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3rd IEEE International Conference on robotics, Automation, Artificial-Intelligence and Internet-of-Things, RAAICON 2024

作者： Tajwar, Atique Haque, Md. Ettashamul Hasan, Md Mehedi University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh

ISBN: (纸本)9798331534400

This study presents a novel approach to Human-Robot Interaction (HRI) by employing gesture recognition to control robotic systems, such as bionic arms or manipulators, through accelerometer-based data collection. Using a low-cost glove equipped with an ESP32 microcontroller and accelerometer, data was gathered from 22 participants performing five distinct gestures: a clockwise circle, square, triangle, double tap, and the letter S. After filtering, these gestures were translated into features that trained a small neural network model designed for low-storage microcontrollers like the ESP32. With a performance accuracy of 90.4%, the neural network outperformed existing ensemble learning models, demonstrating its suitability for real-time gesture recognition tasks in embedded robotic systems. This highly efficient model enables seamless and intuitive control of robotic devices by facilitating responsive and natural HRI through gesture recognition. Designed specifically for compact and resource-limited environments, the model addresses the challenges associated with limited computational resources and restricted hardware capabilities. It provides a robust and scalable solution that can be easily integrated into various robotics applications, where gesture-based control is advantageous. © 2024 IEEE.

关键词： Accelerometers

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Path Tracing and Validation of Omni Wheeled Mini Robot Using Visual Feedback 11

Path Tracing and Validation of Omni Wheeled Mini Robot Using...

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11th IEEE International Conference on Advances in Computing and Communications, ICACC 2024

作者： Ahamed, Aftaab Jayaraj, Karthik Fazil, Shibin Nikitha, S. Sudheer, P.A. National Institute of Technology Calicut Robotics Interest Group Mechatronics Robotics Laboratory India National Institute of Technology Calicut Mechatronics/Robotics Laboratory Mechanical Engineering Department India

ISBN: (纸本)9798350379136

Holonomic drives are gaining popularity in many fields due to their versatility in various industrial applications. The ability of the holonomic drive robots to move in all directions makes it distinct from other drive mechanisms. Open-loop control of omnidirectional bots can be achieved with relative ease whereas automating it is not as easy. When trying to create an automated system with lower cost, off the shelf components and hardware, other problems may arise as a result of the poor performance of the components. Here a three wheeled omnidirectional robot that can trace a predefined path without human intervention has successfully been developed. © 2024 IEEE.

关键词： Open loop control

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Mechanism of material removal and chip formation of alumina dispersion strengthened copper in micro-milling

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Frontiers of Mechanical engineering 2025年第1期20卷 27-43页

作者： Chang LIU Chunya WU Xiguang LI Bo HOU Jiahao WU Ruijiang SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g

关键词： alumina dispersion-strengthened copper particle-reinforced metal matrix composites material removal mechanism micro-milling chip formation minimum uncut chip thickness

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Optimal Design of Parallel Elastic Actuators for Minimizing Required Torque and Power: Comparison with Series Elastic Actuators 50

Optimal Design of Parallel Elastic Actuators for Minimizing ...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Shin, Kyeongsik Oh, Sehoon Dept. Robotics and Mechatronics Engineering DGIST Daegu Korea Republic of

ISBN: (纸本)9781665464543

This paper proposes an optimal design methodology for Parallel Elastic Actuators (PEAs) that minimizes torque and power consumption for tasks with external conditions. Furthermore, the paper advocates for selecting an actuator based on a comparison of the dynamic characteristics of PEAs and Series Elastic Actuators (SEAs) for a specific task. However, the design of actuators may need to vary depending on the task and application, but the criteria for this are often unclear. To address the ambiguous design criteria, we analyze the dynamic characteristics of PEAs and SEAs under external conditions and utilize them for optimal design. By formulating cost functions for various tasks, we identify the most suitable actuator design for each task. This study establishes criteria for designing PEAs for tasks with external conditions and proposes a general framework for PEA design optimization. © 2024 IEEE.

