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Hybrid Robotic Arm for Autonomous Aerial Refueling

Chinese Journal of Mechanical engineering 2024年第6期37卷 429-440页

作者： Kaixuan Li Gangfeng Liu Yongsheng Gao Jie Zhao State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China School of Mechatronics Engineering Harbin 150080China

Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.

关键词： Autonomous aerial refueling Conical kinematic space configuration Optimization of structural design Calibration method

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A Recursive System Identification With Non-Uniform Temporal Feedback Under Coprime Collaborative Sensing

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ASME Letters in Dynamic systems and Control 2023年第2期3卷 021010页

作者： Ouyang, Jinhua Chen, Xu Mechatronics Automation and Control Systems Laboratory Department of Mechanical Engineering University of Washington SeattleWA98195 United States Mechatronics Automation and Control Systems Laboratory Department of Mechanical Engineering University of Washington SeattleWA98195 United States

We present a system identification method based on recursive least-squares (RLS) and coprime collaborative sensing, which can recover system dynamics from non-uniform temporal data. Focusing on systems with fast input sampling and slow output sampling, we use a polynomial transformation to reparameterize the system model and create an auxiliary model that can be identified from the non-uniform data. We show the identifiability of the auxiliary model using a Diophantine equation approach. Numerical examples demonstrate successful system reconstruction and the ability to capture fast system response with limited temporal feedback. Copyright © 2023 by ASME.

关键词： Feedback

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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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Robotic Eye-in-Hand Visual Servo Axially Aligning Nasopharyngeal Swabs With the Nasal Cavity

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical Robotics and Bionics 2025年第2期7卷 469-480页

作者： Lee, Peter Q. Zelek, John S. Mombaur, Katja University of Waterloo Systems Design Engineering Department of Mechanical and Mechatronics Engineering WaterlooONN2L 3G1 Canada Karlsruhe76131 Germany

The nasopharyngeal (NP) swab test is a method for collecting cultures to diagnose for different types of respiratory illnesses, including COVID-19. Delegating this task to robots would be beneficial in terms of reducing infection risks and bolstering the healthcare system, but a critical component of the NP swab test is having the swab aligned properly with the nasal cavity so that it does not cause excessive discomfort or injury by traveling down the wrong passage. Existing research towards robotic NP swabbing typically assumes the patient's head is held within a fixture. This simplifies the alignment problem, but is also dissimilar to clinical scenarios where patients are typically free-standing. Consequently, our work creates a vision-guided pipeline to allow an instrumented robot arm to properly position and orient NP swabs with respect to the nostrils of free-standing patients. The first component of the pipeline is a precomputed joint lookup table to allow the arm to meet the patient's arbitrary position in the designated workspace, while avoiding joint limits. Our pipeline leverages semantic face models from computer vision to estimate the Euclidean pose of the face with respect to a monocular RGB-D camera placed on the end-effector. These estimates are passed into an unscented Kalman filter on manifolds state estimator and a pose based visual servo control loop to move the swab to the designated pose in front of the nostril. Our pipeline was validated with human trials, featuring a cohort of 25 participants. The system is effective, reaching the nostril for 84% of participants, and our statistical analysis did not find significant demographic biases within the cohort. © 2018 IEEE.

关键词： Visual servoing

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Deep Learning Based Phonocardiogram Signals Analysis for Cardiovascular Abnormalities Detection

Deep Learning Based Phonocardiogram Signals Analysis for Car...

