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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Emadodin Jandaghi Dalton L. Stein Adam Hoburg Paolo Stegagno Mingxi Zhou Chengzhi Yuan Department of Mechanical Industrial and Systems Engineering Kingston RI USA Department of Electrical Computer and Biomedical Engineering Kingston RI USA Graduate School of Oceanography Kingston RI USA

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

This paper addresses the problem of composite synchronization and learning control in a network of multiagent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer distributed adaptive learning control strategy is introduced, comprising a first-layer distributed cooperative estimator and a second-layer decentralized deterministic learning controller. The first layer is to facilitate each robotic agent’s estimation of the leader’s information. The second layer is responsible for both controlling individual robot agents to track desired reference trajectories and accurately identifying/learning their nonlinear uncertain dynamics. The proposed distributed learning control scheme represents an advancement in the existing literature due to its ability to manage robotic agents with completely uncertain dynamics including uncertain mass matrices. This allows the robotic control to be environment-independent which can be used in various settings, from underwater to space where identifying system dynamics parameters is challenging. The stability and parameter convergence of the closed-loop system are rigorously analyzed using the Lyapunov method. Numerical simulations validate the effectiveness of the proposed scheme.

关键词： Adaptive learning Computer aided instruction Uncertainty System dynamics Distance learning Aerospace electronics Nonlinear dynamical systems

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End-to-End Visuomotor Learning from Virtual Environment to Real Robot

End-to-End Visuomotor Learning from Virtual Environment to R...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kei Higuchi Constantin Uhde Gordon Cheng Ixchel G. Ramirez-Alpizar Gentiane Venture Natsuki Yamanobe Graduate School of Engineering Mechanical Systems Engineering Tokyo University of Agriculture and Technology Japan National Institute of Advanced Industrial Science and Technology (AIST) Japan Institute for Cognitive Systems Technical University of Munich Germany Department of Mechanical Engineering Faculty of Engineering The University of Tokyo Japan

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Robots can acquire skills to accomplish a target task by learning human manipulations. In this study, we build an end-to-end visuomotor learning system for a robot to learn multiple tasks in a virtual environment, and then perform the same tasks in a real environment without re-training. We use domain randomization to improve the generalization performance of the learning model. To effectively tackle this challenge, we build an integrated learning system that jointly learns robot motions and visual features of the task. The experimental results show that our system can perform multiple tasks with a high success rate and is able to successfully bridge the Sim2Real gap, compared to learning motion and visual features separately.

关键词： Learning systems Robot motion Bridges Visualization Image recognition Computer aided software engineering Virtual environments Motors Robots Image reconstruction

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Association of the Factors Affecting Risk Score in HIRADC Form of a Thermal Power Plant 24

Association of the Factors Affecting Risk Score in HIRADC Fo...

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6th International Conference on Management Science and industrial engineering, MSIE 2024

作者： Uayan, Christian Jay A. Prasetyo, Yogi Tri Novendah, Ierenne Ayuwati, Irene Dyah Cahigas, Maela Madel L. Nadlifatin, Reny School of Industrial and Engineering Management Mapúa University 658 Muralla St. Intramuros Manila1002 Philippines School of Graduate Studies Mapúa University 658 Muralla St. Intramuros Manila1002 Philippines International Bachelor Program in Engineering Yuan Ze University 135 Yuan-Tung Road Chung-Li32003 Taiwan Department of Industrial Engineering and Management Yuan Ze University 135 Yuan-Tung Road Chung-Li32003 Taiwan University of Surabaya Surabaya60284 Indonesia School of Industrial Engineering and Engineering Management Mapúa University Manila Philippines Department of Information Systems Institut Teknologi Sepuluh Nopember Kampus ITS Sukolilo Surabaya60111 Indonesia

