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International Carpathian Control Conference (ICCC)

作者： Tomáš Buchta Jaroslav Hlava Tomáš Martinec Jaroslav Buchta Yegor Boyarchikov Department of Mechatronic Systems and Robotics Technical University of Liberec Liberec Czechia Institute of Mechatronics and Computer Engineering Technical University of Liberec Liberec Czechia

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

This paper presents a novel approach to improving the precision of robotic arm operations in complex environments by using Perfect Bit Field Imaging (PBFI) for end effector command pose error detection. Accurate pose determination is essential for tasks such as manipulation, assembly, and autonomous navigation, particularly in space or hazardous settings where precision is critical. PBFI leverages high-resolution industrial cameras to capture detailed pixel-level information that can be used to correct the end effector’s position. The system’s key advantage is its low-cost nature, making it an attractive alternative to expensive sensor-based approaches. Advanced image processing techniques are used to interpret bit fields, allowing for quick and reliable pose corrections that reduce the need for recalibration and minimize the impact of external disturbances. Additionally, the approach is adaptable to various robotic arm configurations and operational conditions, making it suitable for a wide range of industrial and space-based applications. This research opens new avenues for enhancing robotic precision in challenging environments, contributing to the advancement of cost-effective autonomous systems.

关键词： Accuracy Service robots Image processing Robot vision systems Refining End effectors Real-time systems Error correction Robots Optimization

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Enhancing Leg Odometry in Legged Robots with Learned Contact Bias: An LSTM Recurrent Neural Network Approach

Enhancing Leg Odometry in Legged Robots with Learned Contact...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yaru Gu Ze Liu Ting Zou Department of Mechanical and Mechatronics Engineering Memorial University of Newfoundland St. John’s Canada School of Mechatronic Systems Engineering Simon Fraser University Burnaby Canada

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

To address the leg odometry drift caused by the non-stationary foot contact, this paper introduces a novel data-driven based leg odometry technique for legged robots. By leveraging a Long Short-Term Memory (LSTM) Recurrent Neural Network (RNN), the method learns the biases in the robot’s foot contact locations from sequential IMU measurements and ground reaction forces (GRF). This learned contact bias is then incorporated into the state estimation process using a Kalman filter (KF), significantly improving the precision of leg odometry for legged robots operating in real time. This method, which combines deep learning approaches with conventional filtering techniques, is named the Deep Learning Kalman Filter (DLKF). The effectiveness of the DLKF is demonstrated through simulation and experimental trials using a Unitree Go1 robot across various challenging environments, including uneven terrain, slopes, and stairs, where foot slippage occurs frequently. Our results indicate an average 64.93% reduction in translational errors in leg odometry when the learned contact bias is applied. Further improvements are observed in a fused LiDAR and leg odometry state estimation system, especially in feature-deprived areas, indicating that the proposed leg odometry system can be easily fused with other sensor measurements to get a more precise state estimation.

关键词： Legged locomotion Meters Recurrent neural networks Training data Robot sensing systems Odometry State estimation Robots Long short term memory Foot

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Development Of UV Monitoring System Using Metal Oxide Based Sensor 8

Development Of UV Monitoring System Using Metal Oxide Based ...

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8th International Conference on mechatronics engineering, ICOM 2022

作者： Hafizuddin, Muhammad Basori, Yasir Irsyad Yusoff, Marmeezee Mohd Mohd Razib, Mohd Asyraf Malek, Mohd Firdaus Mohamed, Ruziana Kamarzaman, Azlin Haezrina Mechatronic Engineering Department International Islamic University Malaysia Selangor Gombak53100 Malaysia Centre for Unmanned Technologies Mechatronics Engineering Department Kulliyyah of Engineering International Islamic University Malaysia Selangor Gombak53100 Malaysia Universiti Teknologi MARA Malaysia Shah Alam Malaysia

