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8th IEEE International Conference on Engineering Technologies and Applied Sciences, ICETAS 2023

作者： Hazem, Zied Ben Bingul, Zafer University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey

ISBN: (纸本)9798350327090

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination. © 2023 IEEE.

关键词： Controllers

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Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation 23

Learning Time-Optimal and Speed-Adjustable Tactile In-Hand M...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Pitz, Johannes Röstel, Lennart Sievers, Leon Bäuml, Berthold Technical University of Munich Dextrous Robots Lab Germany Dlr Institute of Robotics & Mechatronics German Aerospace Center Germany

ISBN: (纸本)9798350373578

In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and generalization, this paper addresses the critical performance measure of the speed at which an in-hand manipulation can be performed. We present reinforcement learning policies that can perform in-hand reorientation significantly faster than previous approaches for the complex setting of goal-conditioned reorientation in SO(3) with permanent force closure and tactile feedback only (i.e., using the hand's torque and position sensors). Moreover, we show how policies can be trained to be speed-adjustable, allowing for setting the average orientation speed of the manipulated object during deployment. To this end, we present suitable and minimalistic reinforcement learning objectives for time-optimal and speed-adjustable in-hand manipulation, as well as an analysis based on extensive experiments in simulation. We also demonstrate the zero-shot transfer of the learned policies to the real DLR-Hand II with a wide range of target speeds and the fastest dextrous in-hand manipulation without visual inputs. Website: https://***/manipulation/humanoids24 © 2024 IEEE.

关键词： Deep reinforcement learning

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

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

作者： Mohiz, Abdul Nasir, Fazal E. Shah, Kamran University of Engineering & Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

ISBN: (纸本)9781665464727

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used. © 2023 IEEE.

关键词： Tillage

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An improved DWA algorithm in agricultural robot

An improved DWA algorithm in agricultural robot

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作者： Yucheng Zhang Mechatronics and Robotics University of Leeds

The study of robot research necessitates the exploration of path planning. The goal of this paper is to enable multiple robots with different functions to reach the designated place quickly and accurately in the orchard environment. In comparison, avoiding collisions,deadlocks, and other complications. This paper has chosen to employ the upgraded A-star algorithm in the global layer as its strategy. An improved DWA algorithm is used in the local layer. In addition, the Voronoi graph method is introduced to limit the search area and solve the obstacle avoidance problem of multiple robots. The left-turn method is applied to the deadlock problem of multiple robots. Finally, the obstacle avoidance efficiency in a multi-obstacle environment is simulated to verify the algorithm's effectiveness.

关键词： path planning Improved DWA algorithm dynamic obstacle avoidance AGV

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Au-Based Biocompatible Capacitive Strain Sensor 5

Au-Based Biocompatible Capacitive Strain Sensor

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5th IEEE International Conference on Flexible and Printable Sensors and Systems, FLEPS 2023

作者： Lee, Mugeun Kim, Hwajoong Kim, Jinho Jeong, Minji Lee, Jaehong Daegu Gyeongbuk Institute of Science and Technology Department of Robotics and Mechatronics Engineering Daegu Korea Republic of

ISBN: (纸本)9781665457330

Various strain sensors have been developed due to their capability to monitor a piece of basic physiological information. However, a lot of existing strain sensor is based on planar soft sensors, which have a few critical challenges such as structural mismatch and stable fixation on the target organ. Here, we present a 1-dimensional and biocompatible capacitive fiber strain sensor. The fiber strain sensor comprises a conductive fiber electrode based on Au, a representative biocompatible material. The structure of the fiber strain sensor is a double helix. The sensor shows high sensitivity of 9.8 and high stability. © 2023 IEEE.

关键词： Biocompatibility

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The Use of Four-Bar Mechanisms in Robotic Exoskeletons

The Use of Four-Bar Mechanisms in Robotic Exoskeletons

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2022 International Conference on Advanced Mechatronic Systems, ICAMechS 2022

作者： Omirbayev, Sultan Issa, Ilyas Kuangaliyev, Zholaman Turganbayev, Azamat Niyetkaliyev, Aibek Nazarbayev University Robotics and Mechatronics Department Astana Kazakhstan

ISBN: (纸本)9781665463805

Due to the specificity of the current world, there is a spike in demand for robotic exoskeletons of various types and purposes. An increase in the elderly populace, an increase in demanding jobs, and rehabilitation are the driving factors in the field of biomechatronics and exoskeleton research. The four main questions, such as human bionic compliance, optimization of the exoskeletons, reduction of costs and increase of efficiencies are on the front line of the exoskeleton research. In this work, one of such solutions, namely the application of four-bar mechanisms, is explored in detail. This paper is a comprehensive review of the different types of four-bar mechanisms and their use in the robotic exoskeletons. The main objective is to find the most efficient four-bar configuration to assist different body parts as well as to look at what makes certain arrangements superior to others. By analyzing the currently existing solutions provided in the scientific literature, the optimal solutions are derived and proposed to further advance the rapidly developing fields of robotics and biomechatronics. © 2022 IEEE.

