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15th International Conference on Signal Processing Systems, ICSPS 2023

作者： Li, Xin He, Wanlin Zhao, Hongjie Tang, Weimin Liu, Zheng Zhang, Suyan Yuan, Hao Wu, Qiong School of Mechanical Engineering & Automation Beihang University Beijing100191 China Capital Aerospace Machinery Co. Ltd Beijing100076 China School of Mechanical Engineering & Automation Fuzhou University Fuzhou350108 China Jingdezhen Research Institute of Beihang University Jiangxi333000 China

ISBN: (纸本)9781510675056

To monitor the changes in cutting force during the machining process of machine tools, this article takes ZL205A aluminum alloy as the research object and builds a multi-sensor acquisition system, including cutting force signal, load current signal, and vibration signal acquisition system. Cutting experiments were conducted to obtain cutting force, load current, and vibration amplitude under different process parameters. The time-frequency characteristics of cutting force signals were analyzed. The mapping relationship between cutting process parameters and cutting force, as well as load current and cutting force, was established. This research enables indirect monitoring of dynamic cutting force signals by monitoring load current signals, providing reference and guidance for monitoring dynamic cutting force in actual machining processes and process optimization. © 2024 SPIE.

关键词： Data acquisition

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Obstacle Free Robot Motion Planning and Intelligent Maneuvering Controller

Obstacle Free Robot Motion Planning and Intelligent Maneuver...

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2022 IEEE Global Conference on Computing, Power and Communication Technologies, GlobConPT 2022

作者： Mondal, Suman Ray, Ranjit Nandy, Sambhunath CSIR-Central Mechanical Engineering Research Institute Robotics and Automation Group Durgapur India Ghaziabad India

ISBN: (数字)9781665493659

ISBN: (纸本)9781665493659

Autonomously controlled wheeled mobile robots (WMRs) are often instructed to navigate on a previously planned path through predefined control points within a clumsy obstacle-prone environment. In most path planning techniques, the planned path does not pass through all intermediate control points. Although, if the path passes through the intermediate control points in some cases, the overall path is constructed by many segments with the fulfillment of continuity criteria. Due to multiple segments, the existing path planning and control methods may sometimes fail to restore the WMR to its original planned path after negotiating obstacles. Considering the afore-mentioned drawback, a single segmented polynomial function-based motion planning cum path-following scheme suitable in confined and restricted places with the capability of negotiating unexpected obstacles is proposed in this article. The polynomial function is formulated based on the least square method encap-sulating all the predefined control points to the closest range. The proposed function is used as the position output function for the input-output feedback linearization controller (FBC) to maneuver the WMR through the planned path in a path-following paradigm. Further, considering a static and dynamic obstacles-prone working envelope, a fuzzy logic controller (FLC) is embedded with the FBC to inculcate intelligent behavior. Due to a single segment-based polynomial path, the intelligent controller ensures reinstating the WMR on the original path after avoiding obstacles. Finally, the effectiveness of the unique robot motion planning framework in avoiding collisions is illustrated in a simulated environment using robot parameters, and the relevance of the current research work is established over the piece-wise cubic spline-based path planning framework. © 2022 IEEE.

关键词： Mobile robots

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Survey on Integrated Navigation System Based on Inertial Technology

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Journal of institute of Control, robotics and Systems 2024年第4期30卷 448-463页

作者： Park, Chan Gook Cha, Jaehyuck Choe, Yeongkwon Lee, Jaehong Lee, Hanyeol Kim, Kwangjin Cho, Seong Yun Song, Jin Woo Department of Aerospace Engineering/Automation and Systems Research Institute Seoul National University Korea Republic of Department of Mechatronics Engineering/Department of Smart Health Science and Technology Kangwon National University Korea Republic of Navigation Business Center Hanwha Aerospace Korea Republic of Department of mechanical automotive engineering Kyungil University Korea Republic of Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone Sejong University Korea Republic of

In this paper, we summarize the results of inertial navigation-based integrated navigation systems that have been researched for over 30 years. First, we introduce the core technologies for operating inertial navigation systems (INS) and discuss the technological advances in pedestrian navigation using small and low-cost inertial sensors for mobile devices. Second, we present the integrated navigation systems with other sensors to overcome the limitations of the INS, which degrades over time. The fundamental principles of, and major research on the inertial-based integrated navigation system with global navigation satellite system, database, or camera/LiDAR are discussed. Finally, the major achievements in recent advances in artificial intelligence-assisted navigation are addressed. © ICROS 2024.