ISBN: (数字)9781839538063

ISBN: (纸本)9781839538063

The development of ultraviolet (UV) monitoring system using metal oxide-based sensor has been experimented throughout the project. The metal oxide-based sensor used is the fabricated titanium dioxide nanorod arrays. The sensor is a self-powered UV photosensor that can generate a certain amount of voltage when the illumination of UV radiation exists on the surface of the sensor. Furthermore, the fabricated UV photosensor is designed based on photoelectrochemical (PEC) structure. The performance of the sensor has been experimented by manipulating the quantity of the thin film layer deposited on the surface of the sensor that is used as spacer and applying two different electrolytes that is the solution of salt water (Na2SO4) and mineral water in order to observe the generated output voltage with respect to the distance of UV source to the TiO2 UV photo sensor. Moreover, an Arduino board has been used for monitoring the amount of voltage generated from the photo sensor. The TiO2 UV photo sensor generated the voltage up to 0.3V with standard UV lamp that produces UV radiation wavelength of 365-400nm for a single layer of thin film, electrolytes of Na2SO4 and 5 cm distance of UV lamp from the sensor. Further experiments offer some beneficial results with respect to its properties, that leads to the basis of theoretical and experimental for better understanding of fundamental physics and extensive applications of titanium dioxide (TiO2) related structures. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Photoelectrochemical cells

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Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation

Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace ...

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2021 International Conference on Mechanical, Aerospace and Automotive engineering, CMAAE 2021

作者： Huamanchahua, Deyby Soto Conde, Nick Vasquez Frias, Jean Carlos Lopez Meza, Diego Alvarez-Rodríguez, Angel E. Department of Electrical and Mechatronics Engineering Universidad de Ingenieria y Tecnologia - Utec Lima Peru Mechatronics Engineering Program Universidad Nacional de Ingeniería Lima Peru Department of Mechatronics Engineering Universidad Peruana de Ciencias Aplicadas Lima Peru Department of Mechatronic Engineering Universidad Continental Huancayo Peru Mechatronic Engineering Universidad Tecnológica Del Perú Lima Peru

ISBN: (纸本)9781450385206

This paper deals with the direct kinematic analysis of a hip exoskeleton with 3 Degrees of Freedom (DoF), to assist users in walking. A methodology based on the Denavit Hartenberg (D-H) convention is presented, in the orientation Euler angles were used. For the calculation the open-source software Jupiter is used as a testing tool, the simulation is performed with Wolfram software. The results obtained will be used for dynamic analysis and mechanical design in subsequent studies. © 2021 ACM.

关键词： Denavit-Hartenberg convention Exoskeleton Hip Kinematic analysis

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Implementation of WiFi Communication on Multi UAV for Leader-Follower Trajectory based on ROS

Implementation of WiFi Communication on Multi UAV for Leader...

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International Conference on Artificial Intelligence in Information and Communication (ICAIIC)

作者： Pipit Anggraeni Hilda Khoirunnisa Muhammad Nursyam Rizal Muhammad Fauzian Alfadhila Department of Manufacturing Automation and Mechatronics Engineering Bandung Polytechnic for Manufacturing Bandung Indonesia Department of Manufacturing Automation and Mechatronic Engineering Bandung Polytechnic for Manufacturing Bandung Indonesia

Modern manufacturing facilities are increasingly leading to highly decentralized systems with self-organized modules that provide flexibility and increase adaptability achieving better performance and efficiency. Therefore, it will be a development of the quadcopter to increase effectiveness in the range of maneuvers but there are still many problems in the communication system, therefore the ROS system is easy to develop in multi-unmanned vehicles and can be implemented in various types of unmanned vehicles so that a multi-unmanned communication system is developed. Communication with a quadcopter with a different firmware will be developed by applying the multi-master ROS. The communication process used in this study uses a wireless LAN with TCP/ IP for connections between multi-masters on ROS embedded on Raspberry and then forwarded using the MavLink serial for each FCU of each ROS multi-master. In this system, a decentralized distribution of data is implemented, where the control center is on a workstation with the ROS system that will control the quadcopter leader. The two quadcopter followers will be controlled or follow the coordinates that have been determined by leader and will form a formation. In testing the whole system, testing data transmission from the workstation to the quadcopter leader is carried out by sending a mode change command to the FCU and producing an average time delay of 0.2s but from the quadcopter leader to the quadcopter follower there are various time delays from each movement of various axes with average delay time for 0.42s. Furthermore, the integration test of this quadcopter has succeeded in forming a formation with the application of this multi-agent communication system with parameters that can follow the existing trajectory.

关键词： System testing Delay effects Autonomous aerial vehicles Real-time systems Workstations Trajectory Data communication

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Robust Visual Place Recognition Method for Robot Facing Drastic Illumination Changes

Robust Visual Place Recognition Method for Robot Facing Dras...

