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Latin America Congress on Computational Intelligence (LA-CCI)

作者： Vanessa Mendonça Mikael Santos Daniel M. Muñoz Carlos Humberto Llanos Department of Computer Science Federal Institute of Brasilia Department of Mechanical Engineering Mechatronics Graduate Program Department of Agronomy Federal Institute of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350374575

ISBN: (纸本)9798350374582

Technological advancements are increasingly evident across various sectors, including automobiles, industry, and healthcare. In precision agriculture, significant progress has been made, with AgroTICs and Smart Agriculture gaining substantial traction in the market. However, a gap remains between cutting-edge technology and family farming, presenting a challenge from both social and applied research perspectives. However, there is still a gap between cutting-edge technology and family farming, which creates a challenge from a social and applied research point of view. In this context, this paper proposes a monitoring model based on Fuzzy Logic and sensor automation applied to estimate the health of a corn crop. The proposed Fuzzy inference system involves calculating an indicator of nutrients as well as the average color and area of corn plants. The nutrient indicator is automatically computed by an ESP32 microcontroller using sensor readings, while the average color and area inputs are manually entered via a mobile application. Additionally, the Fuzzy inference is integrated into the ESP32. The model underwent experimental validation on the health of the plantation, and the results were evaluated in four areas: one was designated for testing, and three were for validation. The model achieved an accuracy of 97.5% in Scenario 3, categorized as ’Very Favorable’, and an accuracy of 65% in Scenarios 2 and 4, categorized as ‘Unfavorable’. The implications of this research contribute to the advancement of AgroTICs among small producers, with the potential to enhance and automate the monitoring of their harvest production.

关键词： Fuzzy logic Accuracy Computational modeling Plantations Crops Production Color Nutrients Monitoring Fuzzy systems

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Architecture of a Spatial Disorientation Platform and Serious Game 2

Architecture of a Spatial Disorientation Platform and Seriou...

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2nd International Conference on Robotics, Intelligent Automation and Control Technologies, RIACT 2021

作者： Castañeda, Claudia Sánchez, Natalia Aviles, Oscar F. Mauledoux, Mauricio Mechatronics Engineering Program Universidad Militar Nueva Granada Cr 11 No 101-80 Bogota Colombia

In recent years there have been several applications for the study of stabilometric mainly in the analysis of disorder, using mechanical structures of one or two degrees of freedom. An architecture of a stabilometric platform is proposed, which can acquire data through a virtual environment, in this case, a Snowboarding environment, since this sport provides greater balance, increases flexibility and strength in the muscles, and strengthens the lower limbs since it can have a displacement movement in one direction. Thanks to this environment, an architecture is proposed to execute several applications, focused on balance rehabilitation. As a result of this proposal, mathematical models were made by applying the Euler Lagrangian theory, and architecture was obtained that can acquire data in real-time, allowing to visualize this data through a sensor, which shows the position of the person with its respective movement. Also, with the implementation of the Self-Assessment Manikin (SAM) a preliminary study was conducted with 10 people in which 70% presented a discussion of different errors in the design and development stage in the virtual environment, also, 10% of the study population showed greater spatial disorientation to one side of the platform. Thanks to this, it was possible to modify the virtual environment and obtain a more efficient response by implementing this method. As future work, it is proposed to develop variable control systems on the platform and a trajectory variation in the virtual environment. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Virtual reality

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Ceres: The wheeled mobile agricultural robot designed for vegetables care

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International Journal of Vehicle Autonomous Systems 2020年第2期15卷 174-195页

作者： Sanchez, H. Guillermo Solaque-Guzmán, Leonardo E. Guevara, Adriana Riveros Faculty of Engineering Mechatronics Engineering Program Universidad Militar Nueva Granada Bogotá Cundinamarca Colombia

Outdoor robots require high performance and safety, in the agricultural robot case, factors such as temperature, light conditions or obstacles, must be taken into account. However, despite the navigation problem, the robot must support agricultural tasks during the navigation through the crop, these agricultural tasks are highly related to the specific crop. In this paper, an agricultural robot (Ceres) for vegetable crops is described. The design of controllers for velocities and path following based on classical techniques and Lyapunov theory are shown. Likewise, agricultural tasks such as fumigating, fertilising and weeding are performed by Ceres, the implemented tasks are made using different tools coupled to a movable 3D system to act over the entire crop during the robot operation. The systems named above are described throughout the document. All subsystems are integrated using the Robotic Operating System (ROS). Finally, field test are performed to the entire robot over grass terrain. Copyright © 2020 Inderscience Enterprises Ltd.

关键词： Navigation

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Intelligent Adjustment of Temperature Control Parameters Based on Deep Reinforcement Learning for Stretch Blow Molding Machine 25

Intelligent Adjustment of Temperature Control Parameters Bas...

