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3D-modeling techniques for object recognition based on point cloud data

JMST Advances 2024年第3期6卷 329-340页

作者： Kang, Chang Ho Kim, Sun Young Department of Artificial Intelligence and Robotics Sejong University Seoul Republic of Korea School of Mechanical Engineering Kunsan National University Gunsan Republic of Korea

This study examines 3D-modeling techniques for object recognition using point cloud data and evaluates the performance of key deep learning-based semantic segmentation techniques. This study compared AI structure for point clouds such as PointNet, PointNet++, PointCNN, and DGCNN (dynamic graph CNN). The comparison confirmed that each technique offers different approaches to effectively manage the characteristics and spatial structure of point cloud data. Notably, DGCNN demonstrated high segmentation performance through dynamic graph convolutional networks. This study provides essential foundational data that can contribute to advancing disaster response technology and is expected to significantly aid disaster response agencies in making quick and accurate decisions.

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Continuous Sign Language Recognition Using Intra-Inter Gloss Attention

arXiv

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arXiv 2024年

作者： Ranjbar, Hossein Taheri, Alireza Social and Cognitive Robotics Lab. Mechanical Engineering Department Sharif University of Technology Tehran Iran

Many continuous sign language recognition (CSLR) studies adopt transformer-based architectures for sequence modeling due to their powerful capacity for capturing global contexts. Nevertheless, vanilla self-attention, which serves as the core module of the transformer, calculates a weighted average over all time steps;therefore, the local temporal semantics of sign videos may not be fully exploited. In this study, we introduce a novel module in sign language recognition studies, called intra-inter gloss attention module, to leverage the relationships among frames within glosses and the semantic and grammatical dependencies between glosses in the video. In the intra-gloss attention module, the video is divided into equally sized chunks and a self-attention mechanism is applied within each chunk. This localized self-attention significantly reduces complexity and eliminates noise introduced by considering non-relative frames. In the inter-gloss attention module, we first aggregate the chunk-level features within each gloss chunk by average pooling along the temporal dimension. Subsequently, multi-head self-attention is applied to all chunk-level features. Given the non-significance of the signer-environment interaction, we utilize segmentation to remove the background of the videos. This enables the proposed model to direct its focus toward the signer. Experimental results on the PHOENIX-2014 benchmark dataset demonstrate that our method can effectively extract sign language features in an end-to-end manner without any prior knowledge, improve the accuracy of CSLR, and achieve the word error rate (WER) of 20.4 on the test set which is a competitive result compare to the state-of-the-art which uses additional supervisions. © 2024, CC BY-NC-ND.

关键词： Semantics

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Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion

Adaptive Model Predictive Control with Data-driven Error Mod...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xuanqi Zeng Hongbo Zhang Linzhu Yue Zhitao Song Lingwei Zhang Yun-Hui Liu Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Centre for Logistics Robotics

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address this issue, we propose the controller of integrating a data-driven error model into traditional MPC for quadruped robots. Our approach leverages real-world data from sensors to compensate for defects in the control model. Specifically, we employ the Autoregressive Moving Average Vector (ARMAV) model to construct the state error model of the quadruped robot using data. The predicted state errors are then used to adjust the predicted future robot states generated by MPC. By such an approach, our proposed controller can provide more accurate inputs to the system, enabling it to achieve desired states even in the presence of model parameter inaccuracies or disturbances. The proposed controller exhibits the capability to partially eliminate the disparity between the model and the real-world robot, thereby enhancing the locomotion performance of quadruped robots. We validate our proposed method through simulations and real-world experimental trials on a large-size quadruped robot that involves carrying a 20 kg un-modeled payload (84% of body weight).

关键词： Legged locomotion Adaptation models Predictive models Robot sensing systems Data models Sensors Quadrupedal robots

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Design and Analysis of an Adaptive Robotic Gripper 1

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International Conference on Production and Industrial engineering, CPIE 2023

作者： Patil, Yashraj M. Jamadar, N.I. Patil, Lalit N. Bhosale, Digvijay G. Department of Mechanical Engineering Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India Department of Automation and Robotics Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India

ISBN: (数字)9789819974450

ISBN: (纸本)9789819974443

In this study, an inexpensive fundamental robotic end effector module was investigated in order to make it easier to conduct robotic grasping research. The three-finger under actuated robotic gripper was designed in three dimensions and produced using a servomotor actuator that is readily available off the market and a small number of 3D printed parts. Following a comprehensive explanation of an under actuated finger, gear train mechanisms, in addition to general gripper assembly design, an illustration and explanation of the grabbing of objects with varied geometries follow. For research and instructional reasons, robotic researchers can utilize the offered open-source gripper design as a base to create custom robotic end effectors. An innovative prototype and a thorough introduction as well as an explanation of the gripper design idea are given. Using a four-bar linkage mechanical system and a single off-the-shelf actuator, it is demonstrated that the proposed robotic gripper with a single actuator satisfies the proposed objectives for its simple mechanical structure, low cost, and relatively high payload compared to similarly sized tendon-driven robotic end effectors. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： mechanical actuators