关键词： Cost functions

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An Integrated Setup for Sequential Hybrid Laser Beam Micromachining (LBMM) and Micro-EDM for Machining Micro-hole Arrays with Automated Tool Localization

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International Journal of Precision engineering and Manufacturing 2025年 1-18页

作者： Azhar, Wan Ahmad Bin Wan Saleh, Tanveer Autonomous Systems and Robotics Research Unit Department of Mechatronics Engineering International Islamic University Malaysia Jalan Gombak Kuala Lumpur53100 Malaysia

Micro holes array has significant applications in the field of aerospace and turbo machinery, industrial filtration, microfluidic devices, biomedical engineering, and so on. There are various ways to manufacture micro holes arrays. In order to have a cost-effective, yet precise and efficient process for the fabrication of micro holes array, an integrated setup has been introduced in this paper to combine Laser Beam Micro Machining (LBMM) and micro-EDM (μEDM). This approach uses LBMM for quick material removal and µEDM for precise finishing. However, one of the main challenges in hybrid LBMM-µEDM is the localization of LBMM micro holes for accurate positioning of μEDM electrode. In this present study, an integrated setup with automated hole localization has been presented to improve the hybrid LBMM-μEDM process in terms of alignment accuracy and machining rate. The microscope camera that is mounted on the μEDM stage scans and captures images of LBMM holes. Then, the images were stitched and processed using image processing techniques to get the center coordinate of the LBMM micro holes. Finally, the operator validated the coordinates and G-code was automatically generated for the µEDM process to perform the fine finishing. The result indicated that the alignment accuracy is within 15 μm. Furthermore, the newly developed automation strategies for the hybrid LBMM-μEDM process show significant improvement in machining time with 5 × faster than the pure μEDM process, and better performances in overcut, taper angle, and electrode wear. Furthermore, the hybrid process was found to be 1.6 × more energy efficient as compared to the pure µEDM process. Overall, the newly developed integrated system was found to be highly effective for producing micro holes array. © The Author(s), under exclusive licence to Korean Society for Precision engineering 2025.

关键词： Precision engineering

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Algorithm for Deriving Position Measurement Based on Automatically Saved Image Matching

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Transactions of the Korean Institute of Electrical Engineers 2025年第3期74卷 491-499页

作者： Hwang, Dong-Yun Seo, Kyeong-Wook Lee, Min-Ho Kim, Yong-Hun Song, Jin-Woo Dept. of Artificial Intelligence and Robotics Sejong University Korea Republic of Dept. of Intelligent Mechatronics Engineering Sejong University Korea Republic of

In this paper, we propose an algorithm that equips a drone with a monocular camera and a laser range finder to derive position measurements for smooth mission execution and return to the home position, even in situations where GNSS is not available. This algorithm stores images and create an orthoimage when GNSS is available, and from the time the GNSS signal is lost, it matches the current image with the database image based on image feature point matching to determine the drone's current location and to employ return to home mission. We validated the algorithm with data acquired from actual drone flights and confirmed that the proposed algorithm could be used practically and effectively with sufficient accuracy for return to home mission. © The Korean Institute of Electrical Engineers.

关键词： Drones

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AI-Driven 3D Printing: Generative Gcode for Quality and Efficiency

AI-Driven 3D Printing: Generative Gcode for Quality and Effi...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Haque, Sean Tanveer, Muhammad Hassan Voicu, Razvan Cristian Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

Artificial Intelligence (AI) is transforming the landscape of three-dimensional (3D) printing by enabling generative approaches that extend beyond conventional, parameter-tuning strategies. Rather than merely adjusting nozzle temperatures or speeds, modern AI models can create or refine Gcode paths themselves, seeking to balance objectives such as print strength, dimensional accuracy, and defect minimization. This paper introduces a holistic AI-driven workflow for automated Gcode generation. We demonstrate that generative Large Language Models (LLMs) can parse, synthesize, and optimize printing instructions, thus offering an alternative to human-engineered slicing parameters. Our approach incorporates a continuous feedback loop in which a predictive model evaluates each generated Gcode script for potential print outcomes. Experimental results illustrate strong correlations between the number of lines in generated Gcode and key performance metrics (tensile strength, defect rate, and dimensional accuracy). Notably, some scripts with fewer lines reduced material defects yet slightly degraded dimensional accuracy, while more complex scripts improved measurement fidelity but also introduced minor flaws. These findings illuminate the trade-offs in AI-driven 3D printing and highlight the method's capacity for ongoing improvement. By exploring future expansions, such as continuous-function printing trajectories and multi-material prints, this study shows that AI-based Gcode generation can significantly advance 3D printing quality and customization across diverse applications. © 2025 IEEE.

