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Developing a mechatronics-Twin Framework for Effective Exploration of Operational Behaviors of Prosthetic Sockets

SN Computer Science 2024年第2期5卷 205页

作者： Chen, Dejiu Ottikkutti, Suranjan Tahmasebi, Kaveh Nazem Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden

A Stewart platform is a six-degree-of-freedom parallel manipulator widely used as the motion base for flight simulators and antenna positioning systems, among others. This work presents a novel mechatronics-twin framework that integrates such a manipulator with advanced biomechanical models and simulations for effective exploration of operational behaviors of prosthetic sockets with amputees. By means of the biomechanical models and simulations, the framework allows the users to first analyze the fundamental operational characteristics of individual amputees according to their specific body geometries, pelvis-femur structures, and sizes of transfemoral sockets. Such operational characteristics are then fed to one Stewart platform as the reference control signals for the generation of dynamic loads and behaviors of prosthetic sockets that are otherwise difficult to observe or realize with the real amputees. Experiments in form of integration testing show that the proposed control strategy is capable of generating expected dynamic operational conditions. Currently, the mechatronics-twin framework supports a wide range of biomechanical configurations and the quantification of the respective intra-socket load conditions for socket design optimization and anomaly detection. © 2024, The Author(s).

关键词： Biomechanical modeling Cyber-physical system Force-control Human-in-the-loop mechatronics-Twin Prosthetics Stewart manipulator Transfemoral amputee

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A mechatronics-twin Framework based on Stewart Platform for Effective Exploration of Operational Behaviors of Prosthetic Sockets with Amputees

A Mechatronics-twin Framework based on Stewart Platform for ...

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15th International Joint Conference on Biomedical Engineering systems and Technologies, BIOSTEC 2022

作者： Chen, Dejiu Ram Ottikkutti, Suranjan Nazem Tahmasebi, Kaveh Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm10044 Sweden

A Stewart platform is a six-degree-of-freedom parallel manipulator widely used as the motion base for flight simulators, antenna positioning systems, machine tool technology, etc. This work presents a novel mechatronics-twin framework that integrates such a manipulator with advanced biomechanical models and simulations for effective exploration of operational behaviors of prosthetic sockets with amputees. By means of the biomechanical models and simulations, the framework allows the users to first analyze the fundamental operational characteristics of individual amputees according to their specific body geometries, pelvis-femur structures, sizes of transfemoral sockets, etc. Such operational characteristics are then fed to one Stewart platform as the reference control signals for the generation of dynamic loads and behaviors of prosthetic sockets that are otherwise difficult to observe or realize with the real amputees. Experiments in form of integration testing show that the proposed control strategy is capable of generating expected dynamic operational conditions. Currently, the mechatronics-twin framework supports a wide range of biomechanical configurations and the quantification of the respective intra-socket load conditions for socket design optimization and anomaly detection. © 2022 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： Degrees of freedom (mechanics)

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A Survey on the Current Trends and Applications of Design Optimization for Compliant and Soft Robotics

A Survey on the Current Trends and Applications of Design Op...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Seshagopalan Thorapalli Muralidharan Georgios Andrikopoulos Lei Feng Mechatronics & Embedded Control Systems Unit KTH Royal Institute of Technology Stockholm Sweden

This paper aims to provide a systematic review of the published results on design optimization techniques in the area of compliant and soft robots, with a focus on the manufacturing processes, actuation methods and application areas. The goal of this work is to provide a comprehensive view and categorization of recent efforts using optimization for improving the design paradigms of such robot technologies, while focusing on the popular methods of topology optimization and generative design. In addition, this paper provides insights into the technical and technological trends that could potentially steer this area towards widespread adoption in domestic and industrial settings.

