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5th International and 20th National Conference on Machines and Mechanisms, iNaCoMM 2021

作者： Sarmah, Nilavjyoti Hazarika, Shyamanta M. Biomimetic Robotics and Artificial Intelligence Lab Department of Mechanical Engineering IIT Guwahati Guwahati781039 India

ISBN: (纸本)9789811937156

This paper outlines a method to design an underactuated, linkage-based hand exoskeleton.A planar 8-link mechanism with phalanges and articulations as part of the kinematic chain is used for each *** links are attached to the proximal and distal *** the thumb, a planar 6-link mechanism directly connected at the distal phalanx is *** kinematic synthesis of the mechanism based on Burmester Theory was performed with two principal considerations: *** obtain link lengths that ensured no mechanical interference between the mechanisms and the hand and *** mechanism ensured that each finger follows the natural *** mechanism is evaluated by comparing the workspace of the anatomical index finger with that of the hand exoskeleton assisted finger. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Design

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Identify the objective parameters of direct communication between PLC and MS SQL server 24

Identify the objective parameters of direct communication be...

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24th International Carpathian Control Conference, ICCC 2023

作者： Flaga, Stanislaw Majcher, Maciej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

When building digital twins of existing technical solutions, we need a large amount of data on the parameters of their operation under various conditions. The source of data on the values of process variables at the lowest level is control devices - most often PLCs. There are many ways to acquire the qualities of process variables available from the PLC level. Increasingly, OPC UA is replacing the OPC model, and the OPC UA server is increasingly a functionality of the PLC CPU. The Industrial Internet of Things IIoT is used in companies moving toward Factory 4.0. Data from controllers can be acquired using high-level languages such as C++, C# or Python. Libraries often made available under an open-source license are used for this. For example, you can find commercial libraries for communication between PLCs of selected manufacturers and MySQL servers. Siemens provides a library for communication between S7-1200/1500 controllers and MS SQL server. The author has yet to find an exhaustive analysis of such a solution. In the literature, there need to be more studies of experiments describing the performance of query generation and execution and the impact of the library on PLC performance. The article presents the results of an experimental study of this issue. © 2023 IEEE.

关键词： Libraries

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Human-Integrated Multi-Agent Exploration Using Semantic Communication and Extended Reality Simulation 10

Human-Integrated Multi-Agent Exploration Using Semantic Comm...

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10th International Conference on Automation, robotics, and Applications, ICARA 2024

作者： Suresh, Amrita Beck, Edgar Dekorsy, Armin Ruckert, Patrick Tracht, Kirsten University of Bremen Robotics Research Group Bremen Germany University of Bremen Department of Communications Engineering Bremen Germany Bremen Institute for Mechanical Engineering University of Bremen Bremen Germany

ISBN: (纸本)9798350394245

In hazardous or inhospitable environments such as Mars, exploration and maintenance tasks pose high risks to human operators. Hence, the assistance of mobile robotic systems is required. One of the main applications of outdoor exploration is resource localization. This scenario imposes several challenges: Resources to be found are scarce, and their distribution is unknown. Further, we have limited processing power. Dangerous situations require fast decisions, and thus minimal processing and communication latency. Lastly, the huge amount of information received from the rovers can become quite difficult to interpret by the human operators. To cope with these challenges, we introduce a conceptual framework for the integration of humans with a multi-agent system in the planetary exploration context. The scenario in consideration is that of human-integrated multi-robotic exploration by a team on Mars consisting of rovers and a few astronauts for outdoor sampling and remote operation from within an extraterrestrial habitat. The rover team adapts its behavior to the status of the communication, and with semantic communication, we convey the meaning of the desired exploration data into the data transmission. Then, based on the received semantic information, we visualize the information to provide humans relevant information for decision-making. In order to implement the common framework in a virtual scenario, we combine a human-in-the-loop simulation in extended reality with a rover simulation environment. © 2024 IEEE.