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Characterization of Spicule Structure 152nd

Characterization of Spicule Structure

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

作者： Tavangarian, Fariborz Gray, Jennifer L. Clark, Trevor Gao, Chao Mechanical Engineering Program School of Science Engineering and Technology Pennsylvania State University Harrisburg MiddletownPA17057 United States Materials Research Institute The Pennsylvania State University University Park PA16802 United States Department of Mechanical and Industrial Engineering Norwegian University of Science and Technology Trondheim7034 Norway

ISBN: (纸本)9783031225239

Nature has been a great source of inspiration for engineers and scientists for centuries. It provides unique ideas to overcome the unmet needs of human beings. Spicules are structural elements of Euplectella Aspergillum sponges that reside in the deep ocean. They have an exceptional microstructure that provides excellent mechanical properties. Although spicules are composed of a brittle material, silica (SiO2), they behave differently under load compared to other ceramics. This behavior is due to their concentric cylindrical structure. To produce a similar structure with potential engineering and biomedical applications, one needs to investigate its microstructure in depth. In this study, we examined the microstructure of spicules to understand their architecture as a foundation to better design biomedical implants for tissue engineering applications. © 2023, The Minerals, Metals & Materials Society.

关键词： Microstructure

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Multibody Dynamics Modeling and Control of Wheelchair Balancing System

Multibody Dynamics Modeling and Control of Wheelchair Balanc...

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2021 International Seminar on Intelligent Technology and Its Application, ISITIA 2021

作者： Doung, Sokmengkeang Wasiwitono, Unggul Postgraduate Program of Mechanical Engineering Surabaya Indonesia Mechanical Engineering Department Surabaya Indonesia

ISBN: (纸本)9781665428477

An electric wheelchair has the potential to increase the mobility of people with disabilities. The purpose of this study is to obtain the dynamic model and control of the self-balancing wheelchair. Based on the wheeled inverted pendulum principle, a state-feedback control is designed to stabilize the wheelchair in the upright position. Simscape Multibody is used to model and simulate the system dynamics. An obstacle on the ground and different slope angles are used to evaluate the control system's performance. Two types of controller namely LQR and LQR-PID are studied. Among the two controllers, LQR-PID controller exhibits better performance. LQR-PID controller is able to maintain the wheelchair at the equilibrium point (zero points) better than using the LQR controller. © 2021 IEEE.

关键词： State feedback

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Utilizing Mobile Robots to Teach Dengue and Chikungunya Prevention in Brazilian Schools

Utilizing Mobile Robots to Teach Dengue and Chikungunya Prev...

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2024 Brazilian Symposium on robotics (SBR), and 2024 Workshop on robotics in Education (WRE)

作者： R. B. Costa Pedro H. L. Gomes Luiz F. Rodriguez Silva M. A. Pastrana Maria C. C. Gontijo M. S. Luiz Daniel M. Muñoz Faculty of Gama Aerospace Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil Faculty of Gama Electronics Engineering Undergraduate Program Department of Mechanical Engineering Mechatronics Graduate Program

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

This paper introduces a novel approach to combating the spread of Dengue and Chikungunya, two prevalent arboviruses in tropical regions, especially in Brazil. The research presents a low-cost differential topology robot designed as an educational tool to raise awareness about mosquito breeding grounds among students and teachers in public schools across the Federal District, Brazil. Developed at the University of Brasilia, the robot is deployed in collaboration with the Federal District Health department to support prevention campaigns in schools. The paper evaluates the effectiveness of this innovative tool in enhancing community engagement and improving health outcomes. The findings suggest that integrating robotics into health education can significantly elevate awareness and strengthen prevention strategies against arboviral diseases.