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On the Design and Development of a Tabletop Robot for Interaction with Children

On the Design and Development of a Tabletop Robot for Intera...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Christos Andreanidis Johanna Bergsten Marcel Brümmer Joel Fröberg Algot Lindestam Annie Persson Fahim Pirmohamed Maria Sandahl Seshagopalan Thorapalli Muralidharan Georgios Andrikopoulos Mechatronics & Embedded Control Systems Unit KTH Royal Institute of Technology Stockholm Sweden

This article presents a novel emotionally expressive robot platform targeting social engagement with children. This platform was implemented in accordance with UNICEF’s policy guidance on artificial intelligence (AI) for children, focusing on factors such as safety, transparency, reliability and explainability. The robot prototype is presented from a design and development perspective, outlining all utilized electromechanical components that enable its 11 degrees-of-freedom and sensing functions. Preliminary evaluation results are provided in terms of dependability and expressiveness of basic emotions, thus demonstrating the robot’s potential to facilitate trustworthy and secure interactions with children.

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Non-Axiomatic Reasoning for an Autonomous Mobile Robot

Non-Axiomatic Reasoning for an Autonomous Mobile Robot

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Patrick Hammer Peter Isaev Lei Feng Robert Johansson Jana Tumova Division of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden Department of Computer and Information Systems Temple University Philadelphia PA USA Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Psychology Stockholm University Stockholm Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We present the integration of a Non-Axiomatic Reasoning System (NARS) with mobile robots for planning and decision making. NARS enables robots to effectively handle uncertainty in real-time with complete sensor and actuator integration, thereby ensuring adaptability to evolving scenarios. We discuss essential parts of the logic, the architecture and working principles of NARS, and the integration of NARS as a ROS node. A case study is provided demonstrating the system’s proficiency to carry out a garbage collection task in an open-air environment by operating a mobile robot with manipulator arm, and we demonstrate its ability to learn about the place-dependent accumulation of garbage items. Case study also reveals that our approach performs more effectively on the overall task than the Belief-Desire-Intention model we compared with.

关键词： Actuators Uncertainty Object detection Switches Robot sensing systems Manipulators Cognition

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EMG Onset and Offset Detection via a Modified Threshold Crossings Algorithm

EMG Onset and Offset Detection via a Modified Threshold Cros...

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Mediterranean Conference on control and Automation (MED)

作者： Vasiliki Theofili Nikolaidi George Andrikopoulos Dimitris Tsipianitis Dimosthenis Kazakos Department of Electrical and Computer Engineering University of Patras Greece Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

In this study, we propose a novel family of onset and offset detection algorithms for electromyographic (EMG) signals, based on the Teager-Kaiser Energy Operator (TKEO). These algorithms are derived from an existing double-threshold statistical detector, which is modified to use Shifted Skew Log Laplace Distribution (SSLLD) probabilities and likelihoods to take advantage of the improved TKEO SNR ratio. The performance of the proposed algorithms are compared against existing approaches on synthetic EMG signals generated using an heteroscedastic autoregressive Gaussian model.

关键词： Automation Detectors Benchmark testing Probability Approximation algorithms Electromyography Real-time systems

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Towards reference architectures for trustworthy collaborative cyber-physical systems: Reference architectures as boundary objects

arXiv

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arXiv 2021年

作者： Ramli, Muhammad Rusyadi Asplund, Fredrik Törngren, Martin Department of Machine Design Mechatronics and Embedded Control Systems KTH Royal Institute of Technology

This paper presents our work-in-progress study on reference architectures as boundary objects for realizing trustworthy collaborative Cyber-Physical systems (CPS). Furthermore, the preliminary results from interviews with systems engineering experts from industry and academia are also discussed. The interview results reveal challenges in using reference architectures during the system development process. Furthermore, exactly which trustworthiness attributes (security, availability, reliability, etc.) should be addressed to realize trustworthy collaborative CPS is identified as an open question, which we will address in our future work. Copyright © 2021, The Authors. All rights reserved.

