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...
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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.
In the current landscape of robotic limb control for biped and quadruped robots, inverse kinematics and other mathematical methods are used to model the position and torque of the limb. However, due to the complexity ...
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Vehicle-to-Everything (V2X) networks require low-latency communications utilizing a broad spectrum while operating under jamming. In this sense, low complexity antenna array-based broadband jamming mitigation schemes ...
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ISBN:
(数字)9798350387414
ISBN:
(纸本)9798350387421
Vehicle-to-Everything (V2X) networks require low-latency communications utilizing a broad spectrum while operating under jamming. In this sense, low complexity antenna array-based broadband jamming mitigation schemes are crucial in order to allow low latency communication and low-cost hardware. In this paper we propose low-complexity algorithms for signal recovery in broadband processing scenario applied to V2X. Numerical simulation of a jamming scenario demonstrate the proposed algorithm achieving the same performance in terms of signal-to-interference plus noise ratio (SINR) as the state-of-the-art while taking signiflcantly less time to compute.
This paper presents a radiopropagation algorithm based on a Ray Tracing (RT) technique that combines a modified multipath model for constant refractivity gradient profiles and the Uniform Theory of Diffraction (UTD). ...
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This paper deals with the challenges involved on roof building gutter maintenance robot design, from the problem statement of secure teleoperated semiautonomous navigation on confined gutter spaces, and the best selec...
This paper deals with the challenges involved on roof building gutter maintenance robot design, from the problem statement of secure teleoperated semiautonomous navigation on confined gutter spaces, and the best selection of right mechatronics brush to remove the waste on gutter surface; Two concept design have been tested: Passive Brush with Parallel locomotion (PBP), and Active Brush Axial (ABA). The results on our development are shown, as following: secure robot lifting regulation, simulation environment, HMI to teleoperate, mechatronics design. Finally, some tests on simulations and current prototypes are shown, to validate our proposal, and the conclusion that the ABA design allows to remove until 85% gutter waste, instead of PBP design; furthermore, the ABA allows independent brush rotation velocity, instead of PBP design.
As electric vehicles become increasingly important and widely used, the design of every type of electric motor has gained significant attention in both literature and industry. This study provides a detailed analysis ...
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ISBN:
(数字)9798331532611
ISBN:
(纸本)9798331532628
As electric vehicles become increasingly important and widely used, the design of every type of electric motor has gained significant attention in both literature and industry. This study provides a detailed analysis of the number of turns in the motor windings, a critical factor in electric motor design. Through comparative analysis, it investigates how wire size and slot filling factor affect the number of windings turns per pole in Switched Reluctance Motors (SRMs). In addition, the study evaluates the effect of the number of turns analysis on motor performance during design optimization using the genetic algorithm tool in Ansys and traditional calculation methods. The optimization was performed with the wire size range between 0.45 and 0.85 mm. As a result, the optimal value with 82% efficiency was obtained with a wire size of 0.81 mm and 312 turns. The lower copper losses, ideal volume, reduced costs, and enhanced efficiency are obtained by determining the optimal number of turns. This research contributes to developing more efficient and cost-effective electric motor designs. Future research could explore various and more effective optimization techniques and current parameters to design SRM and other motors.
Robotic manipulators are multi-input multi-output (MIMO) systems with nonlinear points affected by numerous uncertainties and disturbances. PID controllers are widely used in industry for kinematic and dynamic control...
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ISBN:
(数字)9781665462808
ISBN:
(纸本)9781665462815
Robotic manipulators are multi-input multi-output (MIMO) systems with nonlinear points affected by numerous uncertainties and disturbances. PID controllers are widely used in industry for kinematic and dynamic control. However, when applied to MIMO systems, they are not easy to tune and require performance improvements. In this work, a PID controller is proposed with a fuzzy precompensator (FP-PID), both tuned by the bioinspired particle swarm optimization (PSO) algorithm to a two-degree of freedom (2-DOF) robotic manipulator representing a human leg. To validate the system, two real datasets of human gait were used: normal walking and stair climbing to estimate the error trajectory of the manipulator. The statistical analysis of the PSO algorithm with 16 experiments was satisfactory, and the addition of the fuzzy precompensator to the conventional PID resulted in a reduction of the mean square error of one of the manipulator links by up to 73 percent.
Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including op...
Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time.
This paper applies ant colony optimization (ACO) algorithm for the dual-pin flying probe circuit board inspection optimal path searching problem. First, the proposed approach creates a representation for circuit inspe...
This paper applies ant colony optimization (ACO) algorithm for the dual-pin flying probe circuit board inspection optimal path searching problem. First, the proposed approach creates a representation for circuit inspection path, which groups and encodes the measurement endpoints into a sequence. Moreover, the ant colony algorithm with the sequence can be used to solve the complex circuit optimal problem. The experimental results show that the best solutions of ACO are performed better than other algorithms.
The adoption of multi-sensor hardware units to detect different types of emergencies in complex scenarios such as Industry 4.0 and Smart Cities is a recent development trend, which have demanded research efforts to op...
The adoption of multi-sensor hardware units to detect different types of emergencies in complex scenarios such as Industry 4.0 and Smart Cities is a recent development trend, which have demanded research efforts to optimize the way these units are assembled, configured, and deployed. However, although their expected advantages, usual multi-sensors emergency-oriented approaches may be constrained by the tight association between physical sensor devices and the emergency detection process. Therefore, this paper proposes an innovative approach to concurrently detect multiple emergencies exploiting the concept of soft-sensor modules, which are implemented on Emergency Detection Units (EDUs) as concurrent tasks along with a high-priority emergency alerting task. The soft-sensor concept defines physical sensors as ordinary input data streams, which will be processed according to the defined algorithms by each particular soft-sensor, allowing detection decisions to be performed on the edge. In order to support the practical exploitation of this concept, a formal specification based on Petri Nets is defined, modeling the concurrent operation of the tasks within an EDU. A proof of concept is also designed based on the affordable Raspberry Pi Pico microcontroller, demonstrating how the proposed approach would behave when two soft-sensors are implemented in a typical detection unit.
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