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11th IEEE International Conference on Advances in Computing and Communications, ICACC 2024

作者： Ahamed, Aftaab Jayaraj, Karthik Fazil, Shibin Nikitha, S. Sudheer, P.A. National Institute of Technology Calicut Robotics Interest Group Mechatronics Robotics Laboratory India National Institute of Technology Calicut Mechatronics/Robotics Laboratory Mechanical Engineering Department India

ISBN: (纸本)9798350379136

Holonomic drives are gaining popularity in many fields due to their versatility in various industrial applications. The ability of the holonomic drive robots to move in all directions makes it distinct from other drive mechanisms. Open-loop control of omnidirectional bots can be achieved with relative ease whereas automating it is not as easy. When trying to create an automated system with lower cost, off the shelf components and hardware, other problems may arise as a result of the poor performance of the components. Here a three wheeled omnidirectional robot that can trace a predefined path without human intervention has successfully been developed. © 2024 IEEE.

关键词： Open loop control

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Role of IoT in characterization and material properties of synthesis of chromel composite

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Interactions 2024年第1期245卷 1-9页

作者： Siva, T. Bruno, A. Dyson Hepsiba, D. Vijay Anand, L.D. Ram, S. Priya, L. Department of Mechanical Engineering Meenakshi Ramaswamy Engineering College Tamilnadu Thathanur Ariyalur India Department of Mechanical Engineering PSNA College of Engineering and Technology Dindigul India Division of Biomedical Engineering Karunya Institute of Technology and Sciences Coimbatore India Division of Robotics Engineering Karunya Institute of Technology and Sciences Coimbatore India Department of Mechanical Engineering Gokaraju Rangaraju Institute of Engineering andTechnology Hyderabad India Department of Information Technology Bannari Amman Institute of Technology Erode Sathyamangalam638 401 India

The chromel metal matrix composite (MMC) was fabricated through stir casting process reinforced with Tantalum Carbides (TaC). It was used to further increase the substance properties. The morphology characteristics and chemical compositions have been studied through Scanning Electron Microscope (SEM) and Energy Dispersive Analysis of X- Ray (EDAX) respectively. The substance properties such as hardness, density, impact and tensile strength were measured. The quality of the casting components are achieved through monitoring of internet of things (IoT). IoT enabled stir casting system is used to fabricate the chromel composite. The casting process is fully automated by IoT. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Tensile strength

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Identification of robot dynamic model and joint frictions using a baseplate force sensor

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Science China(Technological Sciences) 2022年第1期65卷 30-40页

作者： WU JianHua LI Wang XIONG ZhenHua Institute of Robotics School of Mechanical EngineeringShanghai Jiao Tong University.Shanghai 200240China

Dynamic models play an important role in robot control and *** accurate identification of dynamic models has become crucial to meeting increasing performance *** to the inertial forces and the joint frictions coupling,the identification first requires a parametrized friction ***,the joint frictions are strongly nonlinear and vary with many factors including posture,velocity and ***,all friction models have some deviation from the real values,which reduces the identification *** paper proposes an identification approach using a baseplate force *** identifies the inertial parameters first and then computes the joint friction values by subtracting the inertial torques from the joint *** method has the advantage that it does not require a priori friction *** can choose or construct a proper model to fit the real values and is thus expected to achieve high *** on a 6-DoF robot were conducted to verify the proposed method.

关键词： robot dynamic model model identification joint friction

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Large-scale high uniform optoelectronic synapses array for artificial visual neural network

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Microsystems & Nanoengineering 2025年第1期11卷 247-256页

作者： Fanqing Zhang Chunyang Li Zhicheng Chen Haiqiu Tan Zhongyi Li Chengzhai Lv Shuai Xiao Lining Wu Jing Zhao State Key Laboratory of Explosion Science and Safety Protection Beijing Institute of TechnologyMinistry of Education100081 BeijingChina School of Mechatronical Engineering Beijing Institute of Technology100081 BeijingChina Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology100081 BeijingChina Laser Micro/Nano Fabrication Laboratory School of Mechanical EngineeringBeijing Institute of Technology100081 BeijingChina School of Mechanical Engineering Beijing Institute of Technology100081 BeijingChina

Recently,the biologically inspired intelligent artificial visual neural system has aroused enormous ***,there are still significant obstacles in pursuing large-scale parallel and efficient visual memory and *** this study,we demonstrate a 28×28 synaptic devices array for the artificial visual neuromorphic system,within the size of 0.7×0.7 cm 2,which integrates sensing,memory,and processing *** highly uniform floating-gate synaptic transistors array were constructed by the wafer-scale grown monolayer molybdenum disulfide with Au nanoparticles(NPs)acting as the electrons capture *** synaptic plasticity behaviors have been achieved owing to the switchable electronic storage *** excellent optical/electrical coordination capabilities were implemented by paralleled processing both the optical and electrical signals the synaptic array of 784 devices,enabling to realize the badges and letters writing and erasing ***,the established artificial visual convolutional neural network(CNN)through optical/electrical signal modulation can reach the high digit recognition accuracy of 96.5%.Therefore,our results provide a feasible route for future large-scale integrated artificial visual neuromorphic system.

