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检索条件"机构=Mechatronics and Robotics"

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Biomedical Sensing - A Sensor Fusion Approach For Improved Medical Detection & Monitoring

Biomedical Sensing - A Sensor Fusion Approach For Improved M...

引用

IEEE Southeastcon

作者： Ammy Ovando Ricardo Ramirez Steven Steele Amir Ali Amiri Moghadam Yusun Chang Razvan Cristian Voicu Robotics & Mechatronics Kennesaw State University

Enhanced technological advancement in computation, communication, and sensing has dramatically changed the dynamics of modern medicine. Advancing preventive medicine is paramount to a sustainable improvement in the quality of life and life expectancy. On-body sensors provide continuous measurements for healthy and ailing individuals leading to faster recovery and more timely detection of illnesses. Novel sensor designs and sensor fusion for preventive monitoring can provide extensible benefits, including a better understanding of ailment progression, treatment optimization, and patient feedback through data analytics and visualization. This article presents the development of an ex-vivo sensor fusion system to track a person’s muscular condition. The embedded system provides a significant benefit by notifying users of particular events in real time.

关键词： Ethics Data analysis Data visualization Sensor fusion Sensors Biosensors Monitoring

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Augmented-Reality Based Digital Twin to Control an MR Safe Robot for Breast Biopsy: A Benchmark Study

Augmented-Reality Based Digital Twin to Control an MR Safe R...

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Lennard Marx Vincent Groenhuis Stefano Stramigioli Kenan Niu Robotics and Mechatronics University of Twente En-schede AE The Netherlands

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Magnetic resonance (MR) guided breast biopsies can be demanding and time-consuming procedures. Inaccurate needle insertion can yield false negatives, potentially leading to inaccurate diagnoses with severe consequences. Incorporating robots into these procedures has the potential to improve accuracy, alleviate patient strain, and reduce the time and cost of this procedure. A control interface is essential for surgeons to maintain control and make necessary adjustments. In this study, an augmented reality (AR)-based control method for surgeons is proposed by offering a new means of interacting with robots with enhanced intuition. A virtual surrogate of the MR safe robot in the AR scene was developed, which represents the digital embodiment of the actual robot in the physical world. Users can interact with the virtual surrogate robot to control the actual robot that is positioned in the MR bore while observing the 3D reconstruction of the clinical environment. Two AR-based interactive approaches (gesture-based control and auto-targeting) were developed and compared with joystick control. A pseudo-randomized study including ten subjects was conducted. Both gesture-based (2.24 mm) and auto-targeting (2.55 mm) control methods showed higher median accuracy than the joysticks (3.20 mm). This AR-based digital surrogate robot demonstrated the capabilities of coupling kinematics and motions of the physical MR safe robot for tasks in needle positioning and injection. It shows great potential to facilitate the clinical applications of MR safe robots in the future, beyond the MR-guided breast biopsy.

关键词： Accuracy Three-dimensional displays Biopsy Surgery Breast biopsy Needles Digital twins Robots Augmented reality Strain

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Study of a Tethered Platform Stabilization Problem in the Vertical Plane

Study of a Tethered Platform Stabilization Problem in the Ve...

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Bezmen, Petr Emelyanova, Oksana Efimov, Sergey Department of mechanics mechatronics and robotics Southwest State University Kursk Russia Voronezh Institute of state fire service of Emercom of Russia Department of civil protection Voronezh Russia

The use of a tethered platform of an unmanned aerial vehicle may be the only solution for a problem of a wireless communication relay system to quickly obtain information about the environment in hard-to-reach areas or in emergency situations. Power supply to the platform, as well as the transmission of information from the equipment that installed on board, is carried out via a cable. Also, the unmanned aerial vehicle platform is equipped with various communication loads, such as wireless network communications, mobile communications, et cetera to provide a communication between various operators within a radius of tens of kilometers. A tethered platform stabilizing at a certain height is the most important problem which associated with compensating for disturbing static and dynamic effects from wind flow. Purpose of the study: to create tools for designing tethered flying platforms taking into account external short-time disturbances and a given position deviation limit in the vertical plane. The results of mathematical modeling of a tethered platform attitude control taking into account a inextensible cable and a platform propellers' fixed traction force are presented. The positioning accuracy ensuring problem of a tethered platform in a given area was solved. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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AI-Driven 3D Printing: Generative Gcode for Quality and Efficiency

AI-Driven 3D Printing: Generative Gcode for Quality and Effi...