引用

2023 International Conference on Robotics and Automation in Industry, ICRAI 2023

作者： Hussain, Sayed Shahid Ashfaq, Muniba Khan, Muhammad Salman Anwar, Shahzad Department of Computer Systems Engineering Peshawar Pakistan Department of Mechatronics Systems Engineering Peshawar Pakistan

ISBN: (纸本)9781665464727

Cardiovascular diseases are among the vital causes of mortality worldwide which need early detection with the use of auscultation examination. Heart diseases could be diagnosed in a convenient way of heartbeat sound analysis. Manual auscultation is time-consuming and problematic to differentiate heart sounds related to different kinds of heart abnormalities. Also, as it requires an expert in the field, it becomes costly and quite prone to human error. Due to all these issues, there is a high demand for an automatic diagnostic system, an alternative way to human examination. This research focuses on developing Artificial Intelligence (AI) based system of the latest computational algorithms for detecting heart abnormalities from heart sounds. Heart sounds are classified as to be normal or abnormal from Phonocardiogram (PCG) signals. One of the recent techniques introduced in deep learning algorithms for audio classification is 1-Dimensional Convolutional Neural Network (1D-CNN). This research work includes a 1D-CNN as a classification algorithm. A widely used publicly available dataset of heart sounds from PhysioNet/CinC (2016) challenge is utilized. The method acquires accuracy, sensitivity, specificity, F1 score, and precision of 95.45%, 97.44%, 93.6%, 95.45%, and 95.54% respectively. The proposed approach uses a less-complicated customized 1D-CNN algorithm, outshining most of the previous competitive methods by securing high performance that makes it appropriate for diagnosing heart diseases from PCG data. © 2023 IEEE.

关键词： Heart

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ANFIS Based MPPT Controller for DC Motor Drives Supplied by PV Power System 21

ANFIS Based MPPT Controller for DC Motor Drives Supplied by ...

引用

21st International Multi-Conference on systems, Signals and Devices, SSD 2024

作者： El-Fawair, Ansam B. Al-Aubidy, Kasim M. Al-Khawaldeh, Mustafa A. Philadelphia University Intelligent & Embedded Systems Research Group Mechatronics Engineering Department Jordan

ISBN: (纸本)9798350374131

This paper aims to design an intelligent algorithm that tracks the maximum power from the photovoltaic system to drive a separately excited DC motor. Three algorithms were studied, namely: perturbation and observation, Sugino-based fuzzy logic control, and adaptive neural fuzzy inference system (ANFIS). The dynamic performance evaluation of the maximum power point tracking unit as well as the grid photovoltaic DC motor speed control was carried out using Matlab-SIMULINK. The proposed photovoltaic system was found feasible to generate the electricity needed to run the DC motor. The results of the simulation showed that the ANFIS-based controller is more robust than other algorithms in terms of obtaining a higher power rating, lower oscillations and reaching a steady state in a short time. © 2024 IEEE.

关键词： Controllers

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Filtering in Projection-based Integrators for Improved Phase Characteristics 63

Filtering in Projection-based Integrators for Improved Phase...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Chu, Hoang Van Den Eijnden, S.J.A.M. Heertjes, M.F. Heemels, W.P.M.H. Eindhoven University of Technology Control Systems Technology Section Dept. Mechanical Engineering Netherlands Asml Mechatronics & Measurements Systems Veldhoven Netherlands

ISBN: (纸本)9798350316339

Projection-based integrators are effectively employed in high-precision systems with growing industrial success. By utilizing a projection operator, the resulting projection-based integrator keeps its input-output pair within a designated sector set, leading to unique freedom in control design that can be directly translated into performance benefits. This paper aims to enhance projection-based integrators by incorporating well-crafted linear filters directly into its structure, resulting in a new class of projected integrators that includes the earlier ones, such as the hybrid-integrator gain systems (HIGS), as special cases. The extra design freedom in the form of two filters in the input paths to the projection operator and the internal dynamics allows the controller to break away from the inherent limitations of a linear control design. The enhanced performance properties of the proposed structure are formally demonstrated through i) a describing function analysis, ii) mitigation of the gain-loss problem (occurring in, e.g., HIGS), and iii) numerical case studies showcasing improved time-domain properties. The describing function analysis is supported by rigorously showing incremental properties of the new filtered projection-based integrators, thereby guaranteeing the steady-state responses to be unique and asymptotically stable. © 2024 IEEE.