关键词： Inertial navigation systems

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Lumbar spine localisation method based on feature fusion

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CAAI Transactions on Intelligence Technology 2023年第3期8卷 931-945页

作者： Yonghong Zhang Ning Hu Zhuofu Li Xuquan Ji Shanshan Liu Youyang Sha Xiongkang Song Jian Zhang Lei Hu Weishi Li Robotics Institute School of Mechanical Engineering and AutomationBeihang UniversityBeijingChina Beijing Zhuzheng Robot Co. LTDBeijingChina Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKnoxvilleTennesseeUSA Department of Orthopaedics Peking University Third HospitalBeijingChina Engineering Research Center of Bone and Joint Precision Medicine Ministry of EducationBeijingChina Beijing Key Laboratory of Spinal Disease Research BeijingChina School of Biological Science and Medical Engineering Beihang UniversityBeijingChina Department of Computer Science University of WarwickCoventryUK

To eliminate unnecessary background information,such as soft tissues in original CT images and the adverse impact of the similarity of adjacent spines on lumbar image segmentation and surgical path planning,a two‐stage approach for localising lumbar segments is ***,based on the multi‐scale feature fusion technology,a non‐linear regression method is used to achieve accurate localisation of the overall spatial region of the lumbar spine,effectively eliminating useless background information,such as soft *** the second stage,we directly realised the precise positioning of each segment in the lumbar spine space region based on the non‐linear regression method,thus effectively eliminating the interference caused by the adjacent *** 3D Intersection over Union(3D_IOU)is used as the main evaluation indicator for the positioning *** an open dataset,3D_IOU values of 0.8339�0.0990 and 0.8559�0.0332 in the first and second stages,respectively is *** addition,the average time required for the proposed method in the two stages is 0.3274 and 0.2105 s ***,the proposed method performs very well in terms of both pre-cision and speed and can effectively improve the accuracy of lumbar image segmentation and the effect of surgical path planning.

关键词： CT image lumbar spatial orientation multi‐scale information fusion

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Human Following Robot Based on Object Detection for aerospace Application 1

Human Following Robot Based on Object Detection for Aerospac...

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1st International Conference of Adisutjipto on aerospace Electrical engineering and Informatics, ICAAEEI 2024

作者： Sumari, Arwin Datumava Wahvudi Aryandika, Ahnaf Bagus Purnami, Ndaru Atmi Dermawan, Denny Syamsiana, Ika Noer State Polytechnic of Malang Cognitive Artificial Intelligence Research Group Department of Electrical Engineering Malang Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Aerospace Navigation Instrumentation Control Automation and Robotics System Research Group Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Aerosp. Digit. Syst. Microprocessor Microcontroller and Programmable Logic Devices Research Group Yogyakarta Indonesia

ISBN: (纸本)9798331507930

In this research, the Human Following Robot (HFR) prototype has been designed and implemented using YOLO v3-Tiny and Tensor Flow Lite on Raspberry Pi hardware named Rewang. The HFR Rewang is designed to assist aircraft technicians by bringing maintenance tool kits to aircraft shelters. Rewang's movement is based on a camera as a vision sensor following the movement of human entities. Image input is processed by YOLO v3-Tiny through the determination of the bounding box, the calculation of Euclidean Distance, and the determination of the pixel value of the camera as the basis of Rewang's movement which is regulated by an L298N driver motor that controls two Direct Current (DC) motors for the left and right wheels. The test results show that Rewang can move at an average speed of 0.18 m/s at 2 m with a travel time of 11 seconds with a light intensity of more than 250 lux. The minimum and maximum distance of object detection is as far as 120 cm and 400 cm, with an object detection accuracy of 95.8%. Rewang allows the HFR to have a larger carrying capacity to bring more complete aircraft maintenance tools and is prospective for other aerospace and general applications. © 2024 IEEE.

关键词： Travel time

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Human-Robot Interaction Dynamics-Based Impedance Control Strategy for Enhancing Social Acceptance of Human-Following Robot

Human-Robot Interaction Dynamics-Based Impedance Control Str...

