellers of a multirotor using inertial sensors was conducted. Measurement data from the publicly available PADRE repository were used. Frequency features and raw measurement data applicability were tested. Two different approaches to data processing during fault detection and classification were tested. The first is to analyze the signals after collecting the entire set of data needed for treatment by the neural network. The second approach processes the data after every single acquisition of sensor measurements. The performance results and processing time of each solution are recorded for analysis. By effectively selecting parameters of the proposed approaches, the processing time and accuracy of UAV fault classification can be significantly improved, as verified over different classes of propeller defects. Early fault detection is essential for safe operations of multirotor drones. © 2024 IEEE.

关键词： Drones

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RESEARCH ON THE VARIATION OF THE CHEMICAL COMPOSITION BY SEM IN THE CASE OF A SET OF TEETH FOR A POPULATION FROM THE AREA OF THE CITY OF BUCHAREST

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UPB Scientific Bulletin, Series B: Chemistry and Materials Science 2023年第3期85卷 267-275页

作者： Marta, Maria Monica Chivu, Oana Roxana Nițoi, Dan Vasile, Mihai Milicescu, Ștefan Teleanu, Raluca Ioana Teleanu, Daniel Mihai Davițoiu, Dragoș University of Medicine and Pharmacy „Carol Davila" Bucharest Romania Faculty of Industrial Engineering and Robotics University POLITEHNICA of Bucharest Romania

The problem of the mineralization of bone structures in the context of the variations of their chemical elements depending on age represents an intense occupation at the present time in medicine and pharmacy, being insisted on by society. On the pharmaceutical market, there are currently extremely many offers regarding food supplements with different contents in certain chemical elements that are predominantly found in bone structures. Since teeth also represent structures of this type that can be accessed more easily, the current research followed the evaluation of the chemical composition of teeth in their two representative areas: dentine and enamel. Based on this evaluation, the variation graphs of the main chemical elements determined by SEM microscopy were made. The conclusion of this analysis was that the age of 40 years represents a turning point in the variation of chemical elements such as O2, C, Si, Mg, P and Na. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Chemical elements

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Improving Performance of Ternary Tree Algorithm Using Adaptive Group Splitting Technique 9

Improving Performance of Ternary Tree Algorithm Using Adapti...

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9th International Conference on Business and Industrial Research, ICBIR 2024

作者： Srichavengsup, Warakorn Thai-Nichi Institute of Technology Robotics and Technology Laboratory Faculty of Engineering Bangkok Thailand

ISBN: (纸本)9798350383010

This paper presents technique for improving the performance of Ternary tree algorithm. In order to avoid the collision, Ternary tree algorithm divides the users involved in collisions into 3 groups. However, in the case of continuous collisions, keeping the number of divided groups equal to 3 all the time may cause an inefficient use of channel. This is because in later collisions there are fewer users involved in the collision. Dividing the number of groups to 2 in later collisions can provide better performance. Therefore, this paper proposes Adaptive Group Splitting technique to improve the channel access efficiency of Ternary tree algorithm. In Adaptive Group Splitting Technique, the threshold value is defined as the number of collisions in a continuous collision that start to change the number of divided groups from 3 to 2. From the results, we found that the threshold value is an important parameter and affects the system performance. When we use the appropriate threshold value Adaptive Group Splitting technique can help reduce the number of idle slots and improve the performance of Ternary tree algorithm. Especially in the case where there are a large number of users in the system. © 2024 IEEE.

关键词： Adaptive algorithms

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Controlling industrial robots with Simulink 15

Controlling industrial robots with Simulink

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15th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2023

作者： Cosmin, Bucur Alexandru, Andrei Sorin, Tasu Ovidius University of Constanta Faculty of Engineering Constanta Romania Faculty of Industrial Engineering and Robotics Bucuresti Romania

ISBN: (纸本)9798350321388

Implementing machine learning algorithms like reinforcement learning in robotics is a continuously changing topic due to continuous tool changes and updates to keep track of new algorithms and tools. This paper presents a new toolchain to implement such algorithms with open-source packages like ROS2 for industrial robots. We developed new tools and procedures to enable the implementation of reinforcement learning algorithms through simulation or controlling real robots with Matlab. © 2023 IEEE.

关键词： Simulink

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