关键词： Semantics

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Quantitative Analysis of Ankle Spasticity Through Electromyography Signal

Quantitative Analysis of Ankle Spasticity Through Electromyo...

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2024 Medical Technologies Congress, TIPTEKNO 2024

作者： Gurluk, Ayse Bilal, Hafiz Muhammad Hocaoglu, Elif Living Robotics Laboratory Graduate School of Health Sciences Physiotherapy and Rehabilitation Program Istanbul Medipol University Istanbul Turkey Living Robotics Laboratory Graduate School of Engineering and Natural Sciences Electrical-Electronics Engineering and Cyber-Systems Program Istanbul Medipol University Istanbul Turkey Living Robotics Laboratory Department of Electrical and Electronics Engineering Istanbul Medipol University Istanbul Turkey

ISBN: (纸本)9798331529819

This study presents a more accurate evaluation method for assessing ankle spasticity compared to conventional goniometric techniques by utilizing measurements obtained from Inertial Measurement Units (IMU) and surface electromyography (sEMG) devices. Integrating IMU and EMG sensors provides substantial benefits for accurately determining the range of motion (ROM) associated with spasticity during targeted movements. In this study, the proposed method provides precise measurement and an objective evaluation of onset time detection of antagonistic muscle co-contraction, and accordingly the ROM of the actuated joint. Moreover, the implementation of cost-effective wearable sensors enables the monitoring of muscle spasticity in clinical environments and can be particularly valuable in regions with limited access to experienced therapists, providing a more efficient approach to tracking spasticity levels. © 2024 IEEE.

关键词： Electromyography

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A 22nm CMOS PFM Buck Converter Used in a 32-Bit RISC-V Microcontroller for IoT Applications 16

A 22nm CMOS PFM Buck Converter Used in a 32-Bit RISC-V Micro...

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16th IEEE Latin American Symposium on Circuits and Systems, LASCAS 2025

作者： Oliveira, Luiz H. N. Amaral, Wellington A. Haddad, Sandro A. P. Munoz, Daniel M. Barcelos, Eduardo A. Sotero, Vinicius V. M. Jonhson, Emmanuel K. M. Campagnucci, Pamela R. A. N. Lima, Luis V. N. Electronics Engineering Undergraduate Program Faculty of Gama Brazil Mechatronics Graduate Program University of Brasilia Faculty of Technology Department of Mechanical Engineering DF Brasilia Brazil

ISBN: (纸本)9798331522124

The demand for efficient power management solutions in electronic devices has increased significantly, especially for microcontrollers operating in low-power modes. This article presents the design and implementation of a Pulse Frequency Modulation (PFM)-based buck converter for applications in 32-bit microcontrollers using 22nm CMOS technology. The methodology involves the development of a Constant On Time (COT) architecture that maintains a fixed duration for the activation of the high-side MOSFET, using a monostable multivibrator to generate the necessary timing signals. The converter's performance was simulated under various load conditions and process corners to evaluate its efficiency and output characteristics. The results show that the proposed buck converter achieves high efficiency, with peak values above 95%, while maintaining a low output ripple. Specifically, the converter exhibits an efficiency of 93.4% at a load of 1mA, with output ripple voltages as low as 2.20 mV under ideal conditions. The contributions of this work lie in the advancement of PFM converter technology for modern microcontroller applications, demonstrating the potential of 22nm CMOS processes to improve power efficiency and performance. © 2025 IEEE.

