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IEEE International Conference on Industrial engineering and engineering Management

作者： Muhammad Zainuddin Fathoni Anna Maria Sri Asih Muhammad Arif Wibisono Industrial Engineering Program Department of Mechanical and Industrial Engineering Faculty of Engineering Universitas Gadjah Mada Yogyakarta Indonesia Industrial Engineering Program Faculty of Engineering Universitas Muhammadiyah Gresik Gresik Indonesia

ISBN: (数字)9798350386097

ISBN: (纸本)9798350386103

Business process management has become a critical focus for many manufacturing industries. The function of business process management is to achieve organizational goals through the improvement, management, and control of business processes. A crucial step for companies in visualizing, analyzing, and optimizing workflows is business process modeling. Business Process Model and Notation (BPMN) is a tool widely used to visualize business process flows. This study employs a qualitative approach, using interviews conducted with seven small and medium-sized industries (SMIs). Important findings identified in SMI, in the recording process, both upstream and downstream processes, are still carried out manually, this is related to the potential for implementing enterprise resource planning (ERP). Regarding the processes on the production floor, in addition to paying little attention to implementing record-keeping systems, SMIs also tend to neglect forecasting methods, warehouse management, and the use of material handling.

关键词： Manufacturing industries Visualization Process modeling Process control Companies Business process management Recording Manufacturing Floors Business

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Theoretical Data-Driven MobilePosenet: Lightweight Neural Network for Accurate Calibration-Free 5-DOF Magnet Localization

arXiv

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arXiv 2025年

作者： Xie, Wenxuan Zhang, Yuelin Shan, Jiwei Sun, Hongzhe Tan, Jiewen Cheng, Shing Shin Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

Permanent magnet tracking using the external sensor array is crucial for the accurate localization of wireless capsule endoscope robots. Traditional tracking algorithms, based on the magnetic dipole model and Levenberg-Marquardt (LM) algorithm, face challenges related to computational delays and the need for initial position estimation. More recently proposed neural network-based approaches often require extensive hardware calibration and real-world data collection, which are time-consuming and labor-intensive. To address these challenges, we propose MobilePosenet, a lightweight neural network architecture that leverages depthwise separable convolutions to minimize computational cost and a channel attention mechanism to enhance localization accuracy. Besides, the inputs to the network integrate the sensors' coordinate information and random noise, compensating for the discrepancies between the theoretical model and the actual magnetic fields and thus allowing MobilePosenet to be trained entirely on theoretical data. Experimental evaluations conducted in a 90 × 90 × 80 mm workspace demonstrate that MobilePosenet exhibits excellent 5-DOF localization accuracy (1.54 ± 1.03 mm and 2.24 ± 1.84◦) and inference speed (0.9 ms) against state-of-the-art methods trained on real-world data. Since network training relies solely on theoretical data, MobilePosenet can eliminate the hardware calibration and real-world data collection process, improving the generalizability of this permanent magnet localization method and the potential for rapid adoption in different clinical settings. © 2025, CC BY-NC-ND.

关键词： Calibration

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Origami-Inspired Soft Gripper with Tunable Constant Force Output

arXiv

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arXiv 2025年

作者： Ni, Zhenwei Xu, Chang Qin, Zhihang Zhang, Ceng Tang, Zhiqiang Wang, Peiyi Laschi, Cecilia Department of Mechanical Engineering and Advanced Robotics Centre National University of Singapore Singapore Singapore centre Singapore Singapore

Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications that require stable grasping force. In this work, we propose a soft gripper that utilizes an origami-inspired structure to achieve tunable constant force output over a wide strain range. The geometry of each taper panel is established to provide necessary parameters such as protrusion distance, taper angle, and crease thickness required for 3D modeling and FEA analysis. Simulations and experiments show that by optimizing these parameters, our design can achieve a tunable constant force output. Moreover, the origami-inspired soft gripper dynamically adapts to different shapes while preventing excessive forces, with potential applications in logistics, manufacturing, and other industrial settings that require stable and adaptive operations. Copyright © 2025, The Authors. All rights reserved.

