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2021 International Conference on System Science and Engineering, ICSSE 2021

作者： Minh, Tri Bien Thanh Luan, Hua Phu, Do Xuan Quang Nhu, Tran Duong, Bui Minh Vietnamese-German University Electrical and Computer Engineering Binh Duong Viet Nam Research and Development Autonomous Robot Robotlab Binh Duong Viet Nam Vietnamese-German University Mechatronics and Sensor Systems Technology Binh Duong Viet Nam

ISBN: (纸本)9781665448482

MiniRos is a small autonomous UGV-Unmanned ground vehicle developed for education and research purposes. In this paper, we develop MiniRos with a kinematic skid-steering, high torque and compact structure drive system that can take re-search to the outdoor environment. Its small payload capacity and power system are suitable for various types of loads, customized to meet research needs. MiniRos is run on a Robot Operating System (ROS), which has been developed to be compatible with standard robotics programming environments. The robot senses the environment with various kinds of sensors like depth cameras, 2D lidar scanners and performs all processing on embedded computers. The robot can build a 2D map with various SLAM algorithms such as Karto SLAM, Gmapping, Hector SLAM, and navigation in the built map. Moreover, the study evaluated both the computational and the memory requirements based on each SLAM algorithm within different sizes of maps. Finally, skid-steering type robot MiniRos simulation on Gazebo environment is available as open-source, this is a useful tool for researchers and educators. © 2021 IEEE.

关键词： Robot Operating System

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Neural Network Training Using Closed-Loop Data: Hazards and an Instrumental Variable (IVNN) Solution

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IFAC-PapersOnLine 2022年第12期55卷 182-187页

作者： Johan Kon Marcel Heertjes Tom Oomen Control Systems Technology Group Departement of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands ASML Mechatronics System Development Veldhoven The Netherlands Delft Center for Systems and Control Delft University of Technology P.O. Box 5 2600 AA Delft The Netherlands

An increasing trend in the use of neural networks in control systems is being observed. The aim of this paper is to reveal that the straightforward application of learning neural network feedforward controllers with closed-loop data may introduce parameter inconsistency that degrades control performance, and to provide a solution. The proposed method employs instrumental variables to ensure consistent parameter estimates. A nonlinear system example reveals that the developed instrumental variable neural network (IVNN) approach asymptotically recovers the optimal solution, while pre-existing approaches are shown to lead to inconsistent estimates.

关键词： Feedforward control instrumental variables neural networks

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IR4AAS: An Identification Resolution-Enhanced AAS for Digital Twins Modeling 23rd

IR4AAS: An Identification Resolution-Enhanced AAS for Digita...

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23rd Asia Simulation Conference, AsiaSim 2024

作者： Gu, Mu Gao, Fangfang Lin, Lin Su, Chunhui Han, Zhe Zhang, Hua Li, Yandong Lu, Quanbo Zhou, Jiehan CASICloud-Tech Co. Ltd. Beijing China Beijing Aerospace Intelligent Manufacturing Technology Development Co. Ltd. Beijing China School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin China School of Information Engineering China University of Geosciences Beijing China School of Computer Science and Engineering Shandong University of Science and Technology Qingdao China Faculty of Information Technology and Electrical Engineering University of Oulu Oulu Finland

ISBN: (纸本)9789819772247

Existing Digital Twin (DT) models struggle to support interconnection and interoperability between DT applications. This paper proposes an identification resolution-enhanced Asset Administration Shell (AAS) for digital twins modeling (IR4AAS). IR4AAS features a unit-level DT model equipped with unique identification and a unified external service interface. IR4AAS builds a hierarchical DT model using business orchestration technique. Its effectiveness is validated through a case study in a precision machining workshop. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Interoperability

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Initial Study on Biomechanics of Novice and Experienced Electric Tricycle Riders

Initial Study on Biomechanics of Novice and Experienced Elec...

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Smart mechatronics (ICSMech), IEEE International Conference on

作者： Kadek Heri Sanjaya Yukhi Mustaqim Kusuma Sya'bana Ichsam Rachim Wirabrata Muqorob Tajalli Dika Setiawan Annida Rahmawati Hifzhan Muhammad Ashar Heru Sugiantoro Dimas Tommy Radityo Research Centre for Smart Mechatronics National Research and Innovation Agency (BRIN) Bandung Indonesia Product Design Undergraduate School Sepuluh Nopember Institute of Technology (ITS) Surabaya Indonesia Head of Research and Development Group Triangle Motorindo Ltd. Semarang Indonesia Triangle Motorindo Ltd. Semarang Indonesia

ISBN: (数字)9798350368918

ISBN: (纸本)9798350368925

The background of this study is a program from the Office of Social Affairs for disability empowerment by using an electric tricycle to sell food and drinks. We tried to re-design the electric tricycle used by the handicapped case study subject, among others by modifying the structure and suspension. At this initial stage, we evaluate the biomechanics of novice and experienced riders while riding the tricycle using IMU-based motion capture systems (mocap) and Biomechanics of Bodies (BoB) simulator software. The results show the difference in body coordination between the two subjects, especially in joint motion and muscles power generation. The experienced rider showed more consistent and stable body coordination when riding the tricycle which may result in better safety and riding quality. As an initial study, there are several limitations faced during the experiment apart from the small number of subjects, namely difficulty in collecting data from subjects with motor impairment. This problem should be addressed in the future study.

