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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Saegusa, Ryo Ohno, Kensuke Okonogi, Rikuto Kanagawa Institute of Technology Department of Information Systems Atsugi Japan Kanagawa Institute of Technology Department of Robotics and Mechatronics Atsugi Japan

ISBN: (纸本)9781665410205

In order to maintain the health of aged people living in care facilities, care staffs need to check the vital conditions of the residents frequently. For the facility staffs, however, taking vital signals of residents is one of the time-consuming tasks, and the operation is strongly expected to be supported by modern robot technologies. In this study, we propose an interactive health care robot that measures vital signals of residents. In this interactive vital measurement, the health care robot gently approaches a resident and operates its arm to reach the resident's hand. The robot then interactively requests the resident to grab the haptic vital handle. The novelty of our method is in the design of human-robot interaction. On the surface of the haptic vital handle, the vital sensors and pressure sensors are arrayed in order to detect physical gripping. The vital signals of the blood oxygen saturation and heart rate are recorded only when the robot is detecting pressure patterns and confident of the hand gripping. This mechanism allows the open contact measuring without clipping resident's fingers. We performed experiments to measure vital and pressure signals from healthy adults and evaluated the reliability of the measurement in the different configurations of the body postures denoted as the stance, on-chair, on-wheelchair, and on-bed. © 2024 IEEE.

关键词： Human robot interaction

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Vibrational Feedback for a Teleoperated Continuum Robot with Non-contact Endoscope Localization

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Current Directions in Biomedical Engineering 2024年第1期10卷 17-20页

作者： Fischer, Jonas Andreas, Daniel Beckerle, Philipp Mathis-Ullrich, Franziska Marzi, Christian Friedrich-Alexander-University of Erlangen-Nuremberg Autonomous Systems and Mechatronics Paul-Gordan-Strase 3/5 Erlangen91052 Germany Friedrich-Alexander-University of Erlangen-Nuremberg Autonomous Systems and Mechatronics Erlangen91052 Germany Friedrich-Alexander-University of Erlangen-Nuremberg Surgical Planning and Robotic Cognition Lab Erlangen91052 Germany Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics - Intelligent Process Automation & Robotics Karlsruhe76131 Germany

Limited or absent haptic feedback is reported as a factor hindering the continued adoption of surgical robots. This article presents a proof of concept for vibrotactile feedback integrated into a continuum robot to explore whether such feedback improves spatial perception in surgical settings. The robot is equipped with a capacitive sensor for noncontact endoscope localization, enabling spatial awareness of the robot's tool center point (TCP) within the surgical environment. The data from the sensor is processed and transmitted to a bracelet worn by the user, which generates vibrotactile feedback. The bracelet contains four vibration motors providing tactile cues for navigation and positioning of the robot's TCP. All subsystems are integrated into a unified system to deliver vibrotactile feedback to the user. When the user maneuvers the TCP of the robot near an object, they receive vibrotactile feedback via the bracelet. Thereby, the intensity of vibration increases as the TCP approaches the object, and the direction of the obstacle is mapped on the bracelet. Initial functional tests were performed and prove the functionality of the proposed system. © 2024 by Walter de Gruyter Berlin/Boston.

关键词： Capacitive sensors

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Tendon Routing Optimisation of a Tendon-Driven Gripper to Maximise Force Transmission Efficiency

Tendon Routing Optimisation of a Tendon-Driven Gripper to Ma...

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IEEE-RAS International Conference on Humanoid Robots

作者： Boris Feldbrugge Boi Okken Wesley Roozing Precision Engineering and Robotics and Mechatronics groups University of Twente The Netherlands Robotics and Mechatronics group University of Twente The Netherlands

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

We present a design optimisation method for the routing of tendons in a tendon-driven mechanism with the objective of maximising force transmission efficiency (FTE). We formulate a friction model for the different routing elements, accounting for routing point radii and slipping/rolling contacts. We then construct a numerical design optimisation problem to optimise the design parameters, routing point locations, for a given tendon routing topology. We apply the method to the design of an existing tendon-driven gripper. The results show that frictional losses can be reduced by approximately half compared to the baseline design, and that taking into account the routing point radii is indeed of significant influence.

关键词： Force measurement Torque Pulleys Friction Force Humanoid robots Routing Topology Grippers Tendons

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Design and Implementation of Model Predictive Control (MPC) Based Pressure Regulation System for a Precision Agricultural Sprayer

Design and Implementation of Model Predictive Control (MPC) ...