关键词： Grippers

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Feedforward Mutual-Information Anomaly Detection: Application to Autonomous Vehicles

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Journal of Autonomous Vehicles and Systems 2022年第4期2卷 041003页

作者： McKee, Sasha M. Haddadin, Osama S. Leang, Kam K. Dynamics and Autonomous Robotics Laboratory Department of Mechanical Engineering and Robotics Center University of Utah Salt Lake CityUT84112 United States L3Harris Technologies Salt Lake CityUT84116 United States

This paper describes a mutual-information (MI)-based approach that exploits a dynamics model to quantify and detect anomalies for applications such as autonomous vehicles. First, the MI is utilized to quantify the level of uncertainty associated with the driving behaviors of a vehicle. The MI approach handles novel anomalies without the need for data-intensive training;and the metric readily applies to multivariate datasets for improved robustness compared to, e.g., monitoring vehicle tracking error. Second, to further improve the response time of anomaly detection, current and past measurements are combined with a predictive component that utilizes the vehicle dynamics model. This approach compensates for the lag in the anomaly detection process compared to strictly using current and past measurements. Finally, three different MI-based strategies are described and compared experimentally: anomaly detection using MI with (1) current and past measurements (reaction), (2) current and future information (prediction), and (3) a combination of past and future information (reaction-prediction) with three different time windows. The experiments demonstrate quantification and detection of anomalies in three driving situations: (1) veering off the road, (2) driving on the wrong side of the road, and (3) swerving within a lane. Results show that by anticipating the movements of the vehicle, the quality and response time of the anomaly detection are more favorable for decision-making while not raising false alarms compared to just using current and past measurements. Copyright © 2024 by ASME.

关键词： Autonomous vehicles

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3D-Printed Modified Pinch Valve for Controlling Pneumatic Artificial Muscles

3D-Printed Modified Pinch Valve for Controlling Pneumatic Ar...

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Automation, Control and robotics engineering (CACRE), International Conference on

作者： Mohamed Gaber David Branson Ian Ashcroft Khaled Goher Department of Mechanical Material and Manufacturing Engineering University of Nottingham Nottingham UK Mechatronics and Industrial Robotics Minia Egypt Mechanical and Industrial Engineering Sultan Qaboos University Oman

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

Soft robotics is a rapidly growing fields in the past decade. Despite its compliant nature and low weight, which is suitable for human interaction applications, still suffering from the low-speed actuation compared to the rigid actuators. In this paper, a 3D printed modified pinch valve is presented to control a pneumatic artificial muscle. This valve can provide high flow rate which can increase the pneumatic muscles actuation speed. 3D printed artificial muscle is used to validate the controllability of the valve. The muscle frequency increased from 0.1 Hz to reach 3.5 Hz. A chain of five muscles is controlled and reach 1.5 Hz.

关键词： Artificial muscles Three-dimensional displays Automation Wearable robots Muscles Soft robotics Valves

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Adoption of Open-Source Enterprise Resource Planning in Small and Medium Industries: A Literature Review

Adoption of Open-Source Enterprise Resource Planning in Smal...

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IEEE International Conference on Industrial engineering and engineering Management

作者： Muhammad Zainuddin Fathoni Anna Maria Sri Asih Muhammad Arif Wibisono Department of Mechanical and Industrial Engineering Industrial Engineering Program Faculty of Engineering Universitas Gadjah Mada Yogyakarta Indonesia Industrial Engineering Program Faculty of Engineering Universitas Muhammadiyah Gresik Gresik Indonesia

ISBN: (数字)9798350386097

ISBN: (纸本)9798350386103

Small and Medium-Scale Industries (SMIs) play a significantly important role in the nation’s economy. The adoption of current technology is necessary for SMIs to remain agile amidst industrial changes or challenges. However, they often face limitations in utilizing technology, particularly information technology, in their business processes. One popular integrated information system is the Enterprise Resource Planning (ERP) system, which connects various business units within an organization into a single integrated system. The implementation of ERP systems in small and medium-scale industries is necessary to enhance the effectiveness and efficiency of their business processes. In this paper, we conduct a systematic review of the literature discussing the adoption of open-source ERP systems in SMIs. The conclusion drawn is that ERP implementation in SMIs occurs across various sectors, including services, trading, and manufacturing. Developing open-source ERP systems poses substantial challenges for SMIs. This literature review investigates trends in ERP implementation for SMIs, highlighting current research directions and uncovering new insights and opportunities that can inform future studies.

关键词： Industries Software as a service Standards organizations Market research Enterprise resource planning Manufacturing Information technology Business Systematic literature review Information systems

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Modeling of the Bending Behavior to Study Nested-Cylinder Structure in Spicules 152nd

Modeling of the Bending Behavior to Study Nested-Cylinder St...