关键词： embedded systems

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An Improved Cooperative Team Spraying control of a Diffusion Process With a Moving or Static Pollution Source

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 494-504页

作者： Juan Chen Baotong Cui Yang Quan Chen Bo Zhuang Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education)and School of IoT Engineering Jiangnan UniversityWuxi 214122China Mechatronics Embedded Systems and Automation LaboratoryUniversity of CaliforniaMerced CA 95343 USA

This paper is concerned with a control problem of a diffusion process with the help of static mesh sensor networks in a certain region of interest and a team of networked mobile actuators carrying chemical *** major contribution of this paper can be divided into three parts:the first is the construction of a cyber-physical system framework based on centroidal Voronoi tessellations(CVTs),the second is the convergence analysis of the actuators location,and the last is a novel proportional integral(PI)control method for actuator motion planning and neutralizing control(e.g.,spraying)of a diffusion process with a moving or static pollution source,which is more effective than a proportional(P)control *** optimal spraying control cost function is ***,the minimization problem of the spraying amount is ***,a new CVT algorithm based on the novel PI control method,henceforth called PI-CVT algorithm,is introduced together with the convergence analysis of the actuators location via a PI control ***,a modified simulation platform called diffusion-mobile-actuators-sensors-2-dimension-proportional integral derivative(Diff-MAS2D-PID)is *** addition,a numerical simulation example for the diffusion process is presented to verify the effectiveness of our proposed controllers.

关键词： Centroidal Voronoi tessellations(CVTs) diffusion processes mobile actuator-sensor networks(MAS-Net) PI control

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An Efficient Defect Detection System for Printed Circuit Boards with Edge-Cloud Fusion Computing 3

An Efficient Defect Detection System for Printed Circuit Boa...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Wu, Yi Wang, Jing Chen, Yang-Quan Beijing University of Chemical Technology College of Information Science and Technology Beijing China University of Technology School of Electrical and Control Engineering Beijing China University of California Mechatronics Embedded Systems and Automation Lab MercedCA95343 United States

ISBN: (纸本)9781665435178

Many intelligent methods have been proposed and applied in the field of autonomous manufacturing inspection. These advanced algorithms with high requirements on computing power and network may lead to time delay, high cost and energy consumption in practical applications with massive data to be processed. We carry out an efficient defect detection system in an end-edge-cloud architecture with the concept of edge computing to process the big data quickly and effectively. A branchy deep learning model with early exit capability of inference is proposed to detect the category and location of the defect in printed circuit boards. We offload part of the computing tasks to the edge nodes by segmenting and deploying the DL model. Therefore, our system has high detection efficiency and makes real-time defect detection possible. © 2021 IEEE.

关键词： Printed circuit boards

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Dc Leakage Current in Isolated Grid-Connected dc Nanogrid - Origins and Elimination Methods

Dc Leakage Current in Isolated Grid-Connected dc Nanogrid - ...

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Compatibility in Power Electronics (CPE)

作者： Mohammadreza Azizi Oleksandr Husev Oleksandr Veligorskyi Marek Turzvński Ryszard Strzelecki Department of Radiotechnic and Embedded Systems Chernihiv Polytechnic National University Chernihiv Ukraine Department of Electric Electronic and Automation Engineering University of Extremadura Badajoz Spain Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

ISBN: (数字)9798350318265

ISBN: (纸本)9798350318272

The LV dc system is a relatively new trend in the distribution sector, which seems to grow widely in the near future due to its promising advantages. In this context, LV dc protection and grounding are challenging issues. Although the galvanically isolated connection mode of dc nanogrid to the ac grid has high reliability, the leakage current can still be injected into the ac grid through the interwinding capacitors and the insulation resistance between the primary and secondary windings of the transformer. The way of grounding the dc nanogrid can also be a determining factor in the leakage current and its dc components. This study deals with the leakage current in the galvanically isolated dc nanogrid. Then, it examines the dc leakage current and its relationship with the dc nanogrid grounding and finally provides solutions to remove the dc components in the leakage current.

关键词： Resistance Insulation Grounding Simulation Windings Capacitors Leakage currents

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