关键词： Pediatrics Prevention and mitigation Education Collaboration Robot sensing systems Topology Public healthcare Robots Viruses (medical) Diseases

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Enhanced Dye Adsorption and Bacterial Removal of Magnetic Nanoparticle-Functionalized Bacterial Cellulose Acetate Membranes

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Journal of Renewable Materials 2024年第9期12卷 1605-1624页

作者： Heru Suryanto Daimon Syukri Fredy Kurniawan Uun Yanuhar Joseph Selvi Binoj Sahrul Efendi Fajar Nusantara Jibril Maulana Nico Rahman Caesar Komarudin Komarudin Centre of Advanced Material for Renewable Energy(CAMRY) Universitas Negeri MalangMalang65145Indonesia Department of Mechanical and Industrial Engineering Universitas Negeri MalangMalang65145Indonesia Department of Food and Agricultural Product Technology Faculty of Agricultural TechnologyAndalas UniversityPadang25163Indonesia Department of Chemistry Institut Teknologi Sepuluh NopemberSurabaya60111Indonesia Study Program of Aquatic Resources Management Faculty of Fisheries and Marine ScienceBrawijaya UniversityMalang65145Indonesia Institute of Mechanical Engineering Saveetha School of EngineeringSaveetha Institute of Medical and Technical Sciences(SIMATS)Saveetha UniversityChennai602105India Faculty of Vocational Universitas Negeri MalangMalang65145Indonesia

Utilizing biomass waste as a potential resource for cellulose production holds promise in mitigating environmental *** current study aims to utilize pineapple biowaste extract in producing bacterial cellulose acetate-based membranes with magnetic nanoparticles(Fe_(3)O_(4)nanoparticles)through the fermentation and esterification process and explore its *** bacterial cellulose fibrillation used a high-pressure homogenization procedure,and membranes were developed incorporating 0.25,0.50,0.75,and 1.0 wt.%of Fe3O4 nanoparticles as magnetic nanoparticle for *** membrane characteristics were measured in terms of Scanning Electron Microscope,X-ray diffraction,Fourier Transform Infrared,Vibrating Sample Magnetometer,antibacterial activity,bacterial adhesion and dye adsorption *** results indicated that the surface morphology of membrane changes where the bacterial cellulose acetate surface looks *** crystallinity index of membrane increased from 54.34%to 68.33%,and the functional groups analysis revealed that multiple peak shifts indicated alterations in membrane functional ***,adding Fe_(3)O_(4)-NPs into membrane exhibits paramagnetic behavior,increases tensile strength to 73%,enhances activity against *** and ***,and is successful in removing bacteria from wastewater of the river to 67.4%and increases adsorption for anionic dyes like Congo Red and Acid Orange.

关键词： Bacterial cellulose dye adsorption Fe_(3)O_(4)nanoparticles membrane pineapple waste

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Plant Maintenance Budgeting Prioritization Based on Reliability Prediction of Repairable System 5th

Plant Maintenance Budgeting Prioritization Based on Reliabil...

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5th International Conference on mechanical engineering, ICOME 2021

作者： Setia, Fandi Wibawa, Agus Yuniarto, Muhammad Nur Graduate Program of Mechanical Engineering Institut Teknologi Sepuluh Nopember Surabaya Indonesia PT Pembangkitan Jawa Bali Jl. Ketintang Baru No. 11 Surabaya60231 Indonesia Department of Mechanical Engineering Institut Teknologi Sepuluh Nopember Surabaya60111 Indonesia

ISBN: (纸本)9789811908668

A reliability prediction study has been carried out using failure data from the gas turbine system at a combined cycle power plant in Indonesia. From this study, the prediction value of the equipment reliability of the gas turbine subsystem was obtained along with the value of Failure Cost (FC), Component Risk (CR), and Maintenance Cost (MC) which is then processed further to produce a Benefit to Cost Ratio (BCR) which is useful for preparing priority rankings for the allocation of very limited maintenance budgets. This research also leads to a conclusion that the more the failures experienced by the equipment in one observation period, the lower the predictive value of its reliability. In addition, it is also discovered the fact that subsystems with the same number of failures but with different times of failure will produce different reliability values. And lastly, the subsystem risk rating obtained from Component Risk (CR) does not necessarily become a budget priority rating;this rating can change when the risk rating is combined with Maintenance Cost (MC) to produce a more objective budget priority rating with broader considerations. The methodology that combines the prediction of equipment reliability with budget prioritization in this research can also be used in other power generation plants that predominantly manage physical assets in order to obtain optimal asset life cycle management without compromising the performance of the equipment in the power plant due to limited maintenance budgets. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Gas turbines

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Feasibility Evaluation of Quadratic programs for Constrained Control

arXiv

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arXiv 2025年

作者： Rousseas, Panagiotis Panagou, Dimitra Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece Department of Robotics Department of Aerospace Engineering University of Michigan MI United States

This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined by the solution of a properly-defined Linear program (LP). Our analysis yields a LP that can be solved more efficiently compared to the original QP problem, and more importantly, is simpler in form and can be solved more efficiently compared to existing methods that assess feasibility via LPs. The computational efficiency of the proposed method compared to existing methods for feasibility evaluation is demonstrated in comparative case studies as well as a feasible-constraint selection problem, indicating its promise for online feasibility evaluation of optimization-based controllers. © 2025, CC BY.

关键词： Quadratic programming

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