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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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The effect of grooves on the in-wheel motor cover of an electric scooter to increase the heat transfer process

The effect of grooves on the in-wheel motor cover of an elec...

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2023 International Conference on Computer Science, Information Technology and engineering, ICCoSITE 2023

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

ISBN: (纸本)9798350320954

Excessive heat will reduce the torque, power, and efficiency of the in-wheel motor, for example, the in-wheel motor used for an electric scooter. This study discusses an effort to reduce the temperature of the in-wheel motor of an electric scooter by making grooves on the cover surface. If the temperature of the in-wheel motor cover is low, it will reduce the temperature of the in-wheel motor as a whole. This research uses the finite element method: steady-state thermal analysis and transient thermal analysis. The software used is Ansys Workbench. Suppose a heat flux of 1000 W/m2 is inside the in- wheel motor, the metal used as a cover is aluminum, 22°C is the starting temperature, and the ambient temperature is 28°C. The results showed that the grooves on the in-wheel motor cover caused the temperature to be reduced by 8.4%, and the total heat flux increased by 8.3% compared to the standard in-wheel motor cover (cover without modifications). In this study, the transient thermal analysis described the heat transfer process better than a steady-state thermal analysis. © 2023 IEEE.

关键词： Finite element method

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Aranea Debris Interceptor - A Biomimetic Approach to Orbital Debris Mitigation

Aranea Debris Interceptor - A Biomimetic Approach to Orbital...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Orr, L. Champion, M. Donahue, K. Kazoleas, C. Zhan, J. Tan, N. Yuan, S. Department of Aerospace Engineering and Mechanics The University of Alabama TuscaloosaAL35487 United States A. Leon Linton Department of Mechanical Robotics and Industrial Engineering Lawrence Technological University SouthfieldMI48075 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The escalating challenge of orbital debris poses a significant threat to operational satellites, human spaceflight, and the long-term sustainability of space activities. This paper presents the Aranea Debris Interceptor (ADI), an innovative spacecraft designed to address these challenges through advanced debris mitigation techniques. Inspired by the hunting strategies of the ogre-faced spider, the ADI utilizes six deployable tensegrity arms for the in-space fabrication of a debris-capturing net. This net, designed to ensnare a range of debris sizes, is held taut by the flexible arms and incorporates space welding technology for structural integrity. An auxiliary drag sail facilitates the self-deorbiting of captured debris. The expansive solar sail of the ADI enables traversal between orbits, expanding its debris collection range. This paper details the design, prototyping, and initial testing results of the deployable tensegrity arms. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Solar sails

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The Effect of Rotational Speed on the Thermal Characteristics of a Wheel Hub Motor on an Electric Scooter 24

The Effect of Rotational Speed on the Thermal Characteristic...

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24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023

ISBN: (纸本)9798350313956

When using an electric scooter, there is a problem with the electric motor overheating. Temperatures that are too high will damage motor performance and reduce reliability. As a result, heat transfer from electric motors needs to be carefully considered. This study aims to determine the thermal characteristics of an electric motor by varying the rotational speed. The rotational speeds varied were 250 rpm, 500 rpm, and 750 rpm. Using finite element analysis to answer research questions, the software used is Ansys Motor-CAD. The type of electric motor used is a wheel hub motor with a power of 1.5 kW. The findings indicate that the rotating speed influenced the thermal properties of a wheel hub motor. Wheel hub motor components, including the winding, stator, rotor, cover, and axle, exhibit a drop in temperature with increasing rotational speed. The winding is the component that experiences the highest temperature, and the cover is the component that experiences the lowest temperature. The winding loss value is much higher than the stator, magnet, and rotor loss. Compared to other rotational speeds, the winding temperature at 750 rpm rotational speed achieved a stable temperature the quickest, at 519 minutes, while the temperatures at 250 rpm and 500 rpm reached stable temperatures, respectively, at 592.2 and 550.5 minutes. © 2023 IEEE.

关键词： Finite element method

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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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2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023

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

ISBN: (纸本)9798350309225

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. © 2023 IEEE.