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2021 International Conference on Electronic Communication, Computer Science and Technology, ECCST 2021

作者： Li, Zhen Zhou, Lin Lin, Zeqin School of Cosmetics and Artistic Designing Guangdong Food and Drug Vocational College GuangDong510520 China Department of Mechatronics Engineering Foshan University GuanDong 528000 China Schoolof Mechatronic Engineering and Automation Foshan University GuangDong528000 China

The robustness of visual place recognition determines the accuracy of the SLAM to construct the environmental map. However, when the robot moves in the outdoor environment for a long time, it must face the challenge of drastic illumination changes (time shift, season or rain and fog weather factors), which leads to the robot's ability to identify places is greatly restricted. This paper proposes a method for visual place recognition that is more robust to severe illumination changes. First, a generative adversarial network is introduced into visual SLAM to enhance the quality of candidate keyframes, and consistency of geographic locations corresponding to images before and after quality enhancement is evaluated, and then the image descriptor with illumination invariance is established for the robot's new observation image and keyframes of the map. Finally, the performance of the method in this paper is tested on the public dataset. The experimental results show that this method is conducive to improving the quality of environmental map nodes, and enables the robot to show a highly robust ability for visual place recognition in the face of severe illumination changes, which provides a powerful tool for robot to build an accurate environmental map. © Published under licence by IOP Publishing Ltd.

关键词： Generative adversarial networks

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Distribution Network Reconfiguration for Transmission Loss Minimization and Voltage Profile Improvement Using Salp Swarm Optimization Algorithm 12th

Distribution Network Reconfiguration for Transmission Loss M...

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12th National Technical Seminar on Unmanned System Technology, NUSYS 2020

作者： Shanono, Ibrahim Haruna Abdullah, Nor Rul Hasma Noh, Nur Fajrina Binti Mohd Muhammad, Aisha Faculty of Electrical and Electronics Engineering Technology Universiti Malaysia Pahang Pekan Pahang26600 Malaysia Department of Electrical Faculty of the Engineering Bayero University Kano Nigeria Department of Mechatronics Faculty of the Engineering Bayero University Kano Nigeria Faculty of Manufacturing and Mechatronic Engineering Technology Universiti Malaysia Pahang Pekan Pahang26600 Malaysia

ISBN: (纸本)9789811624056

The increased human population along with the advancements and demand for electrical appliances has led to the continuous overstretch of the existing power transmission lines. This tends to overload the transmission system, which results in an excessive power loss and subsequent system outage. Optimal reactive power dispatch (ORPD) is a mechanism deployed to ensure a secured operation as well as an economically viable power system network. ORPD is an optimal power dispatch technique that minimizes transmission line losses while adhering to both equality and non-equality constraints. This research study employed Salp Swarm Algorithm (SSA) to obtain the best vector control variables that give the minimal total active power loss on a standard IEEE 30-bus system network. The result obtained was compared against Particle Swarm Optimization (PSO), where SSA proves to be superior over PSO in the field ORPD. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Particle swarm optimization (PSO)

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Electro-humidity responsive soft actuators based on cellulose nanofibers-nanocrystals for bioinspired applications

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Science China Technological Sciences 2025年第7期68卷 1-9页

作者： Wang, Fan Qi, Ruibin Wu, Yujiao Li, Qinchuan Zhang, Junhui Park, Sukho School of Mechanical Engineering Zhejiang Sci-Tech University Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu Republic of Korea

Multifunctional responsive actuators have garnered considerable attention for their potential applications in soft robots, wearable devices, smart displays, environmental sensing, and biomimetic systems. Herein, we present a multifunctional color-changing ionic soft actuator that integrates electrical actuation and humidity-induced color-changing functionalities, fabricated using carboxylated cellulose nanofibers, ionic liquids, polyvinyl alcohol, cellulose nanocrystals, and poly(ethylene glycol) diacrylate. The electro-humidity responsive actuator exhibited remarkable actuation performance, including a maximum tip displacement (10.2 mm), low driving voltage (as low as 1.0 V), high operational stability (95.2% reliability after 2000 actuation cycles), broad working frequency range (0.2–3.0 Hz), and exceptional tolerance to humid environments (90% relative humidity). In addition, the actuator showcased reversible and integrated color-changing capabilities. These features enabled the design of innovative devices, such as biomimetic flowers and smart color-changing windows with tunable optical properties. Consequently, this multifunctional actuator provides a promising platform for applications in soft robots, optical anti-counterfeiting systems, information storage materials, and intelligent home technologies.

