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26th International Conference on Enterprise Information Systems, ICEIS 2024

作者： Harris, Wyatt Tseng, Sean Viso, Tabatha Weissman, Max Ngan, Chun-Kit Department of Robotics Engineering Worcester Polytechnic Institute 100 Institute Rd. WorcesterMA United States Data Science Program Worcester Polytechnic Institute 100 Institute Rd. WorcesterMA United States

ISBN: (纸本)9789897586927

This research work aims to support domain experts in the selection of proper path planning algorithms for UAVs to solve a domain business problem (i.e., the last mile delivery of goods). In-depth analysis, insight, and recommendations of three promising approaches, including reinforcement learning-based, bio-inspired-based, and physics-based are used to address the multi-agent UAV path planning problem. Specifically, the contributions of this work are fourfold: First, we develop a unified pipeline to implement each approach to conduct this analysis. Second, we build a 2D UAV path planning environment to simulate each approach. Third, using this 2D environment, we run the 450 simulations in three different group sizes of swarm UAV agents (i.e., 3, 5, and 10) within three environments of varying complexity (i.e., Easy, Intermediate, and Hard). We aggregate the simulation data and compare their performance in terms of success rate, run-time, and path length while using the classical A* Search as a baseline. Finally, based upon the performance of each approach and our analytical investigations, we provide informed recommendations for the optimal use case of each UAV path planning approach. The recommendations are presented using parameters for environmental complexity and urgency of goods delivery. Copyright © 2024 by SCITEPRESS – Science and Technology Publications, Lda.

关键词： Motion planning

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The Effect of Coil Geometry and Winding Method on the Electromagnetic Launcher Performance 48

The Effect of Coil Geometry and Winding Method on the Electr...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Mohamed Abdo, Mohamed Magdy Fanni, Mohamed Miyashita, Tomoyuki Ahmed, Sabah Mohamed Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Ain Shams Univeristy Faculty of Engineering Engineering Physics and Mathematics Department Cairo Egypt Mansoura University Production Engineering and Mechanical Design Department Mansoura Egypt Waseda University School of Creative Science and Engineering Department of Modern Mechanical Engineering Tokyo Japan Assuit University Electrical Engineering Department Assuit71515 Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Electromagnetic launchers become spread in many applications. This type of launcher is used to accelerate a slug made of ferromagnetic material. Many researchers compete to enhance the performance of this type. The launcher consists of simple components such as a capacitor bank, electronic switches, launcher coil, and charging circuit. In this paper, the authors have physically built the launcher system and reinforced the launcher performance by changing the winding method and making the trigger coil in a conical shape to reduce the deceleration effect of the last half of the trigger, this modification has proven its superiority over the straight coil. © 2022 IEEE.

关键词： Electromagnetic launchers

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Convergent effects of peptides on the initiation of feeding motor programs in the mollusk Aplysia

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Journal of Neurophysiology 2025年第5期133卷 1368-1379页

作者： Evans, Colin G. Barry, Michael A. Reaver, Carrie N. Patel, Paras R. Chestek, Cynthia A. Perkins, Matthew H. Jing, Jian Cropper, Elizabeth C. Department of Neuroscience Friedman Brain Institute Icahn School of Medicine at Mount Sinai New York NY United States Department of Biomedical Engineering Biointerfaces Institute University of Michigan Ann Arbor MI United States Department of Electrical Engineering and Computer Science Neurosciences Program Robotics Program University of Michigan Ann Arbor MI United States State Key Laboratory of Pharmaceutical Biotechnology Institute for Brain Sciences Chemistry and Biomedicine Innovation Center Jiangsu Engineering Research Center for MicroRNA Biology and Biotechnology Advanced Institute for Life Sciences School of Life Sciences Nanjing University Nanjing China

