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International Conference on Electrical Machines, ICEM

作者： Soo-Hwan Park Jae-Hyun Kim Chi-Sung Park Yun-Jae Won Myung-Seop Lim Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul South Korea School of Mechanical Engineering Yeungnam University Daegu South Korea Department of Automotive Engineering Hanyang University Seoul South Korea Department of Automotive Engineering (Automotive-Computer Convergence) Hanyang University Seoul South Korea

ISBN: (数字)9798350370607

ISBN: (纸本)9798350370614

This paper deals with the vibration characteristics of permanent magnet synchronous motors (PMSMs) when there is time-varying load generated in the reciprocating compressor. As the reciprocating mechanism is necessary for compressing the refrigerant, the time-varying load torque is inevitable in compressor. However, this load torque affects to the system dynamics such as the speed fluctuation. These speed ripple cause unexpected vibration characteristics because they induce sideband components in the time harmonics of the electromagnetic force of PMSM. Therefore, we analyzed the vibration characteristics of PMSM according to time harmonics variation and conduct a study to suppress sideband vibration by adopting harmonic current injection method.

关键词： Vibrations Magnetic flux Torque System dynamics Velocity control Vibration measurement Amplitude modulation Harmonic analysis Time-varying systems Predictive control

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Automation Lamp Healing Application based on Face Expression Identification System using Convolution Neural Network (CNN)

Automation Lamp Healing Application based on Face Expression...

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International Conference on Electrical engineering and Informatics, ICEEI

作者： Devin Onil Saduki Simangunsong Mahesh Muhammad Nurul Puji Winda Astuti Computer Engineering Department Automotive and Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

The disruption of routines, education, recreation, as well as concerns about family income and health, has left many young people feeling fearful, angry, and worried about their future. In this system, a smart system will be developed that can capture, process, and interpret facial expressions so that a person's emotions can be easily and accurately identified, which is one of the best solutions. The system will use artificial intelligence that has been trained beforehand using suitable datasets. In the processed of developing the system, Face image with the size of 48 x 48 x 1 became the input of the system, processes by Convolution layer using Relu activation function. The activation function used in the output layer is softmax because it is suitable for more than 2 classifications. by applying CNN based on Adam optimization which have result on 98.96% and 70%, for training and testing accuracy, respectively. Furthermore, the system accurately turn-on the healing lamp based on the emotion identified.

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Motion-Force Interaction Performance of Parallel Robotic Mechanisms

SmartBot

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SmartBot 2025年第1期1卷 27-69页

作者： Qizhi Meng Andres Kecskemethy Xin-Jun Liu Department of Mechanical Engineering Institute of Science TokyoTokyoJapan Chair for Mechanics and Robotics Faculty of EngineeringUniversity of Duisburg-EssenDuisburgGermany State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijingChina Beijing Key Laboratory of Transformative High-End Manufacturing Equipment and Technology Department of Mechanical Engineering(DME)Tsinghua UniversityBeijingChina

Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant *** extensive research encompassing type synthesis,dimension optimization,control theory,design principles,manufacturing techniques,and others,comprehensive reviews on the motion–force-related performance of parallel robotic mechanisms and their applications to real-world problems are still *** review aims to fill this gap by analyzing and summarizing significant studies on the motion–force interaction performance of parallel robotic *** the historical development of theoretical paradigms,the research of parallel robotic mechanisms began relatively late compared with their serial ***,approaches for parallel mechanisms were inherited or adopted from serial ***,many cases have demonstrated that parallel robotic mechanisms possess unique characteristics,making it infeasible to directly transfer the theories developed for serial mechanisms to parallel ***,new methodologies are needed to properly analyze and evaluate the intrinsic properties of parallel robotic mechanisms,where the interaction between motion and force plays a crucial *** paper offers an extensive and systematic review of the existing journal literature that analyzes and evaluates motion–force interaction performance of parallel robotics mechanisms,also known as motion/force transmission and constraint performance,providing a broad and detailed bibliography that will serve as a reference for the research *** work examines research strategies,evaluation methods,performance indices,and real-world applications concerning the motion–force interaction performance of parallel robotic mechanisms,offering a foundation to stimulate future research and innovation.