ISBN: (纸本)9798400717130

In devising an effective Hazard Identification, Risk Assessment and Determining Controls plan of a company, it is crucial to understand the factors that relate with the Inherent and Residual Risks to prioritize the implementation of controls. In this study, the Process Area, Activity, Hazard Category, Inherent Risk Score and Residual Risk Score are brought into Chi-Squared Test to identify which factors are closely associated with Inherent and Residual Risk Scores. Moreover, the factors and range of scores were assessed into categorical level through Phi coefficient analysis. Chi-Squared Test dictates that there is a close relationship between Process Area and the Inherent Risk Score while Activity is closely associated with the Residual Risk Score. Results suggest that the thermal power plant is putting more effort into activities that involve high-level risks especially those that directly affect the environment. © 2024 ACM.

关键词： Thermoelectric power plants

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Heading Angle Estimation Using Intelligent Fusion for Autonomous Vehicles

Heading Angle Estimation Using Intelligent Fusion for Autono...

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Ali A. Barakat Mohammad A. Jardat Ahmed M. Elsergany Nidal A. Sherif Mechanical Engineering Department American University of Sharjah Sharjah UAE Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE

Low-cost navigation systems for ground vehicles often rely on the fusion with Global Positioning System (GPS) for improved state estimation. In this study a low-cost gyroscope is fused with a GPS for improved vehicle heading angle estimation using several Artificial Intelligence (AI) based architectures that include Shallow Neural Networks (SNN), Multi-Layer Neural Networks (MLNN), and Adaptive Neuro- Fuzzy Inference systems (ANFIS). The primary goal behind using AI based sensor fusion is to obtain a highly accurate vehicle heading estimation suitable for autonomous navigation applications. When available, the GPS signal is used to correct the vehicle's heading angle. The neural networks and ANFIS methods both use the difference between the GPS signal and the heading angle from the integrated gyroscope as inputs. The performance achieved is shown and analyzed. According to the results obtained, the MLNN provides the most accurate heading estimates.

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Differentially Private Log-Location-Scale Regression Using Functional Mechanism

arXiv

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arXiv 2024年

作者： Sheng, Jiewen Fang, Xiaolei Graduate Program in Operations Research North Carolina State University United States Edward P. Fitts Department of Industrial and Systems Engineering North Carolina State University United States

This article introduces differentially private log-location-scale (DP-LLS) regression models, which incorporate differential privacy into LLS regression through the functional mechanism. The proposed models are established by injecting noise into the log-likelihood function of LLS regression for perturbed parameter estimation. We will derive the sensitivities utilized to determine the magnitude of the injected noise and prove that the proposed DP-LLS models satisfy ϵ-differential privacy. In addition, we will conduct simulations and case studies to evaluate the performance of the proposed models. The findings suggest that predictor dimension, training sample size, and privacy budget are three key factors impacting the performance of the proposed DP-LLS regression models. Moreover, the results indicate that a sufficiently large training dataset is needed to simultaneously ensure decent performance of the proposed models and achieve a satisfactory level of privacy protection. © 2024, CC BY.

关键词： Budget control

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Fuzzy Logic for Assessing the Health of a Corn Crop within Family Farming

Fuzzy Logic for Assessing the Health of a Corn Crop within F...

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Latin America Congress on Computational Intelligence (LA-CCI)

作者： Vanessa Mendonça Mikael Santos Daniel M. Muñoz Carlos Humberto Llanos Department of Computer Science Federal Institute of Brasilia Department of Mechanical Engineering Mechatronics Graduate Program Department of Agronomy Federal Institute of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350374575