关键词： Describing functions

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Energy Management in Microgrids with Renewable Energy Sources and Energy Storage System 20

Energy Management in Microgrids with Renewable Energy Source...

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20th International Multi-Conference on systems, Signals and Devices, SSD 2023

作者： El-Fawair, Ansam B. Al-Aubidy, Kasim M. Al-Khawaldeh, Mustafa A. Philadelphia University Intelligent & Embedded Systems Research Group Mechatronics Engineering Department Jordan

ISBN: (纸本)9798350332568

This paper presents a smart scheme for managing power in a grid-connected and island mode microgrid considering loads priority. The proposed system is developed to manage the energy usage between the hybrid resource and the energy storage system to lower electricity bill. This is achieved by supplying the loads with energy generated from the photovoltaic system and energy storage system besides reducing the energy exchange between the main network and the microgrid. The proposed methodology is based on the difference between the available renewable energy generation, the energy required for active loads, the energy storage system, the state of charge, and the electricity market price. The results show that the proposed controller can achieve lower operating cost and reduce power exchange between the main grid and the micro grid. © 2023 IEEE.

关键词： Energy management systems

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Analysis of Power and Power Spectral Density for Quaternary Random Pulse Position Modulation 14

Analysis of Power and Power Spectral Density for Quaternary ...

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14th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2025

作者： Chen, Hung-Chi Wu, Hsiang-Kai Wu, Chih-Chiang Department of Electronics and Electrical Engineering Hsinchu Taiwan Institute of Electrical and Control Engineering Hsinchu Taiwan Mechanical and Mechatronics Systems Research Laboratories Hsinchu Taiwan

ISBN: (纸本)9798331516116

In this paper, the quaternary random pulse position modulation (QRPPM) is proposed to further reduce the power of dominant harmonic clusters. From the analysis of the power and power spectral density, the minimum integer-harmonics power dispersion rate (HPDR) is increased from 50.0% of the conventional random center/edge alignment PWM (RCEA-PWM) to 75.0% of the proposed QRPPM. Some results are provided to validate the proposed method. © 2025 IEEE.

关键词： Pulse position modulation

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Neuro-Cognitive Inspired Deep Learning for Enhanced Navigation in No-Till Agriculture Using Multisensory Data 23

Neuro-Cognitive Inspired Deep Learning for Enhanced Navigati...

引用

23rd International Conference on Machine Learning and Cybernetics, ICMLC 2024

作者： Wan, Anhar Risnuma Ardilla, Fernando Nakamura, Yoshimasa Kubota, Naoyuki Graduate School of Systems Design Tokyo Metropolitan University Department of Mechanical Systems Engineering Tokyo Hino191-0065 Japan Politeknik Elektronika Negeri Mechatronics Engineering Division Surabaya Indonesia

ISBN: (纸本)9798331528041

No-till farming, an approach to combating climate change, poses obstacles to autonomous agricultural navigation. This approach often leads to uneven fields and varying crop densities, making navigation challenging and sometimes reducing crop yields compared to conventional tillage. However, when no-till practices are combined with conservation methods such as residue retention and crop rotation, it can mitigate these drawbacks and even improve productivity, especially in dry climates. These complex conditions require advanced autonomous mobile robots capable of effectively navigating uneven terrains, adjusting to fluctuating crop densities, and quickly responding to unexpected obstacles such as fallen branches. Drawing inspiration from neurocognitive science, this study introduces a novel deep learning methodology that focuses on immediate adaptability through sensory-steering coordination and multimodal sensory integration. By leveraging convolutional neural networks and a fusion mechanism for navigational commands, the proposed model skillfully navigates the dynamic and unstructured conditions of no-till agriculture, showcasing dependable capabilities in simulated 3D environments. © 2024 IEEE.

关键词： Crop rotation

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