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2023 China automation Congress, CAC 2023

作者： Peng, Jianwei Liao, Zhelin Su, Zefan Yao, Hanchen Zeng, Yadan Dai, Houde Quanzhou Institute of Equipment Manufacturing Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences Quanzhou China The Robotics Research Centre Nanyang Technological University The School of Mechanical and Aerospace Engineering Singapore Singapore

ISBN: (纸本)9798350303759

Human-following robots have gained widespread attention in diverse domains, such as manufacturing, health-care, and personal companionship. However, it is essential to respect the social zones of the target person to avoid causing psychological discomfort when robots coexist and collaborate with humans. In this study, we propose a novel human-robot interaction dynamics-based impedance control strategy to accomplish the human-following task while ensuring that the robot refrains from encroaching upon the intimate zone of the target person. Initially, a human-robot interaction dynamics model is developed to capture the social repulsion between the robot and the target person. Subsequently, an impedance controller is designed to dynamically regulate the robot motion and the virtual interaction force with the target person. Furthermore, behavioral dynamics is integrated into the impedance controller for obstacle avoidance. Experimental results validate the effectiveness of the proposed method in this study, showcasing that the robot can successfully achieve human following and obstacle avoidance without encroaching on the intimate zone of the target person. © 2023 IEEE.

关键词： Human robot interaction

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Theoretical and Computational Investigation on Aerospike Nozzle Equipped with Exhaust Plumes for Supersonic Flow Regimes 1

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International Conference on mechanical engineering, INCOME 2023

作者： Bindal, Rohi Kattyayan, Shivansh Sonawane, Chandrakant R. Dhanwani, Payal Thombre, Simran Joshi, Vedant Mishra, Ankit Kumar Department of Computer Science Engineering Symbiosis Institute of Technology Maharashtra Pune India Department of Mechanical Engineering Symbiosis Institute of Technology Maharashtra Pune India Department of Aeronautical Engineering Bhagwan Arihant Institute of Technology Gujarat Surat India Department of Aerospace Engineering Sastra University Tamil Nadu Thanjavur India Department of Robotics and Automation Symbiosis Institute of Technology Maharashtra Pune India Department of Research and Development ASTROEX RESEARCH ASSOCIATION Uttar Pradesh Deoria India

ISBN: (数字)9789819738748

ISBN: (纸本)9789819738731

Aerospike nozzles are widely used in aerospace applications due to their high performance, low cost, and low maintenance. They have been widely used to improve the performance of aerospike engines. This paper presents a computational and numerical analysis of the flow behavior of an aerospike nozzles equipped with exhaust plumes under different operating conditions, contributing to the better study and understanding of fluid dynamics for the aerospike nozzles in the field of aerospace engineering. The study uses a three-dimensional, axisymmetric model to simulate the flow within the nozzle, and the results are later used in order to generate better contours and performance. An iterative test has been carried out which in turn used for optimization loop which involves changes in contour shape, spike height, or spike angle to achieve better flow expansion and reduce pressure losses. The paper also discusses the potential future research directions, such as investigating unsteady flow phenomena or exploring advanced turbulence models for more accurate predictions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： aerospace applications

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Parametric Output Function based Path Following Controller For Nonholonomic Robotic Systems

Parametric Output Function based Path Following Controller F...

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2022 IEEE Global Conference on Computing, Power and Communication Technologies, GlobConPT 2022

作者： Mondal, Suman Nandy, Sambhunath Ray, Ranjit Robotics and Automation Group CSIR-Central Mechanical Engineering Research Institute Durgapur India Ghaziabad India CSIR-Central Mechanical Engineering Research Institute Intellectual Property Management Group Durgapur India

ISBN: (数字)9781665493659

ISBN: (纸本)9781665493659

Nonholonomic wheeled mobile robots (WMRs) are being used for various applications starting from survey to surveillance. Few of these applications demand autonomous movement of the WMR through various predefined paths like circular, elliptical, straight line, rectangular, and square shaped paths in an input-output feedback linearization based path-following control framework. Basic difficulty is that there is a requirement of defining an individual output function for each type of aforementioned path, which leads to a loss of user-friendliness. Based on the desired path to be tracked, it is also repeatedly required to derive and analyze the decoupling matrix, which is normally computationally complex, for individual path based output functions. In this article, a unified parametric output function based path following controller is proposed and subsequently designed to maneuver the WMR along various smooth (Circular, Elliptical etc.) and non-smooth (Rectangular, Square etc.) geometrical paths through variation of parameters only. The function further augments the capability of generating a unique parametric decoupling matrix. Non-singular parametric decoupling matrix also ensures the existence of the input-output feedback linearization based path-following control law. The proposed unified framework brings user-friendliness, reduces mathematical complexity and shows better simulated performance compared with the existing individual path definition based path-following as well as traditional trajectory tracking control schemes, when applied to nonholonomic WMR. © 2022 IEEE.

关键词： Mobile robots

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