Neuropeptides configure the feeding network of Aplysia. For example, egestive activity is promoted by small cardioactive peptide (SCP), and ingestive activity is promoted by a combination of feeding circuit activating peptide (FCAP) and cerebral peptide 2 (CP-2). In addition, SCP and FCAP/CP-2 have a common network effect that does not contribute to motor program specification. They increase the excitability of an interneuron, B63. In this report, we further characterized the effects of peptides on B63. We performed voltage-clamp experiments and used a step protocol to look at steady-state currents. We found that SCP and FCAP/CP-2 both induced an inward current that was virtually absent in low-sodium saline. Previous work has established that B63 is unusual in the feeding circuit in that subthreshold depolarizations are autonomously generated that can trigger motor programs. Here, we show that this autonomous activity is more frequent in the presence of peptides. Previous studies have also shown that activity of the feeding central pattern generator (CPG) can be initiated by neurons that excite B63, e.g., by cerebral buccal interneuron 2 (CBI-2), a projection neuron that triggers biting-like motor programs. Here, we show that the latency of CBI-2-induced activity is decreased by stimulation of the esophageal nerve (EN) (which releases endogenous SCP). These results, taken together with previous results, indicate that peptides that act divergently to configure network activity additionally act convergently to promote motor program induction. We present data that suggest that this arrangement facilitates brief switches between ingestive and egestive motor activity. © 2025 The Authors.

关键词： central pattern generator invertebrate modulation motor program neuropeptide

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Evaluating Data-Driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning

Evaluating Data-Driven Performances of Mixed Integer Bilinea...

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International Conference on Ubiquitous Robots (UR)

作者： Xuan Lin Gabriel I. Fernandez Dennis W. Hong Department of Mechanical and Aerospace Engineering The Robotics and Mechanisms Laboratory University of California Los Angeles CA USA

ISBN: (数字)9798350361070

ISBN: (纸本)9798350361087

Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solving times. Recent work utilizing data-driven methods has shown potential to overcome this issue allowing for applications on larger scale problems. To solve mixed-integer bilinear programs online with data-driven methods, several reformulations exist including mathematical programming with complementary constraints (MPCC), and mixed-integer programming (MIP). In this work, we compare the data-driven performances of various MIBLP reformulations using a book placement problem that has discrete configuration switches and bilinear constraints. The success rate, cost, and solving time are compared along with non-data-driven methods. Our results demonstrate the advantage of using data-driven methods to accelerate the solving speed of MIBLPs, and provide references for users to choose the suitable re-formulation.

关键词： Robot motion Costs programming Planning Robots Mathematical programming

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Developing an Integrated Cognitive Test (ICT) for Computerized Assessment of Cognitive Impairment Risk 15

Developing an Integrated Cognitive Test (ICT) for Computeriz...

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15th Biomedical engineering International Conference, BMEiCON 2023

作者： Limpornchitwilai, Warissara Paengkumhag, Chatchai Jutharee, Wisanu Chamnongthai, Kosin Kaewkamnerdpong, Boonserm King Mongkut's University of Technology Thonburi Biological Engineering Program Faculty of Engineering Bangkok Thailand King Mongkut's University of Technology Thonburi Institute of Field Robotics and Automation Bangkok Thailand King Mongkut's University of Technology Thonburi Department of Electrical Engineering Bangkok Thailand

ISBN: (纸本)9798350345247

In an aging society, dementia is a notable issue that occurs as individuals grow older, impacting cognitive ability and emotional well-being. This has led to the development of cognitive assessment tools to facilitate early detection of cognitive impairment. Limited utilization of computerized tests across different countries is due to the mismatch of existing computerized tests between the educational and cultural backgrounds of the elderly;this study sought to address this issue by developing the Integrated Cognitive Test (ICT). ICT is designed as a computerized tool for assessing the risk of cognitive impairment in Thai older adults with an easy-to-use interface. Thirty-six elderly participants with diverse education levels and without prior cognitive impairment diagnoses participated in the study. They completed MoCA, MMSE, and ICT in a single-day experiment. The scores, reaction time, and overall completion time were recorded for analysis. The study found significant differences between ICT and MMSE scores (p © 2023 IEEE.