关键词： CMOS integrated circuits

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Damage evolution and removal behaviors of GaN crystals involved in double-grits grinding

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International Journal of Extreme Manufacturing 2024年第2期6卷 469-484页

作者： Chen Li Yuxiu Hu Zongze Wei Chongjun Wu Yunfeng Peng Feihu Zhang Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China Key Laboratory of Microsystems and Microstructures Manufacturing(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China College of Mechanical Engineering Donghua UniversityShanghai 201620People’s Republic of China Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361005People’s Republic of China

Elucidating the complex interactions between the work material and abrasives during grinding of gallium nitride(GaN)single crystals is an active and challenging research *** this study,molecular dynamics simulations were performed on double-grits interacted grinding of GaN crystals;and the grinding force,coefficient of friction,stress distribution,plastic damage behaviors,and abrasive damage were systematically *** results demonstrated that the interacted distance in both radial and transverse directions achieved better grinding quality than that in only one *** grinding force,grinding induced stress,subsurface damage depth,and abrasive wear increase as the transverse interacted distance ***,there was no clear correlation between the interaction distance and the number of atoms in the phase transition and dislocation *** interacted distances between abrasives can decrease grinding force,coefficient of friction,grinding induced stress,subsurface damage depth,and abrasive wear during the grinding *** results of grinding tests combined with cross-sectional transmission electron micrographs validated the simulated damage results,*** atoms,high-pressure phase transition,dislocations,stacking faults,and lattice *** results of this study will deepen our understanding of damage accumulation and material removal resulting from coupling between abrasives during grinding and can be used to develop a feasible approach to the wheel design of ordered abrasives.

关键词： grinding double-grits molecular dynamics damage material removal gallium nitride

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A Sensorless Parallel Gripper Capable of Generating Sub-Newton Level Grasping Force

A Sensorless Parallel Gripper Capable of Generating Sub-Newt...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Sato, Mutsuhito Arita, Hikaru Mori, Yoshiki Kawamura, Sadao Wang, Zhongkui Robotics Course of the Graduate School of Science and Engineering Ritsumeikan University Kusatsu Japan Kyushu University Department of Mechanical Engineering Fukuoka Japan Ritsumeikan University Department of Information Science and Engineering Kusatsu Japan Ritsumeikan Global Innovation Research Organization Ritsumeikan University Japan Ritsumeikan University Department of Robotics Kusatsu Japan

ISBN: (纸本)9798350312072

Upon grasping a fragile object, small grasping force and gripper compliance are required to avoid large deformation or damage to the object. In this study, linear servomotor based mechanism is used to construct a parallel gripper which is able to achieve small gripping force and compliance without using external force sensors. The linear motor mechanism has low friction and no reduction gear. Therefore, it can produce small thrust force with high back-drivability. The proposed parallel gripper consists of two linear motor mechanisms, a guide rail, a frame, and two fingers. The thrust force of the linear motor can be controlled through a driver. The components of the gripper were manufactured using metal machining and 3D printing, and they were carefully assembled to ensure good axial alignments. Force calibration was conducted and the minimum grasping force was confirmed as a value of 0.076 N. The friction force of the guide rail was also experimentally measured and it was confirmed to be 0.090 N. Finally, grasping experiments were conducted on potato chips and tofu. Results suggested that the proposed parallel gripper is able to handle fragile objects with sub-Newton level force. © 2024 IEEE.

关键词： Grippers

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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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Research study of image classification algorithms based on Convolutional Neural Networks 24

Research study of image classification algorithms based on C...

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24th International Carpathian Control Conference, ICCC 2023

作者： Nawrocka, Agata Nawrocki, Marcin Kot, Andrzej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

The beginning of the paper introduces the idea of neural networks by presenting the neuron models and artificial neural networks. Next, the flow of operations used in the development of convolutional neural networks is presented, as well as an overview of popular architectures used in model development. After introducing the theoretical issues, a project using the EfficientNet architecture to recognize medical images taken by MRI is presented. The project describes: the selection and parameters of the MRI image database representing different types of brain tumors, the process of implementation and appropriate modification of the EfficientNet architecture used to classify images, the presentation of the results of learning the convolutional neural network and the images that highlight on the basis of which area the convolutional neural network classifies images. © 2023 IEEE.

关键词： Convolutional neural networks

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