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检索条件"机构=Mechatronics Engineering program"

共 432 条记录，以下是21-30 订阅

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Drawing a “STAR” in My Cappuccino with a Robotic Arm Assistant

Drawing a “STAR” in My Cappuccino with a Robotic Arm Assis...

引用

IEEE ANDESCON

作者： Mario Arbulu Ruthber Rodriguez Sergio Nieto Sebastian Nuñez Yeyson Becerra Mechatronics Engineering Program CORHUILA Neiva Colombia Electronics Engineering Program CUN Bogota Colombia

ISBN: (数字)9798350355284

ISBN: (纸本)9798350355291

This paper describes the study case results of coffee shop robotic arm assistant, which draws a “STAR” on a cappuccino, solved by students in a robotics class practice. They had applied the trajectory generation, inverse kinematic model, and G-CODE, to do the planned task at simulation, and with real industrial robot arm in the lab. The results conclude the increase student interest and performance, in the Robotics course, with a challenge problem solving.

关键词： Service robots Trajectory planning Shape Stars Kinematics Manipulators Industrial robots Trajectory Problem-solving Robots

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Behavior-Based Control with Learning from Demonstration for Path Following Applied to Mobile Robots Soccer

Behavior-Based Control with Learning from Demonstration for ...

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IEEE Latin American Robotics Symposium, LARS

作者： Matheus de S. Luiz M. A. Pastrana Guilherme Achilles de Oliveira e Aguiar R. B. Costa Luiz F. Rodrigues e Silva Faculty of Gama Electronics Engineering Undergraduate Program Department of Mechanical Engineering Mechatronics Graduate Program Faculty of Technology Mechatronics Engineering Undergraduate Program Faculty of Gama Aerospace Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

Learning from Demonstration (LfD) enables robots to learn new tasks through an imitation process. This methodology can be combined with Behavior-Based Control (BBC), which facilitates the abstraction of behaviors for the robot by dividing them into micro-behaviors. These can be implemented using Artificial Neural Networks trained by bio-inspired algorithms. In this work, a novel methodology based on the LfD and BBC methods is proposed for controlling soccer robots, specifically for the Very Small Size Soccer (VSSS) category, which demands quick and dynamic responses. Simulations using CoppeliaSim were conducted to demonstrate how the proposed methodology can be used for path planning and path-following problems in the IEEE VSSS category.

关键词： Measurement Training Heuristic algorithms Artificial neural networks Turning Robustness Path planning Robots Optimization Sports

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Investigation of the Effects of Temperature and Contact Pressure on the Friction Coefficient in Uncoated PHS2000 Steel Plates 12th

Investigation of the Effects of Temperature and Contact Pres...

引用

12th Brazilian Manufacturing engineering Congress, COBEF 2023

作者： dos Santos Silva, Bruno Caetano Seixas, Luã Fonseca Folle, Luis Fernando Dourado, Alexandre Ferraz Lima, Tiago Nunes Coelho, Rodrigo Santiago Batalha, Gilmar Ferreira Salvador Brazil Department of Mechatronics and Mechanical Systems Engineering Polytechnic School of Engineering University of Sao Paulo Sao Paulo Brazil Postgraduate Program MPDS/GETEC/MCTI SENAI CIMATEC Salvador Brazil

ISBN: (纸本)9783031435546

Manganese-boron steels are widely used in hot stamping, resulting in 1500 MPa (PHS 1500) or even 2000 MPa (PHS 2000) tensile strength after the hot stamping process. These steels are most commonly used in industry in the form of AlSi-coated sheets. However, recent developments are being made to enable the application of uncoated steels, resulting in cost reduction, but bringing technological challenges to be overcome. The coefficient of friction (µ) is a fundamental parameter in sheet metal forming and is influenced by several factors, such as: surface roughness, working temperature, lubrication, contact pressure and sliding speed. In hot stamping, it is known that the temperature can have a great influence on µ values for coated plates, but there is little information about uncoated steels. This work aims to investigate the tribological behavior of uncoated PHS 2000 steel plates using the pin-on-disk test. Tests were carried out under three temperatures (800 °C, 600 °C and 400 °C) and contact pressures of 5 and 10 MPa. Results showed that the friction coefficient tends to reduce with increasing temperature at a pressure of 5 MPa, as result of oxide formation on the steel’s surface. However, at a pressure of 10 MPa, this reduction was not observed. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Temperature

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Pneumonia Detection in Lung Ultrasound Images with Texture Analysis and Machine Learning 1

Pneumonia Detection in Lung Ultrasound Images with Texture A...