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25th International Conference on mechatronics Technology, ICMT 2022

作者： Hsieh, Ping-Cheng Su, Guan-Lin Lin, Yi-Te Lin, Wei-Bo National Changhua University of Education Department of Mechatronics Engineering Changhua Taiwan Feng Chia University Department of Mechanical and Computer-Aided Engineering Taichung Taiwan Feng Chia University Ph.D. Program of Mechanical and Aeronautical Engineering Taichung Taiwan

ISBN: (数字)9781665461955

ISBN: (纸本)9781665461955

Stretch blow molding is the main technology used in the production of PET bottles. The stretch blow molding machine is usually composed of preform infeed system, transfer system, heating system, molding system, bottle discharge system, etc. Among them, the temperature control of the heating system is one of the key factors affecting the quality of PET bottle, especially in the face of the environmental temperature changes greatly between morning and evening in some seasons. The on-site operators of the stretch blow molding machine often need to adjust the infrared heating lamps in the heating system several times. The adjustment process is highly dependent on experience of the personnel. It has become a production challenge for the bottle manufacturers. Therefore, this paper takes the heating system of the stretch blow molding machine as the object and uses the deep reinforcement learning method to develop an intelligent adjustment technique of temperature control parameters. The proposed method can improve the problems such as the interference of environmental temperature changes and the aging variation of infrared heating lamps. The experimental results show that the proposed method can adjust the temperature control parameters automatically in the heating process to eliminate the effect of the environmental temperature change and to control the surface temperature of the preforms stably within ±3 °C of the target temperature (the requirement is within±5 °C). © 2022 IEEE.

关键词： Deep learning

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How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

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IEEE Robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

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Improving the Cooling Time of Twisted Coiled Actuators in Soft Robotics

Improving the Cooling Time of Twisted Coiled Actuators in So...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Alex Lizotte Parisa Daemi Brendan DiFabio Ana Luisa Trejos School of Biomedical Engineering (BME) Western University BME Western University Department of Electrical and Computer Engineering (ECE) Department of Mechanical and Materials Engineering Mechatronics Program Western University ECE and BME Western University

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Fabric cooling channels for twisted coiled actuators (TCAs) were recently proposed to achieve the required response times for motion assistance in a manner suitable for soft wearable robotic devices. While previous work demonstrated that the fabric channel reduced the cooling time by 42% in comparison to the same TCA without the cooling channel, the TCAs were still not cooled quickly enough to support human motion. Therefore, in this paper, two variations to the channel are proposed to further reduce the cooling time of the TCAs. The variations include unsealing the inlet and adding vents along the length of the channel to take advantage of air entrainment and natural convection. While both variations reduced the cooling time on their own, when they were employed together there was a 34% reduction in cooling time compared to the original channel design ( $19.1 \pm 2.4\ \mathrm{s}$ vs. $13.5 \pm 0.9\ \mathrm{s}, \mathrm{p} < 0.001$ ). This decrease occurred without any significant differences in the stroke or heating time of the TCA. The modified channel was then compared to the TCA without the cooling apparatus and the cooling time was reduced by 57% ( $25.1 \pm 1.7\ \mathrm{s}$ vs. $14.0 \pm 1.2\ \mathrm{s}, \mathrm{p} < 0.001)$ . This work advances the development of a cooling system for TCAs, making it suitable for soft wearable robotic devices by improving portability, and thereby enabling their use in wearable devices for rehabilitation applications.

关键词： Heating systems Actuators Cooling Vents Soft robotics Fabrics Time factors Wearable devices Convection Testing

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Teaching Control Theory using Mobile Robot Obstacle Following/Avoidance with CoppeliaSim and MFO Algorithm.

Teaching Control Theory using Mobile Robot Obstacle Followin...

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IEEE Latin American Robotics Symposium, LARS

作者： M. A. Pastrana J. Bautista Jose Mendoza-Peñaloza L. H. Oliveira D. A. Mendes Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program University of Brasilia Brasilia DF Brazil Faculty of Engineering Systems Undergraduate Program Florencia University of the Amazonia Caquetá Colombia Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

The advancements in information and communication technologies have had a significant impact on the engineering educational system. Virtual laboratories are progressively being adopted to improve the way in which students interact with simulations for control systems. The enhancement of visualization and interaction offered by modern computers presents an opportunity to teach the theoretical foundation with a more organic approach. In addition, there are optimization algorithms that can be employed to designing controllers in an optimal way without having extensive knowledge in the area of control theory. This paper delineates the utilization of CoppeliaSim software, the Moth Flame Optimization (MFO) algorithm, and the EVA mobile robot for teaching control theory with Single-Input, Single-Output systems (SISO), for mobile robot obstacle following/avoidance application. The approach employs an online multi-language (Spanish and Portuguese) methodology for students without knowledge of control theory.

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Characterization of Thermally Driven V -shaped MEMS Actuator Using an Alternate Nonlinear RC Model

Characterization of Thermally Driven V -shaped MEMS Actuator...

