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10th IEEE Global Conference on Consumer Electronics, GCCE 2021

作者： Nakagawa, Kosuke Okumura, Yasuyuki Fujii, Katsuyuki Umehira, Masahiro Nanzan University Graduate Program of Mechatronics Graduate School of Science And Engineering Nagoya Japan Nanzan University Faculty of Science And Engineering Department of Mechatronics Nagoya Japan

ISBN: (纸本)9781665436762

In this study, we fabricated a device that can detect obstacles before a user and act from the feelings presented to the sole. Specifically, a distance sensor is mounted on a haptic shoe that presents tactile information to the sole, and the haptic shoe notifies the user of obstacles in front of the user. To present the tactile information, we used an amplifier and a vibration actuator based on the TECHTILE toolkit. We fabricated a shoe-shaped device using these components. A pressure sensor was used to detect motion. PureData and Arduino software were linked to process information from the distance sensor. The system uses the sound recorded by a microphone to output information on the feeling of obstacles that prevent the user from walking. To evaluate the performance of the system, we conducted an experiment in which the subject wore the shoes and used them in analyzing the sound output from the shoes. © 2021 IEEE.

关键词： Vibrations Pressure sensors Legged locomotion Actuators Conferences Footwear Software

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Study on the reduction of the local specific absorption rate of a 1.2-GHz- band transceiver with a reflector 8

Study on the reduction of the local specific absorption rate...

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8th IEEE Global Conference on Consumer Electronics, GCCE 2019

作者： Kumita, Yu Fujii, Katsuyuki Okumura, Yasuyuki Graduate Program of Mechatronics Graduate School of Science and Engineering Nanzan University Nagoya Japan Faculty of Science and Engineering Nanzan University Nagoya Department of Mechatronics Nagoya Japan

ISBN: (纸本)9781728135755

Amateur radio stations, which use greater radiation power than smartphones, are expected to have a high specific absorption rate (SAR). However, few studies have explored the electromagnetic wave exposure in amateur stations. In this paper, we propose mounting a reflector on a 1.2-GHz-band monopole antenna that is mounted on a transceiver-simulating metallic case. Numerical analysis was performed through the finite-difference time-domain (FDTD) method using a simple brain-equivalent model and a numerical model of the human body. The results demonstrated that the SAR can be reduced through the proposed method without greatly altering the antenna characteristics. © 2019 IEEE.

关键词： Reflection

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Meter-scale heterostructure printing for high-toughness fiber electrodes in intelligent digital apparel

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Nature Communications 2025年第1期16卷 1-10页

作者： Lee, Gun-Hee Lee, Yunheum Seo, Hyeonyeob Jo, Kyunghyun Yeo, Jinwook Kim, Semin Bae, Jae-Young Kim, Chul Majidi, Carmel Kang, Jiheong Kang, Seung-Kyun Ryu, Seunghwa Park, Seongjun Medical Research Center Seoul National University Seoul South Korea Departments of Cogno-Mechatronics Engineering and Optics & Mechatronics Engineering Pusan National University Busan South Korea Department of Bio and Brain Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Program of Brain and Cognitive Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Graduate School of Semiconductor Technology Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Department of Materials Science and Engineering Seoul National University Seoul South Korea Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA United States Department of Chemistry Seoul National University Seoul Seoul South Korea School of Transdisciplinary Innovations Seoul National University Seoul South Korea Department of Biomedical Science College of Medicine Seoul National University Seoul South Korea Interdisciplinary Program in Bioengineering College of Engineering Seoul National University Seoul South Korea Department of Transdisciplinary Medicine Seoul National University Hospital Seoul South Korea

Intelligent digital apparel, which integrates electronic functionalities into clothing, represents the future of healthcare and ubiquitous control in wearable devices. Realizing such apparel necessitates developing meter-scale conductive fibers with high toughness, conductivity, stable conductance under deformation, and mechanical durability. In this study, we present a heterostructure printing method capable of producing meter-scale (~50 m) biphasic conductive fibers that meet these criteria. Our approach involves encapsulating deformable liquid metal particles (LMPs) within a functionalized thermoplastic polyurethane matrix. This encapsulation induces in situ assembly of LMPs during fiber formation, creating a heterostructure that seamlessly integrates the matrix’s durability with the LMPs’ superior electrical performance. Unlike rigid conductive materials, deformable LMPs offer stretchability and toughness with a low gauge factor. Through precise twisting using an engineered annealing machine, multiple fiber strands are transformed into robust, electrically stable meter-scale electrodes. This advancement enhances their practicality in various intelligent digital apparel applications, such as stretchable displays, wearable healthcare systems, and digital controls. © The Author(s) 2025.