关键词： Electric vehicles

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Geometric based apple suction strategy for robotic packaging

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International Journal of Agricultural and Biological engineering 2024年第3期17卷 12-20页

作者： Zhong Wang Qingyu Wang Mingzhao Lou Fan Wu Yaonan Zhu Dong Hu Mingchuan Zhou Yibin Ying College of Optical Mechanical and Electrical EngineeringZhejiang A&F UniversityHangzhou 311300China College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Zhejiang UniversityHangzhou 310058China Department of Micro-Nona Mechanical Science and Engineering Nagoya UniversityFuro-choChikusa-kuNagoya 464-8601Japan

Packaging is one of the least automated steps among all the fruit postharvest processes,which is time-consuming and ***,a robust suction strategy for robotic manipulation needs to be *** this research,a geometric-based apple suction strategy for robotic packaging was studied,including suction cup design,optimal suction region selection algorithm,and robot system *** the first place,on the basis of the geometric features of the spheroid fruit,the structure of the suction cups was designed to provide reliable suction ***,suction force measurement experiments on both acrylic balls and apples were *** on the results,the parameters of the suction cup were finally *** results also indicated that the curvature radius of the suction region is supposed to larger than that of the suction ***,a robust suction region selection algorithm was developed,which involves four steps:RGB-D information acquisition,object detection and point cloud generation,spherical fitting,and suction region ***,the above methods were integrated into a robotic packaging *** addition,on the basis of spatial-frequency domain imaging(SFDI)technology,early stage bruise was detected for *** results showed that,the proposed suction strategy and system is potential for robust robotic apple packaging.

关键词： apple suction cup robotic packaging robotic manipulation point cloud

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Intelligent Small Scale Autonomous Vehicle Development Based on Convolutional Neural Network (CNN) for Steering Angle Prediction 1

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International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2022

作者： Asy’ari, Muhammad Zacky Phang, Maxson Suganda, Nicholas Mariana, Yosica Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Architecture Department Faculty of Engineering Binus University Jakarta Indonesia

ISBN: (数字)9783031290787

ISBN: (纸本)9783031290770

Human error is the most significant factor in traffic accidents. 61% of accidents in Indonesia are caused by driver negligence. Autonomous vehicles are unmanned vehicles that are believed to be able to reduce the number of accidents caused by human error. This study aims to create a prototype of a small-scale unmanned vehicle using computer vision that can move around the track. The prototype captures an image using a USB webcam and is processed by a Raspberry Pi 4 to predict the correct steering angle based on input from the camera. A convolutional neural network (CNN) algorithm is used to recognize the path. The material used to make the prototype is PLA (polylactic acid). The prototype steering system uses a servo motor, and the drive system uses a brushless DC motor controlled by the PCA9685 module. More than 1600 image data were used and taken based on a simplified track. The results of this study indicate that the prototype can move along the given track with a steering angle range of 20°–130° for right turns and 60°–170° for left turns. The throttle value capable of moving the prototype at a steady speed is 0.075. The Keras Tensorflow model, dataset, and autonomous car design can achieve the desired level of autonomy with an RMSE accuracy of 0.1145. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Forecasting

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Urban traffic signal control optimization through Deep Q Learning and double Deep Q Learning: a novel approach for efficient traffic management

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Multimedia Tools and Applications 2024年 1-24页

作者： Jamil, Qazi Umer Kallu, Karam Dad Khan, Muhammad Jawad Safdar, Muhammad Zafar, Amad Ali, Muhammad Umair Sector H-12 Islamabad44000 Pakistan School of Mechanical Engineering Chonnam National University Gwangju Korea Republic of Department of Electrical Engineering School of Engineering Prince Sattam Bin Abdul Aziz University Al Kharj Saudi Arabia Sector H-12 Islamabad44000 Pakistan Department of Artificial Intelligence and Robotics Sejong University Seoul05006 Korea Republic of

Traffic congestion remains a persistent challenge in urban areas, necessitating efficient traffic control strategies. This research explores the application of advanced reinforcement learning techniques, specifically Deep Q-Learning (DQN) and Double Deep Q-Learning (DDQN), to address this issue at a four-way traffic intersection. The RL agents are trained using a reward function based on minimizing waiting times, enabling them to learn effective traffic signal control policies. The study focuses on comparing the performance of a simple non-reinforcement learning (Non RL) agent, a Deep Q-Network (DQN) agent, and an improved Double Deep Q-Learning (DDQN) agent in different traffic scenarios. The Non RL agent, which follows a fixed order of traffic phases, demonstrates limitations in both low and high traffic situations, leading to inefficiencies and imbalanced queue lengths. On the other hand, the DQN agent exhibits promising results in low traffic conditions but struggles in high traffic due to its greedy behavior. The DDQN agent, with an extended green light base time, outperforms both the Non RL agent and the original DQN agent in high traffic scenarios, making it more suitable for real-world traffic conditions. However, it shows some inefficiencies in low traffic scenarios. Future research is recommended to address multi-agent deep reinforcement learning challenges, incorporate attention mechanisms and hierarchical reinforcement learning, explore graph theory applications, and develop efficient communication protocols among agents to further enhance traffic control solutions. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Traffic congestion