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

作者： Khan, Adrees Nasir, Fazal Tufail, Muhammad Haris, Muhammad Khan, Muhammad Tahir Dong, Zhang University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Jinan China

ISBN: (纸本)9781665464727

Model Predictive Control (MPC) is a control scheme that involves predicting the future behavior of a system and optimizing control actions to accomplish the desired objective. In this study, we develop an intelligent control algorithm, based on MPC to regulate the target pressure in variable-rate agriculture sprayer robots. Modeling and simulation steps of the spraying system are developed using MATLAB/Simulink environment, before passing to the description of the MPC algorithm. Real-time implementation of the MPC algorithm was conducted on an Arduino Mega 2560 controller board by using Simulink Support Package for Arduino Hardware in MATLAB/Simulink to experimentally validate the preliminary results of simulations. The work evaluates MPC to regulate the pressure in the system and compares the results with a traditional PID control system. Moreover, MPC is a novel method for nonlinear system control that achieves zero steady-state error, low transient response, and reduces peak overshoot compared to the results obtained with a PID controller, thereby reducing the waste of chemicals, and minimizing the toxicology and environmental risk. © 2023 IEEE.

关键词： Model predictive control

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Real-Time Plant Recognition and Crop Row Navigation for Autonomous Precision Agricultural Sprayer Robot

Real-Time Plant Recognition and Crop Row Navigation for Auto...

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

作者： Nasir, Fazal Haris, Muhammad Khan, Bilawal Tufail, Muhammad Khan, Muhammad Tahir Dong, Zhang National Center of Robotics and Automation Advanced Robotics and Automation Lab Peshawar Pakistan University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Jinan China

ISBN: (纸本)9781665464727

This paper presents a vision-based selective spraying technique for an autonomous agricultural sprayer robot. In traditional methods, excessive chemical spraying cause deleterious effects on human health, environment and becomes uneconomical. In order to reduce the agrochemical wastage encounters in a broadcast spraying, a selective plant spraying method is used for crop chemical treatment. The sensor-based approach assisted with YOLOv7 model is deployed on a custom designed robot for recognizing and localizing the lettuce plants in field. The PID-based pressure controller is designed that minimizes the undesirable fluctuations cause by the opening/closing of solenoid-valve-nozzles (SVNs) during spraying. Thus the nozzle's spraying quality is maintained by keeping the pressure constant to a desired value. A visual servoing scheme for row tracking is presented that uses the detected plant's spatial features. The robustness of the visual-based navigation is validated in the real field experiments. © 2023 IEEE.

关键词： Crops

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Transportation Systems for Intelligent Cities 24

Transportation Systems for Intelligent Cities

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24th International Carpathian Control Conference, ICCC 2023

作者： Jawad, Yahya Kadhim Nitulescu, Mircea University of Craiova Doctoral School Craiova Romania University of Craiova Department of Mechatronics and Robotics Craiova Romania

ISBN: (纸本)9798350310221

The automation level of systems within smart city structures can be increased by implementing the new machine-to-machine (M2M) communication model. Also, transportation systems in modern society pose serious challenges. This type of implementation provides seamless integration of all the physical and virtual objects that are part of the smart city infrastructure. In vehicle technologies and their applications in various areas such as traffic management and information are being developed by automobile manufacturers. By integrating vehicles, technologies, sensing devices, and surveillance cameras, their sensing and communication capabilities can be leveraged to achieve intelligent transportation systems (ITS). leading to new challenges. Data latency and throughput requirements of certain applications within the smart city framework need to be addressed. The main goal of the suggested model is to improve the M2M nodes by creating an integrated system of electronic devices, communications, and sensors. They will be the link between smart cities and vehicles in the beginning. By integration of these components into the infrastructure of cities, it is likely that this technology will be applied to all manners of transportation in the future. © 2023 IEEE.

关键词： Internet of things

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Fully Tunable Fabry-Perot Cavity on Silicon Photonic MEMS with 10 nW Static Power Consumption

Fully Tunable Fabry-Perot Cavity on Silicon Photonic MEMS wi...

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2023 Conference on Lasers and Electro-Optics, CLEO 2023

作者： Park, Young J. Her, Man J. Kim, Dong U. Choi, Dong J. Lim, Min G. Hong, Myung S. Han, Sangyoon Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu42988 Korea Republic of

We report on a fully tunable Fabry-Perot cavity on the silicon photonic MEMS having only 10nW static power. Its resonance wavelength is tunable over the full FSR, and its transmissivity is tunable up to 3.8dB. © ... 详细信息

ISBN: (纸本)9781957171258

关键词： Electric power utilization

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Exploring Classification, Size, and Quality of Mangifera Indica L. Through Image Processing and AI Techniques 2

Exploring Classification, Size, and Quality of Mangifera Ind...