关键词： optoelectronic synapses monolayer molybdenum disulfide artificial visual neural system convolutional neural network artificial visual neuromorphic systemwithin artificial visual neural network floating gate transistors synaptic plasticity

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A Real-Time 6-DoF Object Pose Estimation Method Based on Template Iteration

A Real-Time 6-DoF Object Pose Estimation Method Based on Tem...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Song, Bochao Ge, Weizong Wang, Chang Wang, Yanan He, Mingyuan Han, Meng Chen, Jiawei Xu, Kun Ding, Xilun Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing100191 China

ISBN: (纸本)9781665481090

This paper presents a novel real-time 6-DoF object pose estimation framework leveraging template iteration combined with RGB information. By integrating object detection, template matching, and pose refinement techniques, the proposed approach constructs a pose estimation network characterized by strong generalization capabilities, real-time performance, and high accuracy. Traditional RGB-based 6-DoF pose estimation methods typically rely on computing the residual between rendered images of coarsely estimated poses and the input query images. However, due to the lack of sufficient 3D structural information, these methods often exhibit poor generalization to unseen objects. In this paper, we propose a 3D feature set-based pose iterative network that eliminates the need for rendering images on the input pose, thus enabling pose estimation without CAD models. Initially, object detection algorithms are employed to identify objects within the scene, followed by template matching to determine the initial pose. Subsequently, the pose iterative network is designed to refine the initial pose, achieving higher estimation accuracy. To ensure real-time performance, model pruning techniques are utilized to compress the pose iterative network, significantly reducing computational complexity while maintaining estimation accuracy. Experimental results demonstrate that our method exhibits robust generalization capability, real-time performance, and high accuracy across various scenarios, providing an efficient and reliable pose estimation solution for robotic vision and automation. © 2024 IEEE.

关键词： Template matching

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Research on ADRC for Flapping Wing Micro Air Vehicles 8

Research on ADRC for Flapping Wing Micro Air Vehicles

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8th International Conference on robotics and Automation engineering, ICRAE 2023

作者： Wang, Yixiong Deng, Huichao Xiao, Shengjie Sun, Yuhong Fang, Zhifei Ding, Xilun Mechanical Engineering Beihang University Robotics Institute Beijing China

ISBN: (纸本)9798350327656

The flapping wing micro air vehicle (FWMAV), with its advantages in maneuverability, safety, and energy efficiency, holds significant potential for various applications. However, the FWMAV faces challenges due to their strong coupling, nonlinearity, high dimensionality, and multiple delays. This study commences by examining the fundamental principles of the Active Disturbance Rejection Controller (ADRC), selecting a superior tracking differentiator controller and a PD-form nonlinear combination, and the two are combined with an extended state observer. We proceed to model and simulate the control system, investigating its response performance to step signals. Through careful debugging on the experimental platform, we identify appropriate control parameters. The results indicate that both the ADRC and the cascade PID demonstrate comparable control effectiveness for FWMAVs, while the ADRC exhibits smoother control performance and a higher convergence rate. Furthermore, flight tests are conducted to validate and showcase the exceptional performance of the ADRC in attitude control for FWMAVs. © 2023 IEEE.

关键词： Controllers

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Research on Control Methods for Electric Vehicle Networks Based on FlexRay Bus

Research on Control Methods for Electric Vehicle Networks Ba...

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2024 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2024

作者： Xiaopeng, Huang Luwei, Gao Zheng, Zhang Chiyu, Zhang Shaanxi College Of Communication Technology Xi'an China Xi' An Jiaotong University Institute Of Robotics And Intelligent Systems School Of Mechanical Engineering Xi'an China

ISBN: (纸本)9798331529277

With the rapid development of electric, intelligent, and connected vehicles, the demand for onboard network technology in vehicles is increasing. The timeliness and robustness of onboard network technology have become key influencing factors for electric vehicle performance. CAN bus cannot meet the high-speed communication requirements of electric vehicles, while FlexRay bus become the preferred solution for intelligent development of electric vehicles due to its high bandwidth, reliability, determinism. This paper analyzes the, topology structure, and timeliness of Flex onboard network system. It also conducts in-depth research on the communication mechanism of FlexRay protocol and designs a FlexRay bus control suitable for data communication between complex onboard electronic control (ECUs). The design covers basic concepts of the FlexRay bus protocol, core transmission processes, data frame formats, encodingdecoding methods as well as implementation and simulation of multiple transmission modules. The functionality of transmission modules is simulated to complete the construction and design of the overall structure of the FlexRay controller. Finally, functional simulation and verification are performed on the designed FlexRay bus controller The test results show that this FlexRay bus controller performs well in terms of data transfer, real-time capability, and robustness;it can meet the requirements for onboard network technology electric vehicles. © 2024 IEEE.