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RRTN: An improved rapidly-exploring random tree approach for reduced processing times 11

RRTN: An improved rapidly-exploring random tree approach for...

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11th International Symposium on mechatronics and its Applications, ISMA 2018

作者： Mohammed, Hussein Jaradat, Mohammad Romdhane, Lotfi Mechatronics Graduate Program College of Engineering American University of Sharjah Sharjah United Arab Emirates

ISBN: (纸本)9781538610787

In this paper, we aim to improve on the processing time taken to run the Rapidly-Exploring Random Tree Star (RRT) algorithm with no regard for the path length. By restricting the area or volume in which the algorithm's nodes can be generated, a net improvement of the speed is observer. A further step is taken where the restriction is controller to either be in the form of a normal probability distribution or a uniform probability distribution. Both modifications are presented with the normal distribution resulting in significant improvements in the processing times. © 2018 IEEE.

关键词： Motion planning

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Compensated hybrid PI controllers for sampled-data controlled systems⁎

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IFAC-PapersOnLine 2018年第25期51卷 240-245页

作者： Quadros, Mariella M. Scola, Ignacio Rubio Leite, Valter J.S. Electrical Engineering Graduate Program CEFET-MG & UFSJ Belo HorizonteMG30510-000 Brazil Department of Mechatronics Engineering CEFET-MG DivinópolisMG25503-822 Brazil

In this paper we consider sampled-data systems controlled by hybrid PI controllers. In these systems, the sample time may induce some undesirable overshoot due to the postponed reset action on the control integral state, which deteriorates the performance of the closed loop by leading to output overshoot as well as to larger settling time values. We propose a methodology to compute a bounded compensating signal to be added to the control input that minimizes the overshoot and the settling time. The action of the compensating signal synchronizes the reset instants of the hybrid PI controller with the sample-time for a class of systems. The proposed methodology is tested in a laboratory setup system composed of two connected water reservoirs with capacity of 200 liters each, actioned by a variable velocity pump. The control objective is to regulate the level of the first tank and to reject disturbances. We compare the performances achieved by two different hybrid PI schemes with and without the proposed additive compensating signal. The experimental tests illustrate the performance, robustness and disturbance rejection achieved by our approach when applied to uncertain systems. © 2018

关键词： Controllers Closed loop control systems Disturbance rejection Embedded systems Hybrid systems Reservoirs (water) Sampled data control systems Compensating signal Control objectives Controlled system Laboratory set up Reject disturbances Sampled data systems Stability of hybrid systems Variable velocities

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Project Edubot: Exploring Pedagogical Approaches in High School Robotics Education 16

Project Edubot: Exploring Pedagogical Approaches in High Sch...

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16th Brazilian Symposium on Robotics and 15th Workshop on Robotics in Education, SBR-WRE 2024

作者： Nunes Daltro, Isabela Silva Santos, João Victor de Sousa, Guilherme Barbosa Martins, Rodrigo Pastrana, M.A. de Souza Baptista, Roberto Mechatronics Engineering Undergraduate Program University of Brasilia DF Brasilia Brazil Department of Mechanical Engineering Mechatronics Graduate Program University of Brasilia DF Brasilia Brazil Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia DF Brasilia Brazil

ISBN: (纸本)9798350391084

This study focus on passive and active learning within the context of robotics education on public high schools. By synthesizing research findings and practical insights, this paper offers valuable recommendations for educators aiming to optimize the delivery of robotics education in public high schools, addressing the significance of the utilization of appropriate resources and technologies to support effective instruction. We implemented two distinct teaching methodologies to compare and study students’ reactions and learning outcomes: Group A experienced a passive methodology, while Group B engaged with an active methodology. We conducted a survey and the results show that the majority of the students prefer the active approach used in classes. ©2024 IEEE.

关键词： Contrastive Learning

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Comparison of Bioinspired MLP Controllers for Mobile Robots Obstacle Following/Avoidance

Comparison of Bioinspired MLP Controllers for Mobile Robots ...