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A human heartbeat frequencies based 2-DOF piezoelectric energy harvester for pacemaker application

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Energy Harvesting and Systems 2021年第1期8卷 1-11页

作者： Mayekol Mayck, Hygin Davidson Fath El-Bab, Ahmed Mohamed Rashad Murimi, Evan Moukala Mpele, Pierre Department of Mechatronic Engineering Pan African University Institute of Basic Sciences Technology and Innovation Nairobi Kenya Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria New Borg El-Arab Egypt Department of Mechatronic Engineering Jomo Kenyatta University of Agriculture and Technology Nairobi Kenya Department of Electrical Engineering Pan African University Institute of Basic Sciences Technology and Innovation Nairobi Kenya

In the last decade, piezoelectric energy harvesters have received a significant attention from the scientific community. This comes along with the need of developing self-powered devices such as medical implant to reduce the cost and risk of surgery. This paper investigates a two degree of freedom (2-DOF) piezoelectric energy harvester device to be integrated into a pacemaker. The 2-DOF is designed as a cut-out beam with a secondary beam cut into a primary one. The system is developed to operate in the frequency range of 0-2 Hz, with an acceleration of 1 g (9.8 m/s2) to match the heartbeat frequencies (1-1.67 Hz). The system uses a Lead Zirconate Titanate (PZT) and a Poly Methyl Methacrylate (PMMA) as lead beam to compensate the brittleness of PZT. COMSOL Multiphysics software is used to model and analyze the resonant frequencies of the system, and the stress in the piezoelectric beam. The proposed device has a compact volume of 26 × 11.58 × 0.41 mm, which can fit perfectly in a pacemaker whose battery volume has been reduced by 50%. The output voltage and power are determined through analytical calculus using Matlab. Typical pacemakers require 1 μW to operate. Thus, with a peak power of 30.97 μW at 1.5 Hz and an average output power of 11.05 μW observed from 0.9 to 1.7 Hz, the harvester can power a pacemaker. It is assumed that the energy harvester could extend its life time for 5-10 more years. Furthermore, the harvester operates at extremely low frequency and produces reasonable power, making it suitable for biomedical devices. © 2021 Walter de Gruyter GmbH, Berlin/Boston.

关键词： 2-DOF human heartbeat frequencies pacemaker piezoelectric energy harvesting

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A Data-Driven Distributed Control Scheme: Learning Multi-Objective Agent-Based MPC for Path-Tracking

A Data-Driven Distributed Control Scheme: Learning Multi-Obj...

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International Conference on Intelligent Transportation

作者： Jiaming Zhong Reza Valiollahi Mehrizi Yash Vardhan Pant Amir Khajepour Department of Mechanical and Mechatronics Engineering Mechatronic Vehicle Systems (MVS) Lab University of Waterloo Waterloo ON Canada Department of Electrical and Computer Engineering Control Learning and Logic (CL2) group University of Waterloo Waterloo ON Canada

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

Agent-based model predictive control (AMPC) has recently been proposed for vehicle systems with various controllers, such as differential braking and torque vectoring, where controllers are regarded as distributed agents contributing to the same objective. However, this scheme is challenging in handling multiple conflicting objectives with coupled agents. A common approach for such tasks is the integrated MPC, where all objectives and agents are stacked together in one optimization. Nevertheless, as more agents and objectives are involved, the integrated MPC will face challenges like computational burdens and maintenance difficulties in practice. To this end, this paper proposes a learning multi-objective AMPC that can improve design flexibility and computing efficiency. First, under the assumption of information exchange, a multi-objective AMPC tailored from the alternating direction method of multipliers (ADMM) is proposed to decouple the system and achieve the same performance as the integrated scheme iteratively. Second, a learning-based method for initializing iterations is proposed to accelerate convergence. In addition, a data management method is proposed for real-time efficiency, and an authentication module is designed for learning reliability. We compare the proposed scheme against the integrated scheme via a combined path-tracking simulation for autonomous vehicles with various controllers. The proposed scheme achieves the same control performance as the integrated one while reducing the computational time by 43.5 %. Furthermore, the learning-based method saves 88.6% more computational time than without learning, making it suitable for real-time implementation.

关键词： Learning systems Torque Decentralized control Reliability engineering Real-time systems Convex functions Planning Information exchange Convergence Predictive control

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