关键词： Model predictive control

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Seat-Focused Multi-DOF Exoskeleton Wheelchair Synergy for Continuous Lower-Limb Rehabilitation

Seat-Focused Multi-DOF Exoskeleton Wheelchair Synergy for Co...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Voicu, Razvan Cristian Freeman, Charles F. Garretson, Christopher E. Sun, Zoe M. Bonus, Ryan H. Slutzky, Zachary A. Mukesh, Niranjan Tanveer, Muhammad Hassan Tello, Yannique Chang, Yusun Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

Wheelchair users with limited or nonexistent lower-limb mobility often struggle with significant muscle atrophy, circulatory complications, and other health issues. Although exoskeletons for gait training have shown promise, many are optimized for upright ambulation and overlook individuals remaining fully seated due to clinical or practical constraints. This article presents a seat-focused exoskeleton synergy integrated with a wheelchair to facilitate multi-DOF lower-limb mobilization without requiring transfers or standing maneuvers. The system addresses a critical gap by providing repeated, lower-intensity knee and ankle exercises throughout the day-either passively, actively with assistance, or in a resistive training mode-thus promoting muscle engagement and circulation from a seated position. The exoskeleton leverages the wheelchair's power source and employs modular, adjustable rails to accommodate diverse leg lengths. Emphasis is placed on biomechanical alignment, safe torque control, and user comfort, supported by a model-based controller accounting for inertia, Coriolis effects, and gravity in real time. Bench tests and preliminary trials confirm stable torque output, accurate tracking of desired motion profiles, and minimal burden when attaching or detaching the device. The article introduces modeling for a two-DOF prototype (knee flexion/extension and ankle dorsiflexion/plantarflexion), expandable to include additional joints or degrees of freedom, enabling broader rehabilitation targets such as hip abduction/adduction. By embedding rehabilitative capabilities directly into the wheelchair environment, the proposed approach seeks to close the gap between infrequent clinic appointments and continuous therapy aimed at mitigating muscle ailments. A seat-focused exoskeleton designed for every-day use can facilitate accessible, on-demand rehabilitation and substantially improve long-term health outcomes for mobility impaired users. © 2025 IEEE.

关键词： Physical therapy

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ChildACT: Child Action Recognition Dataset in RGB Data 20

ChildACT: Child Action Recognition Dataset in RGB Data

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20th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2025

作者： Sandygulova, Anara Yershov, Andrey Zhanatkyzy, Aida Telisheva, Zhansaule School of Engineering and Digital Sciences Nazarbayev University Department of Robotics and Mechatronics Astana Kazakhstan

ISBN: (纸本)9798350378931

Human action recognition is concerned with analysing, understanding and synthesizing kinematic and kinetic data. Data-driven computer vision solutions have advanced the progress in the field of action recognition while it would not be possible without large and publicly available datasets. While there are numerous datasets available for adult action recognition, child-centered action recognition efforts are still scarce. This paper presents a dataset that consists of video recordings of 200 children of different age and gender groups performing seven actions (boxing, waving, clapping, running, jogging, walking towards the camera, and walking from side to side). Two camera perspectives are provided, with a top view and a frontal view in RGB format. The dataset provides an opportunity for kinematic analysis of children motion while it also aims to bridge the performance gap between activity recognition systems for adults and children. © 2025 IEEE.

关键词： Pattern recognition systems

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Planar Trajectory Simulation for Lunar CanSats using a Wheeled Ground Robot

Planar Trajectory Simulation for Lunar CanSats using a Wheel...

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2024 International Conference on Intelligent Computing and robotics, ICICR 2024

作者： Chun, Carrington Swift, Tom Cox, Mason Chowdoury, S.M. Tanvir Faysal Alam Tanveer, M. Hassan Guerra-Zubiaga, David A. Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta United States

ISBN: (纸本)9798350372274

This research effort attempted to employ a low cost Kobuki mobile ground robot to generate low-fidelity planar simulations of potential trajectories for CanSats operating in lunar environments. Although this mobile robot was determined to lack the capability to simulate lunar accelerations, initial tests showed that simple planar trajectories could still be successfully programmed for the motion platform. By attaching the prototype CanSats to the top of the Autonomous Ground Vehicle (AGV), the CanSat could be driven along these preprogramed trajectories. Such motion profiles provided an adequate means for initial testing of prototype optical hardware for a lunar oriented CanSat lander. Notably, significant inconsistencies were observed in the internally computed heading for the AGV. In addition to the inaccurate localization, the lack of a closed loop control system further minimized the applicability of this study. However, due to the ubiquitousness of wheeled robotic ground vehicles and the ready availability of these devices from commercial sellers at an affordable cost, there are many possible avenues for future expansion of this work. Most significantly, as systems capable of simulating microgravity environments are often very costly and require special training to operate effectively, the proposed low-cost and low-fidelity approach could provide an interim testing solution for less technologically mature space-oriented research, such as CanSats. ©2024 IEEE.

关键词： Microgravity

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