关键词： control strategies FlexRay In-vehicle network technology Model-building Simulation verification

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Selective Privacy Control on Video Feed Using Pre-Trained DNN

Selective Privacy Control on Video Feed Using Pre-Trained DN...

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2024 IEEE International Conference on Intelligent Signal Processing and Effective Communication Technologies, INSPECT 2024

作者： Ghosh, Anupam Mukherjee, Sayan Khan, Shamir Singh, Swarit Anand Boby, Riby Abraham Indian Institute of Technology Jodhpur Inter-disciplinary Research Platform - Robotics and Mobility Systems Department of Mechanical Engineering Rajasthan Jodhpur342030 India

ISBN: (纸本)9798350379525

This article introduces an approach to provide privacy control on live video feeds using a pretrained D NN model. Due to privacy being a major concern in today's world, this approach would ensure the blurring of the faces in live feeds on a real-time basis to protect the privacy of participants. Users are also provided with the liberty to selectively blur/unblur the face of any specific participants as required, thereby providing enhanced flexibility and control over privacy settings during live video conferences or communications. The proposed approach also lets users upload a picture of someone. This ensures that the person's identity stays unobfuscated in the video stream. This feature comes in handy when some people are required to be seen, for example, in work meetings and online conferences. The developed solution can blur faces in real time and let users unblur or keep certain faces clear. This gives users a complete set of tools to handle privacy concerns. It tackles the growing concerns about facial privacy in our digital world. This solution enhances privacy during live video calls by utilizing advanced computer vision to selectively blur unwanted faces while maintaining clear visibility of intended participants. © 2024 IEEE.

关键词： Differential privacy

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A Resonance Based Inductive Wireless Power Transfer System for Charging Autonomous Underwater Vehicle (AUV) Batteries

A Resonance Based Inductive Wireless Power Transfer System f...

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2024 International Conference on Electrical, Electronics and Computing Technologies, ICEECT 2024

作者： Ferdous, Dilruba Saha, Suman Ray, Ranjit CSIR-Central Mechanical Engineering Research Institute Electric Mobility and Tribology Research Group Durgapur India Ghaziabad201002 India CSIR-Central Mechanical Engineering Research Institute Underwater Robotics & Autonomous Systems Group Durgapur India

ISBN: (纸本)9798350378092

Autonomous underwater vehicle (AUV) has a significant influence on marine applications due to its endurance and effectiveness in performing challenging missions. Since most AUVs employ batteries as prime energy storage, their underwater mission time is limited. Moreover, they need to be hauled out of the water for recharging batteries prior to every mission, which is a time consuming and tedious process. Hence, recharging AUV batteries underwater using a wireless power transfer technology is a feasible and secure option to overcome the aforementioned limitation. In this paper, a resonance based inductive power transfer system for wireless charging of AUVs has been developed. Further, the performance of wireless charging system is validated through simulation in MATLAB/Simulink platform and verified through preliminary experimentation carried out in a 1 kW laboratory scale hardware prototype. The experimental results in saline water environment showcase a power transfer efficiency of 85-86% considering a gap of 3 cm between primary and secondary coils. © 2024 IEEE.

关键词： Wireless charging

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Sampled-data-based synchronization of complex networks under scaling attacks

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Mathematical Methods in the Applied Sciences 2024年第18期47卷 14487-14504页

作者： Murugesan, Sathishkumar Ishizaki, Takayuki Liu, Yen-Chen Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan Department of Mechanical Engineering National Cheng Kung University Tainan Taiwan

In this study, our main objective is to address the issue of sampled-data-based synchronization of complex networks subjected to stochastic scaling attacks using a looped-functional approach. To begin with, the design of a Lyapunov functional, which involves tuning parameters and slack variables, considers the error state information of (Formula presented.) and (Formula presented.). Then, the scaling attack is a type of deception attack that is formulated using an interval matrix approach. In addition, the complex networks considered in this study incorporate uncertain inner coupling strengths, which are more general than the existing ones, owing to the presence of uncertainties in the coupling strengths. Using a looped-functional approach to construct an appropriate Lyapunov–Krasovskii functional, we derive a set of sufficient conditions to achieve mean-square asymptotic synchronization for considered complex networks under scaling attacks. In the end, the proposed results are illustrated using three examples, including a practical example that highlights their effectiveness and superiority. © 2024 John Wiley & Sons Ltd.

关键词： Synchronization

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