关键词： Decision trees

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Wheeled Mobile Robots on Rough Terrains as Stochastic Nonholonomic Systems

Wheeled Mobile Robots on Rough Terrains as Stochastic Nonhol...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Vaughn Gzenda Robin Chhabra Mechanical and Aerospace Engineering Department Autonomous Space Robotics and Mechatronics Laboratory Carleton University Ottawa ON Canada

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In this paper, we investigate the motion of wheeled mobile robots on rough terrains modeled as noisy nonholonomic constraints. Such constraints are the natural extension of ideal nonholonomic constraints when the Stratonovich process is directly introduced in the constraint equations. The resulting stochastic model can capture motion on rough surfaces, random deformation in the wheel-ground contact, or stochastic loss/gain of traction. We study a differential robot with ideal noisy and affine noisy constraints, where each case models a certain aspect of motion on rough terrains. We then investigate their corresponding stochastic dynamics and the propagation of mean and covariance through Monte-Carlo simulations. The proposed model for roving rough terrains has the potential to serve as the stochastic model employed in model-based motion planning, pose estimation, and control of rover systems. The main challenge will be dealing with the nonlinear appearance of the noise and its feedback in the equations of motion.

关键词： Deformation Noise Dynamics Stochastic processes Mathematical models Surface roughness Rough surfaces Noise measurement Mobile robots Surface treatment

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A Reinforcement Learning Based Controller to Minimize Forces on the Crutches of a Lower-Limb Exoskeleton

arXiv

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arXiv 2024年

作者： Utku, Aydin Emre Ada, Suzan Ece Hatipoglu, Muhammet Derman, Mustafa Ugur, Emre Samur, Evren The Haptics & Robotics Lab Department of Mechanical Engineering Bogazici University Istanbul Turkey CoLoRs Lab Department of Computer Engineering Bogazici University Istanbul Turkey

Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper body effort of the users is largely ignored in the literature when designing motion controllers. In this work, we use deep reinforcement learning to develop a locomotion controller that minimizes ground reaction forces (GRF) on crutches. The rationale for minimizing GRF is to reduce the upper body effort of the user. Accordingly, we design a model and a learning framework for a human-exoskeleton system with crutches. We formulate a reward function to encourage the forward displacement of a human-exoskeleton system while satisfying the predetermined constraints of a physical robot. We evaluate our new framework using Proximal Policy Optimization, a state-of-the-art deep reinforcement learning (RL) method, on the MuJoCo physics simulator with different hyperparameters and network architectures over multiple trials. We empirically show that our learning model can generate joint torques based on the joint angle, velocities, and the GRF on the feet and crutch tips. The resulting exoskeleton model can directly generate joint torques from states in line with the RL framework. Finally, we empirically show that policy trained using our method can generate a gait with a 35% reduction in GRF with respect to the baseline. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Suppression of thermal transport in bent boron arsenide nanoribbons

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Physical Review Applied 2024年第5期22卷 054019页

作者： Guanbo Jiao Shuo Qiao Jun Lyu Yi Tao Lin Yang Department of Advanced Manufacturing and Robotics College of Engineering School of Mechanical Engineering and Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments National Key Laboratory of Advanced Micro and Nano Manufacture Technology

Boron arsenide (BAs) has emerged as a strong contender for next-generation functional materials, boasting desirable attributes such as high thermal conductivity and ambipolar mobility. However, a critical yet underexplored challenge lies in understanding its heat conduction capabilities under inhomogeneous strain, which is pivotal across various functional devices and operational conditions. Here, through modeling thermal transport in bent BAs and Si nanoribbons, a striking difference is revealed. Namely, the BAs nanoribbons exhibit nearly twice the reduction in thermal conductivity compared with Si under identical bending conditions. This significant disparity is driven by two key factors: the pronounced effect of phonon-spectra broadening under strain and the inhomogeneous strain-induced narrowing of the acoustic and optical (ao) gap. Together, these factors relax the originally restricted phonon scattering phase space and fundamentally alter phonon scattering dynamics. Our findings not only offer a new perspective on how heat transfer can be dynamically modulated in BAs, but also provide crucial insights into enhancing thermal performance in BAs-based functional devices.