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152nd Annual Meeting and Exhibition of The Minerals, Metals and Materials Society, TMS 2023

作者： Lowe, Olivia Peco, Christian Tavangarian, Fariborz Mechanical Engineering Program School of Science Engineering and Technology Pennsylvania State University Harrisburg MiddletownPA17057 United States Department of Engineering Science and Mechanics Pennsylvania State University University Park State CollegePA16802 United States

ISBN: (纸本)9783031225239

The spicule structure of the Euplectella aspergillum sponge (EA) looks promising in the search for mechanical enhancements of brittle materials. Researchers have explored how the various structural levels of the EA affect the properties of the material. Specifically, the nested-cylinder structure of the EA’s spicules increases the strength and toughness of the sponge. However, there is limited research on this structural level of the sea sponge. This research uses finite element analysis (FEA) to model the spicule structure in COMSOL, setting the stage for further research into this bio-inspired material. The results of the initial bending tests prove this procedure of analysis is useful in the study of the spicule structure. © 2023, The Minerals, Metals & Materials Society.

关键词： Bending tests

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Pose Synchronization for Semi-Autonomous Dynamic Robotic Swarms with a Passivity-Short Human Operator

Pose Synchronization for Semi-Autonomous Dynamic Robotic Swa...

引用

Annual Conference of Industrial Electronics Society

作者： Reo Kanazawa Toshiyuki Murao Hiroyuki Kawai Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Ishikawa Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan

This paper presents a pose synchronization method for semi-autonomous dynamic robotic swarms with a passivityshort human operator. In the human-robot network, a human operator sends a command signal to and receives visual information from only a part of the robotic group. In this setting, the proposed dynamic control scheme achieves not only pose synchronization of all mobile robots but also convergence to the reference pose that the human operator specifies. The main advantage of the proposed method is to guarantee convergence of not only the position but also the orientation to the reference ones in the human-robot network. Finally, we provide human-in-the-loop simulation results through the human operation using a tablet PC to illustrate the performance of the proposed control method.

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DRPA-MPPI: Dynamic Repulsive Potential Augmented MPPI for Reactive Navigation in Unstructured Environments

arXiv

引用

arXiv 2025年

作者： Fuke, Takahiro Endo, Masafumi Honda, Kohei Ishigami, Genya Space Robotics Group Department of Mechanical Engineering Keio University Yokohama223-8522 Japan Mobility System Group Department of Mechanical Systems Engineering Nagoya University Nagoya464-8603 Japan

Reactive mobile robot navigation in unstructured environments is challenging when robots encounter unexpected obstacles that invalidate previously planned trajectories. Model predictive path integral control (MPPI) enables reactive planning, but still suffers from limited prediction horizons that lead to local minima traps near obstacles. Current solutions rely on heuristic cost design or scenario-specific pre-training, which often limits their adaptability to new environments. We introduce dynamic repulsive potential augmented MPPI (DRPA-MPPI), which dynamically detects potential entrapments on the predicted trajectories. Upon detecting local minima, DRPA-MPPI automatically switches between standard goal-oriented optimization and a modified cost function that generates repulsive forces away from local minima. Comprehensive testing in simulated obstacle-rich environments confirms DRPA-MPPI’s superior navigation performance and safety compared to conventional methods with less computational burden. Copyright © 2025, The Authors. All rights reserved.

关键词： Cost functions

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An Intelligent Method for Predicting River Water Height Based on GRU-RNN Method

An Intelligent Method for Predicting River Water Height Base...

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2023 International Conference on Self Sustainable Artificial Intelligence Systems, ICSSAS 2023

作者： Kavitha, K. Singh, Kavita Shakya, Priyanka Parasar, Vatsal Kumar Kaushal, Deepak Kalra, Gourav Aditya Institute of Technology and Management Department of Information Technology Tekkali India Institute of Aeronautical Engineering Department of Civil Engineering Hyderabad Telangana Dundigal India University of Allahabad Department of Atmospheric and Ocean Science Studies India Robotics & Automation Noida India Graphic Era Deemed to Be University Department of Management Studies Uttarakhand Dehradun India Department of Mechanical Engineering Ambala Mullana India

ISBN: (纸本)9798350300857

It is vital in hydrology to be able to predict the magnitude of a flood, and this is often done using a number of conceptual and deterministic models. Such models may require highly specialized data that is not always easily accessible, such as soil moisture, soil type, evaporation rate, characteristic and slope of the land use, soil surface, and management issues in the catchment region, etc. It's crucial to be able to predict when and how much rain will fall. Additional constraints on the effectiveness of such models include the necessity to make simplifying assumptions and a required response time. Preprocessing, feature extraction, and model training are the first three steps of the proposed strategy. Preprocessing makes use of a time and frequency representation obtained by wavelet analysis. The recursive feature elimination approach was employed for the feature extraction. After using information gain to choose useful features, the models are trained with GRU-RNN. The proposed method outperforms the two most popular alternatives, GRU and RNN. © 2023 IEEE.

关键词： SWAT

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