关键词： Biomechanics mechatronics Instruments Muscles Motors Motion capture Software Stability analysis Safety Power generation

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Biomimetic Artificial Bone Repair with Fdm Approach for Polymeric Composites

SSRN

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SSRN 2022年

作者： Oladapo, Bankole I. Kayode, Joseph M.O. Akinyoola, John Ikumapayi, O.M. School of Engineering Faculty of Technology University of Sunderland United Kingdom Sustainable Development De Montfort University Leicester United Kingdom Mechanical Mechatronics Engineering Afe Babalola University Abuad Nigeria

This research introduces a new PEEK-cHAp composite for a convenient, fast and inexpensive femur bone-implant scaffold with different lattice structures to mimic bone structure. Fused Deposition Modelling (FDM) was used to print a hybrid PEEK-based filament-bearing bioactive material suited for developing calcium hydroxyapatite (cHAp). This technique using FDM PEEK can create the same bone scaffold depending on the shape of a bone fracture. Scaffolds were examined for in vitro bioactivity by immersing them in a solution of simulated bodily fluid (SBF). Furthermore, in vitro cytotoxicity tests validated the composite materials employed to create the scaffolds' minimal toxicity. After spreading PEEK nanoparticles in the grains, the suggested spherical nanoparticles cell expanded over time. The motif affects the microstructure of PEEK-cHAp in terms of grain size and 3D shape. The findings suggest that this is a way for prospective bone implants for biomimetic artificial bone regeneration and healing. © 2022, The Authors. All rights reserved.

关键词： Hydroxyapatite

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Seven-Level Single-Phase Reduced Device Count Multilevel Inverter

Seven-Level Single-Phase Reduced Device Count Multilevel Inv...

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IEEE Students' Conference on Electrical, Electronics and Computer Science (SCEECS)

作者： Dilip Kumar Patel Niraj Kumar Dewangan Dhananjay Kumar Arun Rathore Department of Electrical Engineering Maulana Azad National Institute of Technology Bhopal (M.P) India Department of Mechatronics Manipal Institute of Technology Manipal Academy of Higher Education Manipal Karnataka India Department of Industrial Research Design and Development (IRDD) Aartech Solonics Ltd Mandideep India Department of Electrical and Electronics Engineering IES college of technology Bhopal India

In this article, a new single-phase multilevel inverter is presented, one with reduced device count and less voltage stress on the power switches. Seven voltage levels are produced using this design in an asymmetrical voltage source setup. Two input dc sources and six semiconductor switches make up the proposed configuration. Complexity, cost, size, and performance were all improved by reducing power switches, DC voltage, and driving circuits. The elimination of switches, DC voltage, and driving circuits reduced complexity, size, and cost along with increased efficiency. The proposed architecture can be used for applications involving industrial drives as well as $\mathbf{R}$ and RL loads. Comparisons are made between traditional and proposed topology based on power switch ratio, DC source, and other variables. Utilizing MATLAB/SIMULINK, the proposed asymmetrical multilevel structure is validated.

关键词： Performance evaluation Costs Software packages Voltage Switches Multilevel inverters Topology

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BioLogic: Neural-Powered Palm Print Authentication for Next-Gen Security

BioLogic: Neural-Powered Palm Print Authentication for Next-...

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Sustainable Communication Networks and Application (ICSCNA), International Conference on

作者： Manoj Ram K S B Swetha M. Amina Begum G. Maheswaran Rakesh Chouhan Tejashree Tejpal Moharekar Saveetha School Of Law Saveetha Institute of Medical and Technical Science (SIMATS) Chennai India Department of ECE Anurag Engineering College Suryapet Telangana Department of ECE Sri Venkateswaraa College of Technology Chennai India Department of Mechatronics Engineering Chennai Institute of Technology Chennai Department of Civil Engineering IES University Bhopal Yashwantrao Chavan School of Rural Development Shivaji University Kolhapur Maharashtra India

ISBN: (数字)9798331530013

ISBN: (纸本)9798331530020

A secure biometric palm authentication system provides a systematic and logical method for identifying individuals using the unique ridges visible on their palms. Palm prints offer a more reliable and safer alternative to conventional verification methods such as passwords or PIN numbers, which can be easily forgotten, stolen, or shared. The principal lines and creases of palm prints are rich global features essential for precision authentication. This study explores the development of a logical authentication system using palm print evaluation strategy based on neural classification logic. The proposed system leverages the unique and complex patterns of palm prints to achieve high accuracy in identity verification. Utilizing a Hybrid Neural Network Model (HNNM) combining Convolutional Neural Networks (CNNs), Recurrent Neural Networks (RNNs), and Support Vector Machines (SVMs), the system demonstrates superior performance metrics. The model achieves an accuracy of 97.5%, precision of 97.2%, and recall of 97.3%, indicating its robustness and reliability.