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1st IEEE Colombian Caribbean Conference, C3 2023

作者： Valdes-Burgos, Laura C. Contreras-Ojeda, Sara L. Contreras-Ortiz, Sonia H. Universidad Tecnológica de Bolívar Biomedical Engineering Program Cartagena de Indias Colombia Universidad Tecnolóigica de Bolívar Mechatronics Engineering Program Cartagena de Indias Colombia

ISBN: (纸本)9798350341799

Ultrasound imaging has been used to evaluate lung conditions such as pleura effusion and bacterial and viral pneumonia. The lesions caused by pneumonia show different intensity and texture than healthy lung tissue in ultrasound. However, due to the low signal-to-noise ratio and artifacts of the images, tissue lesions can be challenging to identify or be confounded with other pathologies. This paper proposes an approach for tissue classification in ultrasound images. We used the 2D wavelet transform to decompose lung ultrasound images. Then, we used texture features that include first-order statistics and gray-level co-occurrence features, among others, to characterize the images of healthy tissue and pneumonia. We evaluated feature selection and supervised learning techniques for classification. The best results were obtained with the gradient boosting classifier, with 83.3% accuracy in cross-validation and 90% in testing. This study suggests lung ultrasound could be an effective diagnostic technique for pneumonia caused by COVID-19 and other pathogens without exposing the patients to ionizing radiation. © 2023 IEEE.

关键词： Wavelet transforms

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Model Predictive Control for the Level Control Loop of the FESTO MPS PA Compact Workstation

Model Predictive Control for the Level Control Loop of the F...

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2022 Advances in Science and engineering Technology International Conferences, ASET 2022

作者： Ahmad, Saleh Higher Colleges of Technology Mechatronics Engineering Technology Program Dubai United Arab Emirates

ISBN: (纸本)9781665418010

Model Predictive Control methods have been utilized in process manufacturing since the early 80s and provide several advantages for the field of process control. This paper presents the design and the experimental implementation of a model predictive control for the FESTO process control station's level control loop. First, utilizing Pseudo-Random Binary Signal input, a dynamic model of the plant is developed. The model will be used for the design of the model predictive control strategy. LabVIEW software was chosen to implement the model predictive control strategy because it can provide a graphic representation of the plant's operation and provides ActiveX controls for interacting with the FESTO process control station. Finally, concluding remarks about the performance and the experiment results of the designed controller and comments were provided. © 2022 IEEE.

关键词： Model predictive control

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Heading Angle Estimation Using Intelligent Fusion for Autonomous Vehicles

Heading Angle Estimation Using Intelligent Fusion for Autono...

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2023 Advances in Science and engineering Technology International Conferences, ASET 2023

作者： Barakat, Ali A. Jardat, Mohammad A. Elsergany, Ahmed M. Sherif, Nidal A. American University of Sharjah Mechanical Engineering Department Sharjah United Arab Emirates American University of Sharjah Mechatronics Engineering Graduate Program Sharjah United Arab Emirates

ISBN: (纸本)9781665454742

Low-cost navigation systems for ground vehicles often rely on the fusion with Global Positioning System (GPS) for improved state estimation. In this study a low-cost gyroscope is fused with a GPS for improved vehicle heading angle estimation using several Artificial Intelligence (AI) based architectures that include Shallow Neural Networks (SNN), Multi-Layer Neural Networks (MLNN), and Adaptive Neuro- Fuzzy Inference Systems (ANFIS). The primary goal behind using AI based sensor fusion is to obtain a highly accurate vehicle heading estimation suitable for autonomous navigation applications. When available, the GPS signal is used to correct the vehicle's heading angle. The neural networks and ANFIS methods both use the difference between the GPS signal and the heading angle from the integrated gyroscope as inputs. The performance achieved is shown and analyzed. According to the results obtained, the MLNN provides the most accurate heading estimates. © 2023 IEEE.

关键词： Global positioning system

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Hybrid Intelligent Sliding Mode Controller for Blood Glucose Regulation

Hybrid Intelligent Sliding Mode Controller for Blood Glucose...

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Nabeel Nasar Mohammad A. Jaradat Lotfi Rhomdane Mechatronics Engineering Program American University of Sharjah Sharjah UAE

ISBN: (数字)9798350344134

ISBN: (纸本)9798350344141

Type 1 diabetic patients need insulin injections in order to maintain their blood glucose levels within safe limits as their bodies are not able to regulate it naturally. In this paper, the performance of a hybrid intelligent Sliding Mode Controller (SMC) based on Type-2 Fuzzy logic system (FSMC-T2) is studied for the regulation of the blood glucose level in a diabetic patient. In this controller the type-2 fuzzy logic system is utilized to tune the SMC parameters, furthermore, the Genetic Algorithm (GA) was used to tune the proposed controller for better performance. The glucose-insulin dynamic model is simulated for 24 hours with disturbances. The results of the GA-FSMC T2 are compared with FSMC Type 1 and Type 2 for comparison of results. The GA-FSMC T2 controller shows better performance in comparison to FSMC Type 1 and Type 2. The models are further tested by adding a disturbance in the form of an additional meal intake. All controllers regulate the blood glucose level to the set value even with disturbance added. The GA-FSMC T2 performed better than FSMC Type 1 and Type 2.