关键词： Anharmonic lattice dynamics Bending Heat transfer Phonons Strain Thermal conductivity Nanoribbon Molecular dynamics

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Adaptive Optics Rotational Design and Electro-Magnetic Actuation 20

Adaptive Optics Rotational Design and Electro-Magnetic Actua...

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20th International Learning and Technology Conference, L and T 2023

作者： Alzaydi, Ammar King Fahd University of Petroleum and Minerals Department of Mechanical Engineering Saudi Arabia King Fahd University of Petroleum and Minerals Interdeciplinary Research Center for Intelligent Manufacturing and Robotics Dhahran Saudi Arabia

ISBN: (纸本)9798350300307

This paper presents the utilization of polymer and reflective polyester and other flexible films to fabricate deformable rotational mirrors, where the rotation is utilized to help and filter a reflected image impacted by mirror surface impurities. A self-supporting membrane is fabricated using Mylar polyester film, with a diameter of 120mm and a thickness of 1mm. Electromagnetic actuation is used in combination with a magnetic electrode array beneath the mirror membrane to deform the reflective surface and change the location of the focal point. The mechanical properties of the Mylar polyester film are such that the deflection required for focal point position is minimal, thus increasing mirror flexibility and sensitivity when controlled electromagnetically, whilst the fabrication process is simple and potentially low cost. The developed mirror in this paper consists of two similar membranes lying on top of each other, both rotating at equal speeds around the center to ensure electro-magnetic forces used for deflection are spread evenly between each reflective film sector. The developed mirror prototype functionality was successfully demonstrated when used to filter an image using rotational motion and focus an unfocused picture taken by a regular camera. Therefore, the two main features of the developed mirror are: The rotational behaviour of the mirror and its divided surface that give it the ability to filter the impact of surface impurities on the reflected image and the flexibility to concave and change focal point location while in rotation. This design can be implemented on MEMS devices that look to reduce manufacturing costs by dealing with less than perfect reflective surfaces or other example applications that aim to digitize objects (take images) to be used in virtual reality related projects. © 2023 IEEE.

关键词： Mirrors

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Novel Semi-active Upper-body Exoskeleton for Agriculture Applications 9

Novel Semi-active Upper-body Exoskeleton for Agriculture App...

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9th International engineering, Sciences and Technology Conference, IESTEC 2024

作者： Rodriguez, Humberto Ekstrom, Mikael Ramirez, Brandon Marback, Peter Universidad Tecnológica de Panamá Leads Researcch Group Mechanical Eng. Department Ciudad de Panamá Panama Mälardalen University Robotics Group School of Innovation Design and Engineering Västerås Sweden

ISBN: (纸本)9798350377156

Exoskeletons with active joints arouse great interest for human power augmentation and assistive applications. In this article we present an innovative prototype of a portable shoulder and elbow exoskeleton, for assistance in agricultural tasks and heavy lifting in general. This exoskeleton provides controlled torque for the flexion/extension movements of shoulders and elbows and passive actuation of the movement of abduction and adduction of the shoulder. The remaining degrees of freedom of the shoulder system have been left unrestricted for comfort and little discrepancy with arm and shoulder movement. For this purpose, a serial mechanism has also been incorporated to facilitate scapular movement. On the other hand, the design incorporates a parallelogram beam mechanism to reduce the actuation torques and improve the controllability of the device. Moreover, the mechanical design of this mechanism was improved to ensure alignment between user elbow average flexion/extension rotation axis and that of the mechanism during the complete range of motion. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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