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A possible solution for noise attenuation material for urban buses: The downtown São Paulo case study

Noise and Vibration Worldwide 2025年第3期56卷 137-147页

作者： Monteiro, Elvis C Avila, Antonio F Division Stellantis Betim Brazil Mechanical Engineering Graduate Studies Program Universidade Federal de Minas Gerais Belo Horizonte Brazil Department of Mechanical Engineering and Mechanical Engineering Graduate Studies Program Universidade Federal de Minas Gerais Belo Horizonte Brazil

Urban buses, particularly in large cities, are exposed to significant noise pollution. This paper presents a new family of materials at the micro/nano level designed for urban noise attenuation, specifically for application in urban buses. Melamine foam is combined in series with nanomembranes, creating a composite material that functions as a Helmholtz resonator. As sound waves pass over the nanomembranes, they are disturbed, and the sound resonates within the melamine foam. This interaction reduces the energy of the sound waves and enhances the noise absorption coefficient. In ten cases studied, the average sound absorption coefficient was approximately 89%, with peak frequencies ranging from 2400 Hz to 4300 Hz. The average thickness of the nanomembranes was around 5.0 µm, while the melamine foam had a thickness of 13 mm. The mean noise reduction achieved was about 11 dB, which depends on factors such as the morphology, thickness, and pore size of the nanomembranes. A case study conducted in downtown São Paulo demonstrated that applying these materials to urban buses can significantly reduce interior noise levels. Finally, the proposed system is fully scalable and adaptable for various applications where acoustic insulation is required. © The Author(s) 2025.

关键词： Noise pollution

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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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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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Bringing Bearing Fault Detection to Embedded Systems Using Low-Cost Machine Learning Techniques

Bringing Bearing Fault Detection to Embedded Systems Using L...

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

作者： Teixeira, Natalia S. Pastrana, M.A. Moura, Henrique G. Munoz, Daniel M. University of Brasilia Faculty of Gama Automotive Engineering Undergraduate Program Brasilia Brazil University of Brasilia Department of Mechanical Engineering Mechatronics Graduate Program Brasilia Brazil University of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program Brasilia Brazil

ISBN: (纸本)9798350374575

Vibration analysis is crucial for predictive maintenance of bearing systems, aiming to reduce costs and prevent failures. This paper investigates signal processing techniques such as FFTs and Hilbert Transforms for fault diagnosis, alongside decision tree models, particularly the J48 algorithm within the WEKA environment, for fault classification. The study emphasizes the integration of signal processing and machine learning for effective fault diagnosis and maintenance. Notably, a classification model with low computational cost has been chosen, facilitating implementation in embedded systems. This model also offers interpretability of outputs, as it is based on decision trees of frequency components obtained through preprocessing. © 2024 IEEE.

关键词： Predictive maintenance

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Sub-optimal Perceptron Controller Using WOA Algorithm for Farming Watering Mobile Robot

Sub-optimal Perceptron Controller Using WOA Algorithm for Fa...

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

作者： Pastrana, M.A. Oliveira, L.H. Bautista, J. Pinto-Lopera, Jesus Mendoza-Penaloza, Jose Munoz, Daniel M. University of the Amazonia Faculty of Engineering Systems Undergraduate Program Florencia Caquetá Colombia 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

Artificial neural networks (ANNs) are intricate mathematical models, drawing inspiration from the biological nervous system, and offering intelligence alongside nonparametric capabilities. The efficacy of ANNs heavily relies on their learning process. Heuristic search algorithms have been proposed in literature as reliable options for optimizing neural networks utilizing the Perceptron architecture. This paper presents an suboptimal neural network Perceptron training method employing the Whale Optimization Algorithm for the application of farming watering mobile robots. To achieve this, a fitness function based on system responses such as overshoot, settling Time, and steady-state Error was developed. The sub-optimal Perceptron controller was then implemented using MATLAB, CoppeliaSim software and the EVA robot, resulting in a 66.17% overshoot, a 4.7% steady-state error, and a settling time of 3.05 seconds. Moreover, the sub-optimal Perceptron controller was mapped onto a System on Chip FPGA AMD-Xilinx Zynq 7020, resulting in a hardware resources consumption of 1,870 (3.52%) Lookup table, 2 (0.9%) Digital Signal Processing blocks, 1,019 (0.96%) Flip-Flops and a power consumtion of 0.005 W. Finally, Hardware-in-The-Loop validation was performed using CoppeliaSim, Python, Universal Direct Memory Access, and the EVA robot. The results showed an overshoot of 94.83%, a settling time of 2 seconds, and a steady-state error of 4.5%. © 2024 IEEE.

关键词： MATLAB

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

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

ISBN: (纸本)9798350374575

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. © 2024 IEEE.