关键词： Fuzzy logic Analytical models Regulation Glucose Diabetes Insulin Blood Genetic algorithms

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Intelligent Adaptive RRT∗Path Planning Algorithm for Mobile Robots

Intelligent Adaptive RRT∗Path Planning Algorithm for Mobile...

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2023 Advances in Science and engineering Technology International Conferences, ASET 2023

作者： Khattab, Omar Yasser, Ahmed Jaradat, Mohammad A. Romdhane, Lotfi American University of Sharjah Mechatronics Engineering Graduate Program Sharjah United Arab Emirates American University of Sharjah Mechanical Engineering Department Sharjah United Arab Emirates

ISBN: (纸本)9781665454742

In this paper a new variant of the widely used Rapidly exploring Random Tree (RRT∗) algorithm is proposed. The main goal of this variant is to improve the efficiency of the generated path, in both computation time and the quality of the path. In a previous work by the authors, an improved version RRT∗N was proposed, where a normal probability distribution was used to control the generation of the random nodes. The proposed variant utilizes an intelligent fuzzy logic system (FLS) to control the generation of the random nodes and commands the robot to the required target introducing an intelligent fuzzy adaptive RRT∗N path planning approach (FA-RRT∗N). The proposed approach not only reduced the time required about 29.5 % of the time required by the RRT∗, but also generally resulted in shorter path about 63% of the path generated by the traditional RRT∗. © 2023 IEEE.

关键词： Motion planning

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An Intelligent Controller for an Assisted Electric Wheelchair based on Interval Type-2 Fuzzy Logic

An Intelligent Controller for an Assisted Electric Wheelchai...

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2023 Advances in Science and engineering Technology International Conferences, ASET 2023

作者： Al-Bashayreh, Qutaiba A. H. Kiftaro, Ammar Alsheikh, Mahmoud Jaradat, Mohammad A. American University of Sharjah Mechatronics Engineering Gradute Program Sharjah United Arab Emirates American University of Sharjah Mechanical Engineering Department Sharjah United Arab Emirates

ISBN: (纸本)9781665454742

This paper proposes an intelligent controller design for an assisted electric wheelchair using interval type-2 fuzzy logic controller. The controller design has been structured using cascaded fuzzy inference system with feedback loop to avoid obstacles. In addition, to control the dynamics of the wheelchair, a speed fuzzy inference system has been added to the proposed controller. The controller is designed so that the user input is firstly obtained from the wheelchair joystick. The surrounding obstacles, thereafter, are detected using the input of three sensors attached to the wheelchair. At each time step, and until reaching the target point, the performed controller output generates both the motion angle and the wheelchair speed commands. The performance of the controller is tested by simulating the wheelchair travelling in different navigation scenarios. The simulation results confirm the effectiveness of the presented controller. © 2023 IEEE.

关键词： Wheelchairs

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Self-Tuning Neural Network Controller Based on Fuzzy Logic for Multiple Positions Tracking of a Pneumatic Driven Soft Endoscope Actuator 10

Self-Tuning Neural Network Controller Based on Fuzzy Logic f...

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10th International Conference on Automation, Robotics, and Applications, ICARA 2024

作者： Acosta, Renzo Tafur, Julio Canahuire, Ruth Pontificia Universidad Catolica del Peru Control and Automation Engineering Master Degree Program Enginnering Department Lima Peru Universidad de Ingenieria y Tecnologia - UTEC Department of Electrical and Mechatronics Engineering Lima Peru

ISBN: (纸本)9798350394245

This paper presents the dynamic modelling and end effector position control of a soft endoscope. Soft endoscope system under study consists mainly of a pneumatic driven soft actuator (PDSA) with four independently chambers. Recurrent neural network (RNN) and dynamic back propagation (DBP) training algorithm are used to obtain PDSA dynamic model. PDSA position controller is based on a feedforward neural network (FNN) and it is trained using PDSA closed loop system (CLS) and DBP training algorithm. CLS stability analysis concludes that it is not possible control PDSA end effector position using one position controller for different end effector initial and desired positions. Fuzzy logic methodology is used to integrate several positions controllers in a one controller valid for all operation range. The controller implementation and close loop system simulation are performed in MATLAB for different end effector desired position to validate system performance in all range of operation. © 2024 IEEE.

关键词： Pneumatics

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