关键词： constraint index motion-force interaction parallel manipulators parallel mechanisms parallel robotic mechanisms performance evaluation robotic mechanisms screw theory transmission index

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Improvement of Depth Mapping and Occlusion Removal Method Using Integral Imaging 23

Improvement of Depth Mapping and Occlusion Removal Method Us...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Sakanoue, Haruka Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Department of Computer Science and Networks Fukuoka Iizuka820-8502 Japan School of ICT Robotics and Mechanical Engineering Iitc Hankyong National University Kyonggi-do Anseong17579 Korea Republic of

ISBN: (纸本)9788993215274

In this paper, we propose the depth mapping and occlusion removal method using integral imaging (InIm). InIm is a method to obtain 3D information by capturing and reconstructing an object from multiple viewpoints. InIm can remove occlusion using parallax obtained by photographing an object from multiple viewpoints. However, occlusion removal uses a unit matrix to calculate the number of overlaps, which results in an overall darkening of the image. To solve this problem, this paper aims to improve occlusion removal by using the matrix of the mask image to calculate the number of overlaps. InIm can provide depth mapping that shows the distance from an object as pixel values. However, when there is an occlusion in front of the object, it is difficult to provide depth mapping object due to the influence of the occlusion. To solve this problem, we propose a method of depth mapping and occlusion removal method using InIm. Our method is expected to make great progress in improving safety in the field of autonomous driving. © 2023 ICROS.

关键词： Mapping

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Safety-Aware Trajectory Tracking using High-Order Control Barrier Functions

Safety-Aware Trajectory Tracking using High-Order Control Ba...

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IEEE Conference on Decision and Control

作者： Panagiotis Rousseas Dimitra Panagou Kostas Kyriakopoulos Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece Department of Robotics and the Department of Aerospace Engineering University of Michigan MI USA Center of AI & Robotics (CAIR) New York University Abu Dhabi

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

A novel method on safety-aware trajectory tracking is presented in this work. The proposed scheme employs Control Barrier Functions (CBFs) along with a latent-space representation over the barrier and its derivatives. While such representations have also been employed in the literature, the innovation of the proposed method lies in formulating a novel tracking problem on the latent space, enabling for the shape of linear class $-\mathcal{K}$ functions that are included in the safety condition induced by the control barrier function to be chosen constructively. Additionally, the aforementioned safety condition is modified based on the latent-space tracking through the addition of an extra term. This enables maintaining safety guarantees and is demonstrated to provide decreased tracking errors compared to the nominal control barrier function scheme. Numerical simulations validate the efficacy of the proposed scheme, as well as its ability for online implementation.

关键词： Technological innovation Trajectory tracking Shape Aerospace electronics Numerical simulation Safety

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Development of Detection Kidney Function Stand Alone System and Design based on Oral Ammonia Levels

Development of Detection Kidney Function Stand Alone System ...

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International Conference of Computer and Informatics engineering (IC2IE)

作者： William Natasha Angeline Hansen Yosica Mariana Elioenai Sitepu Winda Astuti Melinda Siswanto Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Product Design Program Industrial Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Industrial Engineering Department BINUS Graduate Program Master of Industrial Engineering Bina Nusantara University Jakarta Indonesia Biotechnology Engineering Department Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798331505530

ISBN: (纸本)9798331505547

The development of detection kidney function system at the first prototype have problem with the dependence on the internet, which make not practical in the development of the system and the initial design was not ergonomic. In this work the development of the second step is done with the improvement of accuracy compared with other methods. In this work the new design of the embedded system is also applied and in term of algorithm, the system applied for woman patient. Three different types of machine learning techniques, namely K-nearest neighbors (KNN), Decision Tree and Random Forest are applied and compared. The AI-based kidney failure severity identification system with KNN algorithm had an average accuracy of 90% and 91% for training and testing accuracy, respectively. The design of the embedded system also renews with stylist, simple and practical.