关键词： Exoskeleton (robotics)

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A Novel Design of Low Pass Filter in Disturbance Observer for Speed Tracking of Permanent Magnet Synchronous Motors 11

A Novel Design of Low Pass Filter in Disturbance Observer fo...

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11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Suleimenov, Kanat Do, Ton Duc Department of Robotics and Mechatronics AstanaZ05H0P9 Kazakhstan

ISBN: (纸本)9788957083505

This work proposes an approach to find an appropriate bandwidth of a first-order low pass filter (LPF) used in a DOBC. It is established that an observer in the DOBC can guarantee precise estimation if its bandwidth is set as high as possible in order to reject disturbances in a broad frequency range. On the other hand, there is an upper bandwidth limitation due to the system robustness and potential noises;hence, the bandwidth is required to set to be smaller than the limit. In this work, we propose a method of selecting proper bandwidth for the LPF in the DOBC. To show the effectiveness of the proposed method the experimental studies are carried out using the permanent magnet synchronous motor (PMSM).. © 2023 The Korean Institute of Power Electronics.

关键词： Bandwidth

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Investigation on New Applications of Climbing and Walking Robots in Marine Environment

Investigation on New Applications of Climbing and Walking Ro...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Ermolov, Ivan Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Laboratory of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9798350382457

The article discusses the some new results of investigation of new applications of climbing and walking robots in marine environment. One of the perspective applications is a robot for hull cleaning. Another robot is designed to perform inspection operations at sea shelf deposit platform. Both robots use walking propulsion technology. Within this paper we discuss basic scenarios for their application and a outcoming general view on their structure. Some ideas of main components to be used within these robots are also presented. © 2023 IEEE.

关键词： Mobile robots

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A Novel IOT-Based Medicine Consumption System for Elders

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SN Computer Science 2022年第6期3卷 471页

作者： Abdullah, Raiyaan Ahmed, Riad Jamal, Lafifa Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka 1000 Bangladesh

This paper introduces an IoT based medicine consumption which enables the elderly person to take the right medicine at the right time. Usually elder people need to take medicine several times daily. And there is a high chance to forget the medication time. Sometimes they also struggle to remember the name of the medicine. Our system tackles this problem and ensures proper monitoring of medicine pill consumption. The system provides convenient hardware and software support to serve the medicine in a user friendly way. It contains an effective image preprocessing pipeline along with Optical Character Recognition (OCR) to detect names from medicine strips. This is also robust in detecting the medicine even if part of the strip is torn. To match the detected text with the prescribed medicine in the database Bi-directional Long Short-Term Memory (BiLSTM) networks are used. The proposed system is lighting invariant as users might consume medicine at different times of the day. Testing was performed in three different conditions—normal, medium and low lighting. The preprocessing technique plays a crucial role to detect the medicine in every lighting condition. The system also has an easy to use interface which is built using modern web technologies to enter or update the medicine consumption time. The proposed system is better than existing solutions, as it contains an array of different features including medicine dispensation, storing records, medicine detection, medicine consumption history, etc. © 2022, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： Automated medication Computer vision Deep learning Elderly assistance Image processing IOT Optical character recognition

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Comparative Analysis of Vacuum Generative Devices for Vacuum Suction Cups of Mobile Transport Systems Designed for Underwater Operation

Comparative Analysis of Vacuum Generative Devices for Vacuum...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Belchenko, Philipp Knyazkov, Maxim Ostrikov, Pavel Semenov, Eugeny Sukhanov, Artem Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Laboratory of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9798350382457

The article discusses the results of studies of gas-dynamic and hydrodynamic processes in cavities and channels of vacuum suction cups of mobile transport systems operating in an aqueous environment. Transient processes occurring in the cavities of vacuum suckers from the moment the vacuum generator is powered on to the moment of steady-state vacuum level are obtained. Commercially available ejector-type vacuum generators with the same nozzle diameter, but with different parameters of the vacuum level and evacuation time (suction flow rate), as well as a diaphragm air pump were used in the research. Commercially available suction cups with a bellows with a diameter of 100 mm were used as a vacuum holding device on the surface. Experimental studies were conducted to study the behavior of vacuum suction cups in an aqueous environment to identify the possibility of their use for mobile transport systems operated in a liquid environment. To conduct research, an experimental stand was created that allows real-time recording of the level of vacuum in the cavities of vacuum suckers in an aqueous medium and recording the time to a steady level of vacuum. © 2023 IEEE.

关键词： Gas dynamics

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