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2nd International Conference on Mechanics, Electronics, Automation and Automatic Control, MEAAC 2024

作者： Wanthong, Irin Sri-On, Theeraphat Seangsri, Soontaree Khaengkarn, Sorada Srisertpol, Jiraphon Mechatronics Engineering Program School of Mechanical Engineering Suranaree University of Technology Nakhon Ratchasima Thailand Department of Mechatronics and Robotics Engineering School of Engineering and Innovation Rajamangala University of Technology Tawan-ok Chonburi Thailand

ISBN: (纸本)9781643685403

This paper introduces methods for efficiently classifying mangoes intended for export, a market valued at approximately 4,500 million baht annually. The classification process is divided into two primary components: size categorization and quality assessment. The first phase involves categorizing mango sizes into four distinct categories (M, 1L, 2L, 3L), while the second phase focuses on assessing mango quality, particularly detecting anthracnoseâ€"a prevalent disease affecting mangoes. This detection is achieved through image processing techniques, where images are converted into binary representations and analyzed using both Artificial Neural Networks (ANNs) and Convolutional Neural Networks (CNNs). Comparative analysis reveals that CNN outperforms ANN in size classification, achieving a remarkable train accuracy of 99.16% and a test accuracy of 88.0%. Furthermore, in quality classification, CNN demonstrates a train accuracy of 91.0% and a test accuracy of 88.0%. These findings underscore the effectiveness of CNN techniques in accurately classifying mangoes for export, thereby facilitating improved quality control and market competitiveness. Â© 2024 The Authors.

关键词： Convolutional neural networks

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Fully tunable Fabry-Pérot cavity based on MEMS Sagnac loop reflector with ultra-low static power consumption

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Microsystems & Nanoengineering 2024年第4期10卷 355-365页

作者： Young Jae Park Man Jae Her Youngjae Jeong Dong Ju Choi Dong Uk Kim Min Gi Lim Myung Seok Hong Hyug Su Kwon Kyoungsik Yu Sangyoon Han Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea School of Electrical Engineering Korea Advanced Institute of Science and Technology(KAIST)Daejeon 34141Republic of Korea Agency for Defense Development DaejeonRepublic of Korea

The Fabry-Pérot interferometer,a fundamental component in optoelectronic systems,offers interesting applications such as sensors,lasers,and *** this work,we show a tunable Fabry-Pérot cavity consisting of tunable Sagnac loop reflectors(SLRs)and phase shifters based on electrostatic microelectromechanical(MEMS)*** fabrication process of the device is compatible with the standard wafer-level silicon photonics fabrication *** electrostatic actuation mechanism provides well-balanced,scalable pathways for efficient tuning *** extinction ratio of the continuously tunable SLRs’reflectivity is larger than 20 *** 2πphase shifting is achieved,and response times of all the components are less than 25μ*** actuators have extremely low static power,measuring under 20 fW and the energy needed for tuning is both below 20 pJ.

关键词： tunable tuning interferometer

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A Review of Robotic Gloves Applied for Remote Control in Various Systems 5

A Review of Robotic Gloves Applied for Remote Control in Var...

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5th International Youth Conference on Radio Electronics, Electrical and Power Engineering, REEPE 2023

作者： Saypulaev, Gasan R. Merkuryev, Igor V. Saypulaev, Musa R. Shestakov, Victor K. Glazkov, Nikita V. Andreev, Danil R. National Research University MPEI Dept. of Robotics Mechatronics Dynamics and Machine Strength Moscow Russia

ISBN: (纸本)9798350399523

This article presents a review of patents and scientific articles on the development of robotic gloves used in remote control systems and medical applications. The aim of the work is to analyze the available designs of robotic gloves, identify the most competitive designs of smart gloves and predict the main trends in the development of such gloves. Based on the results of the review, the following promising areas in the development of smart gloves were identified: the use of optimal filtering algorithms for processing measurement data;using advanced artificial intelligence and machine learning algorithms for sign recognition;increase in the number of signs recognized by the smart glove. The most perspective smart glove designs are tendon-driven glove or glove with soft actuator. © 2023 IEEE.

关键词： robotics

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