ISBN: (纸本)9798350374582

Technological advancements are increasingly evident across various sectors, including automobiles, industry, and healthcare. In precision agriculture, significant progress has been made, with AgroTICs and Smart Agriculture gaining substantial traction in the market. However, a gap remains between cutting-edge technology and family farming, presenting a challenge from both social and applied research perspectives. However, there is still a gap between cutting-edge technology and family farming, which creates a challenge from a social and applied research point of view. In this context, this paper proposes a monitoring model based on Fuzzy Logic and sensor automation applied to estimate the health of a corn crop. The proposed Fuzzy inference system involves calculating an indicator of nutrients as well as the average color and area of corn plants. The nutrient indicator is automatically computed by an ESP32 microcontroller using sensor readings, while the average color and area inputs are manually entered via a mobile application. Additionally, the Fuzzy inference is integrated into the ESP32. The model underwent experimental validation on the health of the plantation, and the results were evaluated in four areas: one was designated for testing, and three were for validation. The model achieved an accuracy of 97.5% in Scenario 3, categorized as ’Very Favorable’, and an accuracy of 65% in Scenarios 2 and 4, categorized as ‘Unfavorable’. The implications of this research contribute to the advancement of AgroTICs among small producers, with the potential to enhance and automate the monitoring of their harvest production.

关键词： Fuzzy logic Accuracy Computational modeling Plantations Crops Production Color Nutrients Monitoring Fuzzy systems

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Feasibility Study of a Teleoperation System With Haptics for Tip-Force Sensing Active Needles

Feasibility Study of a Teleoperation System With Haptics for...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Sooyeon Kim Sujin Yu Yuri Lim Suhyun Lee Seok Chang Ryu Department of Mechanical and Biomedical Engineering BioRobotics Laboratory Graduate Program in Smart Factory Ewha Womans University Seoul South Korea Department of Mechanical and Biomedical Engineering BioRobotics Laboratory Ewha Womans University

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This paper presents the design of a teleoperation system with a haptic display for the active needles with tip-force sensing and tip-steering capabilities. The active needle design employs sensorized tendons by fiber Bragg gratings sensor (FBGs), while the teleoperation system combines a general haptic interface with electrical stimulation as its steering interface, delivering not only general force feedback but also tip-force information measured by the FBGs-based tendons to the operators. The essential features, such as tip-force sensing, teleoperation of the tip-joint, and human perception of the measured tip-force, were experimentally evaluated with their prototypes in tissue phantoms. Based on the results obtained, necessary follow-up studies were identified and suggested for the effective teleoperation of force-sensing steerable instruments in clinical environments. If successfully developed, such systems can enable surgeons to perceive clinical situations and perform operations more precisely and safely.

关键词： Instruments Surgery Prototypes Phantoms Biomedical measurement Robot sensing systems Needles Fiber gratings Sensors Tendons

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Simultaneous orthogonal shearography using two pairs of parallel slits and a tetra-split lens 13

Simultaneous orthogonal shearography using two pairs of para...

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Optical Measurement systems for industrial Inspection XIII 2023

作者： Lima, Tainara Pedrosa Barrera, Estiven Sánchez de Oliveira, Bernardo C.F. Armando Albertazzi, G. Graduate Program in Mechanical Engineering Technological Center Federal University of Santa Catarina PO Box 476 - University Campus Trindade SC Florianópolis88040-900 Brazil Universidad Tecnológica de Bolívar Bolivar Cartagena Colombia

ISBN: (数字)9781510664463

ISBN: (纸本)9781510664456

There are a growing number of industrial applications for shearography, especially in non-destructive testing of composite materials. Its tolerance to hostile environments is probably the most relevant success factor for industrial applications. The introduction of carrier fringes for phase recovery, replacing temporal phase shift techniques, allows measurements with a single exposure for each loading state, making shearography even more robust. Some defects are better evident when the shearing direction is horizontal. Others are best viewed with a vertical shearing direction. Thus, it is desirable to inspect in both directions. Fortunately, the literature reports some configurations capable of using carrier fringes to perform simultaneous measurements in more than one shearing direction. These systems work well, but since they use a mask with circular holes, they require a high amount of light. An alternative is the use of a pair of oblong slits, which increases the amount of light captured. This paper extends the use of oblong slit pairs for simultaneous measurement in two orthogonal shearing directions. Two pairs of parallel oblong slits are arranged orthogonally on the system mask. Although the Fourier transform of the resulting signal at the camera sensor contains the desired signals as well as a crosstalk between the slit pairs. However, the mask can be designed in such a way that the orthogonal signals are separable. To promote shearing in orthogonal directions, a polymeric lens was sectioned, forming four quadrants of 90°. The quadrants were radially displaced and arranged so that each oblong slit covers only one quadrant of the lens. As a result, four laterally shifted images are formed, two of them with horizontal shearing and the other two with vertical shearing. A proof-of-concept prototype was developed and the first results were evaluated by the authors in the laboratory environment and are presented in this article. The paper also shows details of the