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2024 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2024

作者： Luiz, Matheus De S. Pastrana, M.A. Da Silva, Lukas. A. Campagnucci, Pamela. R. A. N. Mendoza-Penaloza, Jose Benevides, Rafael R.L. Munoz, Daniel M. University of Brasilia Mechatronics Graduate Program Department of Mechanical Engineering Brasilia Brazil University of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program Brasilia Brazil

ISBN: (纸本)9798350374575

Proportional, integral, and derivative (PID) controllers have been widely adopted for industrial applications. However, these controllers are not very efficient for non-linear systems. Artificial neural networks (ANN) based on the Multilayer Perceptron (MLP) have great potential to replace PID controllers due to their polynomial structure, allowing complex non-linear systems to be controlled. This article introduces the integration of four MLPs as alternatives to a traditional PID controller. These MLPs were trained through four bioinspired algorithms tailored for following tasks in mobile robots. The bioinspired algorithms employed for MLP network training include Particle Swarm Optimization (PSO), Grey Wolf Optimization (GWO), Month-Flame Optimization (MFO), and Artificial Hummingbird Algorithm (AHA). A comparative analysis was conducted between these MLPs and a classic PID controller, focusing on parameters such as overshoot (OS), settling time (ST), and steady-state error for different simulated scenarios. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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An IoT Platform for the Development of Low-cost Emergencies Detection Units based on Soft Sensors 8

An IoT Platform for the Development of Low-cost Emergencies ...

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8th IEEE International Smart Cities Conference, ISC2 2022

作者： Oliveira, Franklin Costa, Daniel G. Assis, Flavio Federal University of Bahia Graduate Program in Mechatronics Bahia Salvador Brazil University of Porto INEGI Faculty of Engineering Porto Portugal

ISBN: (数字)9781665485616

ISBN: (纸本)9781665485616

For centuries, emergencies have been a recurring situation in cities. Natural or human-induced emergency situations can cause infrastructural damages in cities, potentially resulting in injuries, death, and economic losses. In this context, the use of Internet of Things technologies can support more efficient detection of emergencies such as floods, landslides, fire, and terrorism, being possible to alert people and trigger mitigation actions on time. Therefore, this work proposes an IoT platform for the development of sensors-based emergencies detection units, comprising a hardware architecture and a Real Time Operating System based firmware. By combining the concept of Soft Sensors with the parallelism of tasks on multi-core microcontrolers, as well as taking into consideration low-cost and energy efficient demands, it is expected an improvement in the development of such units in smart cities. © 2022 IEEE.

关键词： Internet of things

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Hardware Architecture of the EKF Prediction Stage applied to mobile robot localization 6

Hardware Architecture of the EKF Prediction Stage applied to...

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6th IEEE Latin American Symposium on Circuits and Systems, LASCAS 2015

作者： Contreras, Luis Cruz, Sérgio Motta, J.M.S.T. Llanos, Carlos H. Graduate Program in Mechatronics Systems Department of Mechanical Engineering University of Brasilia Brasilia D.F.70910-900 Brazil

ISBN: (纸本)9781479983322

This work presents an FPGA-based Hardware Architecture to implement the Prediction Stage of the Extended Kalman Filter (EKF) applied to the localization problem in mobile robotics. The algorithm has been implemented and run on an Altera Cyclone IV FPGA with a Nios II processor, being adapted and applied to the mobile platform Pioneer 3AT (P3AT). The prediction stage was based on a dead-reckoning system model and its architecture was designed for floating-point representation. In this project the complete EKF was also implemented considering an estimation stage hardware architecture previously developed using a Laser Range Finder (LRF) sensor, producing an overall balanced implementation. Finally, it was evaluated the system performance and suitability, measuring FPGA resources consumption and comparing execution time with a software solution. © 2015 IEEE.

关键词： Extended Kalman filters

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Control of an autonomous mobile robot in cluttered environments guided by a single CCD camera 2

Control of an autonomous mobile robot in cluttered environme...

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2nd International Conference on Algorithms, Computing and Artificial Intelligence, ACAI 2019

作者： Campos-Garduño, Edgar Tang, Yu Du, Jianming Graduate Program in Engineering UNAM Mexico City Mexico UNAM Faculty of Engineering Mexico City Mexico Mechatronics and Control Engineering Shenzhen University Shenzhen China

ISBN: (纸本)9781450372619

Control of an autonomous robot moving in cluttered environments guided by a single CCD camera is described in this paper. The objective is to guide the mobile robot to arrive at a goal pose (position and orientation) started from an initial pose in the environment where there may be static obstacles that can be observed by the camera. The control scheme consists in three modules: the control module which ensures the exponential tracking to a desired trajectory;the on-line path/trajectory planning module which plans the desired path using LOS (Light-of-Sight) strategy and then parametrizes it into a trajectory;and the depth-estimation module which takes a sequence of target image along the path in the CCD camera mounted in the mobile robot to estimate the target Cartesian coordinate in the inertial frame and passes it to the path/trajectory module. The trajectory tracking controller and the depth observer are devised relying on the contraction analysis ensuring the exponential convergence in both designs. Simulations are included to illustrate the control scheme. © 2019 ACM.

关键词： Navigation

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