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International Conference on Electric Power and Energy Conversion Systems (EPECS)

作者： Nidal A. Sherif Rached Dhaouadi Maher Bakri-Kassem Mechatronics Graduate Program American University of Sharjah Sharjah UAE Department of Electrical Engineering American University of Sharjah Sharjah UAE Department of Systems Design Engineering University of Waterloo Waterloo Canada

ISBN: (数字)9798331516963

ISBN: (纸本)9798331516970

This paper presents a reduced and efficient alternate model to simulate the nonlinear dynamics of a thermally driven V-shaped MEMS actuator. The experimental observation of the dynamic voltage-displacement relationship shows an overdamped response with a variable rise-time and fall-time indicating the simultaneous presence of complex energy storage and energy dissipation mechanisms. To completely characterize these mechanisms and yet have a simple representation for control, we develop an alternate model consisting of a set of ordinary nonlinear differential equations representing the behavior of a nonlinear RC circuit with variable parameters that are a function of the applied voltage. The simulation results show good agreement with the measured data and confirm the accuracy of the proposed alternate model.

关键词： Micromechanical devices Actuators Transient response Thermal variables control Energy dissipation Thermal variables measurement Mathematical models Integrated circuit modeling Voltage control Energy storage

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Low Pressure MEMS Sensor: Analysis and Experimental Demonstration

Low Pressure MEMS Sensor: Analysis and Experimental Demonstr...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Basil Alattar Mehdi Ghommem Mohamed Hemid Departement of Mechanical Engineering American University of Sharjah Sharjah UAE Mechatronics Graduate Program American University of Sharjah Sharjah UAE

In this paper, we analyze the dynamic response of a MEMS device made of a microplate supported by two microcantilever beams and electrically actuated via an underneath electrode. We employ the motion-induced current method to capture its dynamic response under varying pressure. We show the potential use of the MEMS device as a pressure sensor by leveraging squeeze-film damping and other nonlinear dynamic phenomena associated with its motion. The present study reveals the possible tuning of the MEMS device to operate in analog and binary modes. Analog-based detection is achieved within the low pressure range of 2.2-52 mbar. We also demonstrate the use of the MEMS device in binary mode, acting as a pressure switch, with a capability to detect low pressures down to sub-millibars.

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Fine and ultrafine particle- and gas-polycyclic aromatic hydrocarbons affecting southern Thailand air quality during transboundary haze and potential health effects

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Journal of Environmental Sciences 2023年第2期124卷 253-267页

作者： Napawan Mahasakpan Phatsarakorn Chaisongkaew Muanfun Inerb Nobchonnee Nim Worradorn Phairuang Surajit Tekasakul Masami Furuuchi Mitsuhiko Hata Thaniya Kaosol Perapong Tekasakul Racha Dejchanchaiwong Air Pollution and Health Effect Research Center Prince of Songkla UniversityHat YaiSongkhla 90110Thailand Energy Technology Program Faculty of EngineeringPrince of Songkla UniversityHat YaiSongkhla 90110Thailand Faculty of Environmental Management Prince of Songkla UniversityHat YaiSongkhla 90110Thailand Department of Geography Faculty of Social SciencesChiang Mai UniversityMuangChiang Mai 50200Thailand Department of Chemistry Faculty of SciencePrince of Songkla UniversityHat YaiSongkhla 90110Thailand Faculty of Geoscience and Civil Engineering Institute of Science and EngineeringKanazawa UniversityKakuma-machiKanazawaIshikawa 920-1192Japan Department of Civil and Environmental Engineering Faculty of EngineeringPrince of Songkla UniversityHat YaiSongkhla 90110Thailand Department of Mechanical and Mechatronics Engineering Faculty of EngineeringPrince of Songkla UniversityHat YaiSongkhla 90110Thailand Department of Chemical Engineering Faculty of EngineeringPrince of Songkla UniversityHat YaiSongkhla 90110Thailand

Distribution of PM_(0.1),PM_(1) and PM_(2.5) particle-and gas-polycyclic aromatic hydrocarbons(PAHs)during the 2019 normal,partial and strong haze periods at a background location in southern Thailand were investigated to understand the behaviors and carcinogenic ***1 was the predominant component,during partial and strong haze periods,accounting for 45.1% and 52.9% of total suspended particulate matter,respectively,while during normal period the contribution was only 34.0%.PM_(0.1) concentrations,during the strong haze period,were approximately 2 times higher than those during the normal *** increased levels of particle-PAHs for PM_(0.1),PM_(1) and PM_(2.5) were observed during strong haze period,about 3,5 and 6 times higher than those during normal ***-PAH concentrations were 10 to 36 times higher than those of particle-PAHs for PM_(2.5).Average total Benzo[a]Pyrene Toxic Equivalency Quotients(BaP-TEQ)in PM_(0.1),PM_(1) and PM_(2.5) during haze periodswere about 2–6 times higher than in the normal *** total accumulated Incremental Lifetime Cancer Risks(ILCRs)in PM_(0.1),PM_(1) and PM_(2.5) for all the age-specific groups during the haze effected scenario were approximately 1.5 times higher than those in nonhaze scenario,indicating a higher potential carcinogenic *** observations suggest PM_(0.1),PM_(1) and PM_(2.5) were the significant sources of carcinogenic aerosols and were significantly affected by transboundary haze from peatland *** leads to an increase in the volume of smoke aerosol,exerting a significant impact on air quality in southern Thailand,as well as many other countries in lower southeast Asia.

关键词： Particle-PAH Gas-PAH Ultrafine particle Health risk Source identification

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