关键词： Lenses

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Threshold-Based Electroencephalography Brain-Computer Interface for Robot Arm Control

Threshold-Based Electroencephalography Brain-Computer Interf...

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Asia-Pacific Conference on Intelligent Robot systems (ACIRS)

作者： Muhammad Ilhamdi Rusydi Elita Amrina Yoan Winata Salisa 'Asyarina Ramadhani Riko Nofendra Electrical Engineering Department Engineering Faculty Program of Engineer Professional Education Graduate School Universitas Andalas Padang Indonesia Industrial Engineering Department Engineering Faculty Program of Engineer Professional Education Graduate School Universitas Andalas Padang Indonesia Electrical Engineering Department Engineering Faculty Universitas Andalas Padang Indonesia

Brain-Computer Interface (BCI) is a technique that uses real-time brain impulses to connect with and control external devices. BCI provides a new method for controlling external devices by translating brain signals into computer commands, facilitating the daily lives of people with disabilities and enhancing their ability to exhibit expected behavior. A Brain-Computer Interface (BCI) system based on Electroencephalography (EEG) was built to control the robotic arm. The EEG signals utilized included both eyes blinking, the right eye, the left eye, and the jaw contraction. EEG data were recorded from seven healthy subjects. The threshold approach is used to classify EEG signals, with the feature employed being the amplitude of the EEG signal. The highest threshold value for the blinking signal was 0.6 mV with an accuracy of 97.9%, while the best threshold value for jaw contraction was 0.4 mV with an accuracy of 93.34 percent. The healthy, inexperienced participants took part in system testing. The total results of testing each robot movement yielded an overall success rate of 84.52 percent. Therefore, it was determined that the system could facilitate the operation of the length robot even if the user lacked prior experience with EEG-based systems.

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The Effect of Fins Design on the Thermal Characteristics of Electric Motors for Electric Vehicles

The Effect of Fins Design on the Thermal Characteristics of ...

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International Conference on Advanced Mechatronics, Intelligent Manufacture, and industrial Automation (ICAMIMIA)

作者： Muhammad Hasan Albana Harus Laksana Guntur Ary Bachtiar Khrisna Putra Graduate Program of Mechanical Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia Mechanical Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia

The increasing public demand for electric vehicles also impacts the demand for electric motors. The prominent problem electric motors faces are excess heat when operating because it affects the age and performance of the electric motor. Installing fins on the electric motor housing is one way to reduce heat on the electric motor. In this study, a comparison of the six-fin design was carried out, and the effect on the thermal characteristics of the electric motor was examined. Fins are mounted radially and axially. The six types of fin designs studied are radial fins-round, radial fins-square, radial fins-servo, axial fins-round, axial fins-square, and axial fins-servo. The research uses the lumped circuit models method, and the software used is Motor-CAD. The type of electric motor being studied is a brushless permanent magnet machine (BPM) with an internal rotor. The study's findings indicate that the fin's performance in cooling the electric motor depends on its area. The lower temperatures in the axial fins-servo and radial fins-square compared to other fin designs are due to the broader area of the axial fins-servo and radial fins-square compared to the others. Axially mounted fins provide better cooling than radially mounted fins. For example, the winding temperature on the axial fins-servo is 140.54°C, and the winding temperature on the radial fins-square is 140.86°C even though the area of the axial fins-servo is 22.7% smaller than the area of the radial fins-servo.

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