关键词： Support vector machines Accuracy Systematics Recurrent neural networks Biological system modeling Authentication Passwords Robustness Pins Security

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Research on a Coupled System Design for Mineral Lifting and Wastewater Drainage in Deep-Sea Mining Applications

SSRN

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SSRN 2024年

作者： Kang, Yajuan Wang, Kaile Hu, Qiong Liu, Shaojun School of Mechatronics Engineering and Automation Foshan University Foshan528000 China College of Mechanical and Electrical Engineering Central South University Changsha410083 China Shenzhen Research Institute of Central South University Shenzhen518000 China National Key Laboratory of Deep Sea Mineral Researches Development and Utilization Technology Changsha410083 China

In response to various technical, cost, and safety concerns associated with the use of deep-water cables in hydraulic lifting systems for deep-sea mining, as well as issues related to the seabed disposal of mining wastewater, this study proposes a synergistic approach that harnesses wastewater drainage to operate seabed pumps for slurry transportation, thus combining mineral lifting with wastewater drainage in a coupled system. In the context of commercial exploitation of polymetallic nodules at depths of 6,000meters, this paper outlines the main technical structure of the proposed coupled system. The basic process and structural parameters of the system were determined by means ofa computational analysis of mineral lifting and resistance in water pipes. Comparing this coupled system with traditional deep-sea mining designs, the results indicate that this solution can reduce the reliance on deep-water cables, lower the overall volume of the lifting system, and improve the efficiency of mineral lifting. © 2024, The Authors. All rights reserved.

关键词： Minerals

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Optimizing Resource Allocation in Healthcare Systems for Efficient Pandemic Management using Machine Learning and Artificial Neural Networks

Optimizing Resource Allocation in Healthcare Systems for Eff...

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Advancements in Smart, Secure and Intelligent Computing (ASSIC), International Conference on

作者： S. Kaliappan Ramya Maranan Avinash Malladi Nagendar Yamsani Division of Research and Development Lovely Professional University Phagwara Punjab India Department of Research and Innovation SIMATS Saveetha School of Engineering Chennai Tamil Nadu India Faculty of Science and Technology (lcfaitech) Mechatronics Engineering ICFAI Foundation for Higher Education (IFHE) Hyderabad School of Computer Science & Artificial Intelligence SR University Warangal Telangana

Pandemics pose significant challenges to healthcare systems, particularly in resource allocation and patient care. Traditional methods for resource allocation often face limitations in handling complex data, adapting to changing conditions, and providing real-time decision support. To address these challenges, we propose a novel method for optimizing resource allocation in healthcare systems using machine learning (ML) and artificial neural networks (ANN s). Traditional resource allocation methods, often based on historical data and manual decision-making, may not be adequate to handle the dynamic and complex nature of pandemics. These methods often fail to account for real-time changes in disease patterns, patient needs, and resource availability. The proposed method integrates predictive modeling, optimization algorithms, and real-time decision support to enhance resource utilization and improve patient outcomes during pandemics.

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Dynamic Modeling and Cooperative Process Simulation in Cooperative Dual-Arm Robot Based on Adams

Dynamic Modeling and Cooperative Process Simulation in Coope...

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2020 International Conference on Computer Science and Communication technology, ICCSCT 2020

作者： Wang, Jian Zhou, Lili Chen, Lei Li, Yuanyuan School of Mechatronics Engineering Harbin Institute of Technology Department of Mechatronics Engineering East University of Heilongjiang Harbin China Research and Development Center Aecc Harbin Bearing Co. Ltd Harbin China Department of Mechatronics Engineering East University of Heilongjiang Harbin China

The demand of cooperation task of cooperative dual-arm robot in industrial automation production is increasing day by day. It is analyzed that the kinematics and dynamics mathematical model of the cooperative dual-arm robot with six degrees of freedom in one arm and the relationship is constructed between the arms' position and the attitude for the robot in the paper. The mechanical characteristics of the cooperative tasks are analyzed that contains carrying, assembling and processing in the industrial field. The dynamic simulation software Adams is used for the simulation calculation and analysis. It is obtained that the position and attitude transformation characteristics of the forward kinematics solution through the simulation analysis, and the curve of the distribution force for the dual-arm in the process of cooperation is obtained. It provides the basis for setting up the reasonable driving force distribution and load distribution when realizing the task for dual-arm robot in cooperation. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Kinematics

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