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RoboCup 2024 Adult-Sized Humanoid Champions Guide for Hardware, Vision, and Strategy

RoboCup 2024 Adult-Sized Humanoid Champions Guide for Hardw...

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27th RoboCup International Symposium, 2024

作者： Fernandez, Gabriel I. Liu, Yeting Togashi, Colin Gillespie, Kyle Zhu, Alvin Wang, Quanyou Wang, Yicheng Nam, Hyunwoo Wang, Shiqi Hou, Ruochen Zhu, Mingzhang Navghare, Aditya Xu, Alex Zhu, Taoyuanmin Sung Ahn, Min Flores Alvarez, Arturo Quan, Justin Hong, Ethan Hong, Dennis W. RoMeLa Robotics and Mechanisms Laboratory Department of Mechanical and Aerospace Engineering Geffen Academy at UCLA University of California Los AngelesCA90095 United States

ISBN: (纸本)9783031858581

Through the course of RoboCup 2024 our team scored 45 goals over 6 seated matches and, ultimately, unseated the longstanding reigning champions in our division with a victory of 6 goals to 1. In this paper we will focus on hardware, vision, and high-level decision making while briefly touching upon others. Our humanoid robot named Artemis is around 1.4 m tall, weighing over 35 kg. Artemis is designed to be lightweight featuring quasi-direct drive actuators with motor housings which serve as drive inputs to the next motor at the hips to save weight. For the tournament the foot was redesigned to allow for increased kicking accuracy, contact rate, and durability when stepped on. For vision we introduce several practical filters and an additional component termed proximity to address potential failure cases when an opponent or obstacle is very near. Finally, we discuss the strategies and overall planning architecture used during the tournament for high level decision making. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Anthropomorphic robots

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A Self‑Powered Piezoelectric Nanofibrous Membrane as Wearable Tactile Sensor for Human Body Motion Monitoring and Recognition

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Advanced Fiber Materials 2023年第4期5卷 1417-1430页

作者： Jingcheng Li Jing Yin Mei Gui Vanessa Wee Amutha Chinnappan Seeram Ramakrishna Centre for Nanotechnology and Sustainability Department of Mechanical EngineeringNational University of SingaporeSingapore 117081Singapore National Engineering Laboratory for Modern Silk College of Textile and Clothing EngineeringSoochow UniversitySuzhouChina Integrative Sciences and Engineering Program NUS Graduate SchoolNational University of SingaporeSingapore 119077Singapore

Wearable sensors have drawn vast interest for their convenience to be worn on body to monitor and track body movements or exercise activities in real ***,wearable electronics rely on powering systems to ***,a self-powered,porous,flexible,hydrophobic and breathable nanofibrous membrane based on electrospun polyvinylidene fluoride(PVDF)nanofiber has been developed as a tactile sensor with low-cost and simple fabrication for human body motion detection and ***,effects of multi-walled carbon nanotubes(CNT)and barium titanate(BTO)as additives to the fiber morphology as well as mechanical and dielectric properties of the piezoelectric nanofiber membrane were *** fabricated BTO@PVDF piezoelectric nanogenerator(PENG)exhibits the highβ-phase content and best overall electrical performances,thus selected for the flexible sensing device ***,the nanofibrous membrane demonstrated robust tactile sensing performance that the device exhibits durability over 12,000 loading test cycles,holds a fast response time of 82.7 ms,responds to a wide pressure range of 0-5 bar and shows a high relative sensitivity,especially in the small force range of 11.6 V/bar upon pressure applied perpendicular to the ***,when attached on human body,its unique fibrous and flexible structure offers the tactile sensor to present as a health care monitor in a self-powered manner by translating motions of different movements to electrical signals with various patterns or sequences.

关键词： Electrospinning Nanofiber Piezoelectric sensor PENG Wearable Self-powered device

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