关键词： Training Accuracy Machine learning algorithms Embedded systems Nearest neighbor methods Vectors Decision trees Kidney Random forests Testing

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Hands-Free Interface using Breath for Robot-Assisted Operation

Hands-Free Interface using Breath for Robot-Assisted Operati...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Atsuhiro Imai Daigo Misaki Graduate School of Engineering Mechanical Engineering Program Kogakuin University Tokyo Japan Department of Mechanical System Engineering Faculty of Engineering Kogakuin University Tokyo Japan

In this paper, we propose a novel hands-free interface for robot-assisted operation. Surgeons use both hands during surgery, making difficult for them to operate the display. However, by using a modality other than the hands to operate the display, the surgeon can check the necessary information for the operation in real time. Therefore, we developed a system that recognizes breath from the temperature change on the mask surface. Then, we compared the proposed system with a directly recognized breath method. Consequently, the proposed method had the same performance as directly recognized breath method and minimized the risk of contamination. We believe that the application of our developed system will contribute to the improvement of safety and efficiency in the medical field.

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On the dynamics of vibrational capture of rotation of an unbalanced rotor 56

On the dynamics of vibrational capture of rotation of an unb...

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56th International Conference on Vibroengineering

作者： Yaroshevich, Nikolay Gursky, Volodymyr Puts, Vitalii Yaroshevych, Olha Martyniuk, Viktor Lutsk National Technical University Lutsk43018 Ukraine Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine

Stationary (near stationary) rotation modes of an unbalanced rotor with the oscillation frequency of its axis are considered. From the standpoint of I. I. Blekhman vibrational mechanics, explanations of the mechanism of vibrational capture of the rotation of an unbalanced rotor are given. It is demonstrated that the vibration moment arising as a result of oscillations tends to synchronize vibrational and rotational movements. In addition its effect in the stationary mode becomes unambiguous – either braking or accelerating. It is shown that when a stationary rotation mode is established, large, relatively slow oscillations of rotor’s speed can occur. Theoretical results are confirmed by computer simulation. Copyright © 2022 Nikolay Yaroshevich, et al.

关键词： Rotation

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Analyze and Predict Car Accidents Using Different Machine Learning Algorithms

Analyze and Predict Car Accidents Using Different Machine Le...

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International Conference on Information Management and Technology (ICIMTech)

作者： Farrell Putra Harimanto Chris Andrew Henry William Muhammad Zacky Asy'ari Samuel Albert Artanto Muhammad Nurul Puji Computer Engineering Department Automotive & Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

Traffic accidents can occur from various factors, ranging from the driver themselves to problems with the vehicle. Road and traffic accidents are the most significant factor of fatalities in the world. Most of the causes of accidents are the drivers themselves. Poor physical and mental conditions can significantly impact how to drive. The driving experience is also important; the longer the driver has been driving, the more professional he will be, and vice versa. Smart City solutions can predict the severity of accidents and give information to the authorities in order to reduce the number of fatalities. This paper investigates the factors that may lead to an accident on the road. By looking at data collected from traffic-related accidents and then visualizing it to make it easy to analyze; then, from this data, we will predict the causes of traffic accidents so they can be avoided. The best algorithm based on accuracy, MAE and RMSE is Random Forest Classifier with 0.8461, 0.1663 and 0.4376, respectively.

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A Semi-Autonomous Data-Driven Shared Control Framework for Robotic Manipulation and Cutting of an Unknown Deformable Tissue

A Semi-Autonomous Data-Driven Shared Control Framework for R...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nicholas A. Strohmeyer Ji Hwan Park Braden P. Murphy Farshid Alambeigi Department of Electrical and Computer Engineering The University of Texas at Austin Austin TX USA Walker Department of Mechanical Engineering Texas Robotics The University of Texas at Austin Austin TX USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, we propose a semi-autonomous scheme to synergistically share the complicated task of manipulation and cutting of an unknown deformable tissue (U-DT) between a remote surgeon and a surgical robot. Particularly, utilizing the da Vinci Research Kit (dVRK) platform, we have designed and successfully demonstrated a fully functional shared control scheme for an autonomous tensioning and tele-cutting of a U-DT. We have shown the system’s ability to cooperate with a remote surgeon by leveraging an online data-driven learning and adaptive control method coupled with a reduced-order trajectory planning module that depends on just two parameters. By performing 25 experiments on custom-designed silicon phantoms and defining a set of success/failure metrics, we have put forward findings that establish a causal relationship between these two important parameters and the success or failure of the performed experiments.

关键词： Measurement Personal protective equipment Trajectory planning Time series analysis Surgery Phantoms Silicon

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