关键词： Agribusiness

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Negative Stiffness Mechanism on An Asymmetric Wave Energy Converter by Using A Weakly Nonlinear Potential Model

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China Ocean engineering 2024年第4期38卷 689-700页

作者： Sunny Kumar POGULURI Dongeun KIM Yoon Hyeok BAE Department of Ocean Engineering IIT MadrasChennaiIndia Multidisciplinary Graduate School Program for Wind Energy Jeju National UniversityJejuRepublic of Korea Mechanical and System Design Engineering Hongik UniversitySeoulRepublic of Korea

Salter's duck,an asymmetrical wave energy converter(WEC)device,showed high efficiency in extracting energy from 2D regular waves in the past;yet,challenges remain for fluctuating wave *** can potentially be addressed by adopting a negative stiffness mechanism(NSM)in WEC devices to enhance system efficiency,even in highly nonlinear and steep 3D waves.A weakly nonlinear model was developed which incorporated a nonlinear restoring moment and NSM into the linear formulations and was applied to an asymmetric WEC using a time domain potential flow *** model was initially validated by comparing it with published experimental and numerical computational fluid dynamics *** current results were in good agreement with the published *** was found that the energy extraction increased in the range of 6%to 17%during the evaluation of the effectiveness of the NSM in regular *** irregular wave conditions,specifically at the design wave conditions for the selected test site,the energy extraction increased by 2.4%,with annual energy production increments of approximately *** findings highlight the potential of NSM in enhancing the performance of asymmetric WEC devices,indicating more efficient energy extraction under various wave conditions.

关键词： asymmetric wave energy converter negative stiffness mechanism weakly nonlinear potential flow power

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Design and Construction of a Low-Cost Combat Robot 16

Design and Construction of a Low-Cost Combat Robot

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

作者： Costa, R.B. Itacaramby, G. Cabral, J. Pastrana, M.A. Peñaloza, J.M. Muñoz, Daniel M. Department of Mechanical Engineering Mechatronics Graduate Program University of Brasilia DF Brasilia Brazil Faculty of Gama Aerospace Engineering Undergraduate Program University of Brasilia DF Brasilia Brazil Faculty of Gama Software Engineering Undergraduate Program University of Brasilia DF Brasilia Brazil

ISBN: (纸本)9798350391084

This paper presents the design and construction of a low-cost combat robot named Artemis, developed for participation in the Robocore Experience 2024 competition. The project emphasizes the integration of cost-effective components and innovative methodologies to create a competitive robot. The ESP32 microcontroller was selected for its advantages in energy efficiency and connectivity, surpassing traditional platforms like Arduino. The construction process involved several phases, including planning, development, testing, correction, and performance evaluation, utilizing tools such as CAD software for design and 3D printing for fabrication. Key components included a DC motor, L298N H-bridge, and a LiPo battery, all chosen to optimize performance while adhering to budget constraints. The robot’s design evolved through iterative testing and adjustments, ultimately leading to a successful competition debut. This work highlights the importance of resourcefulness and collaboration in robotics, showcasing how educational institutions can foster innovation in engineering projects. ©2024 IEEE.

关键词： Budget control

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Utilizing Mobile Robots to Teach Dengue and Chikungunya Prevention in Brazilian Schools 16

Utilizing Mobile Robots to Teach Dengue and Chikungunya Prev...

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

作者： Costa, R.B. Gomes, Pedro H.L. Rodriguez Silva, Luiz F. Pastrana, M.A. Gontijo, Maria C.C. Luiz, M.S. Muñoz, Daniel M. 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 Faculty of Gama Aerospace Engineering Undergraduate Program University of Brasilia DF Brasilia Brazil

ISBN: (纸本)9798350391084

This paper introduces a novel approach to combating the spread of Dengue and Chikungunya, two prevalent arboviruses in tropical regions, especially in Brazil. The research presents a low-cost differential topology robot designed as an educational tool to raise awareness about mosquito breeding grounds among students and teachers in public schools across the Federal District, Brazil. Developed at the University of Brasilia, the robot is deployed in collaboration with the Federal District Health department to support prevention campaigns in schools. The paper evaluates the effectiveness of this innovative tool in enhancing community engagement and improving health outcomes. The findings suggest that integrating robotics into health education can significantly elevate awareness and strengthen prevention strategies against arboviral diseases. ©2024 IEEE.

关键词： Mobile robots

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Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints

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Soft Robotics 2024年第5期11卷 741-754页

作者： Yang, Chih-Wen Ou Yu, Shao-Yi Chan, Che-Wei Tseng, Chien-Yao Cai, Jing-Fang Huang, Han-Pang Juang, Jia-Yang Department of Mechanical Engineering National Taiwan University Taipei Taiwan Department of Mechanical Engineering University of California at Berkeley BerkeleyCA United States Program in Nanoengineering and Nanoscience Graduate School of Advanced Technology National Taiwan University Taipei Taiwan

Soft robotic grippers and hands offer adaptability, lightweight construction, and enhanced safety in human–robot interactions. In this study, we introduce vacuum-actuated soft robotic finger joints to overcome their limitations in stiffness, response, and load-carrying capability. Our design—optimized through parametric design and three-dimensional (3D) printing—achieves high stiffness using vacuum pressure and a buckling mechanism for large bending angles (>90◦) and rapid response times (0.24 s). We develop a theoretical model and nonlinear finite-element simulations to validate the experimental results and provide valuable insights into the underlying mechanics and visualization of the deformation and stress field. We showcase versatile applications of the buckling joints: a three-finger gripper with a large lifting ratio (*96), a five-finger robotic hand capable of replicating human gestures and adeptly grasping objects of various characteristics in static and dynamic scenarios, and a planar-crawling robot carrying loads 30 times its weight at 0.89 body length per second (BL/s). In addition, a jellyfish-inspired robot crawls in circular pipes at 0.47 BL/s. By enhancing soft robotic grippers’ functionality and performance, our study expands their applications and paves the way for innovation through 3D-printed multifunctional buckling joints. © Mary Ann Liebert, Inc.

关键词： Grippers

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