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IEEE Southeastcon

作者： Sean Haque Muhammad Hassan Tanveer Razvan Cristian Voicu Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Georgia

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

Artificial Intelligence (AI) is transforming the landscape of three-dimensional (3D) printing by enabling generative approaches that extend beyond conventional, parameter-tuning strategies. Rather than merely adjusting nozzle temperatures or speeds, modern AI models can create or refine Gcode paths themselves, seeking to balance objectives such as print strength, dimensional accuracy, and defect minimization. This paper introduces a holistic AI-driven workflow for automated Gcode generation. We demonstrate that generative Large Language Models (LLMs) can parse, synthesize, and optimize printing instructions, thus offering an alternative to human-engineered slicing parameters. Our approach incorporates a continuous feedback loop in which a predictive model evaluates each generated Gcode script for potential print outcomes. Experimental results illustrate strong correlations between the number of lines in generated Gcode and key performance metrics (tensile strength, defect rate, and dimensional accuracy). Notably, some scripts with fewer lines reduced material defects yet slightly degraded dimensional accuracy, while more complex scripts improved measurement fidelity but also introduced minor flaws. These findings illuminate the trade-offs in AI-driven 3D printing and highlight the method's capacity for ongoing improvement. By exploring future expansions, such as continuous-function printing trajectories and multi-material prints, this study shows that AI-based Gcode generation can significantly advance 3D printing quality and customization across diverse applications.

关键词： Solid modeling Accuracy Generative AI Large language models Machine learning Predictive models Three-dimensional printing Minimization Trajectory Optimization

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A three-dimensional compliant bowtie-shaped mechanical amplifier to magnify coaxial displacement in a confined space

A three-dimensional compliant bowtie-shaped mechanical ampli...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jintaek Im Eunsil Jang Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper proposes a novel form of a three-dimensional coaxial bowtie-shaped mechanical amplifier. The proposed model incorporates a lever mechanism into the Sarrus linkage structure. It allows the target plate to move along one axis with amplified displacement in a parallel manner. The amplifier was assembled after machining the components using a computer numerical control machine. A flexible hinge was incorporated into the amplifier design for simplified fabrication and reduced friction in the actuation mechanism. Castigliano’s theorem is used to build a mathematical model of the proposed mechanical amplifier, and the performance was validated through finite element analysis and prototype fabrication. We achieved the amplification ratio of ×8.44, resulting in the axial displacement up to 86 µm. The demonstrated amplifier is expected to apply to compact microsurgical robots or biomedical imaging apparatus requiring coaxial displacement amplification in confined spaces.

关键词： Fabrication Couplings Technological innovation Resonant frequency Prototypes Predictive models Mathematical models

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An Analysis of Robotic Dog's Machine Learning-Based Detection for Pedestrians and Vehicles

An Analysis of Robotic Dog's Machine Learning-Based Detectio...

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2024 International Conference on Intelligent Computing and robotics, ICICR 2024

作者： Tanveer, M. Hassan Kovarovics, Aiden Koduru, Charles Voicu, Razvan Cristian Chun, Carrington Mahdi, Ghulam Dept. of Robotics and Mechatronics Kennesaw State University MariettaGA United States Kimberly Clark Coorporation Roswell Innovation Center AtlantaGA United States

ISBN: (纸本)9798350372274

In this paper, we discuss the deployment of an innovative autonomous inspection system to facilitate data collection, specifically focusing on pedestrian and vehicle counts within transportation infrastructure. Utilizing bio-inspired robots, such as a robot dog, we explore new horizons in data gathering that supersede conventional methods. The robot dog, with its ability to navigate multiple terrains, acts as the primary data collection agent, ensuring accuracy and comprehensiveness. These technologies together pave the way for real-time monitoring of pedestrian and vehicle flow, offering a holistic view of transportation usage and patterns. By integrating this data with Intelligent Transportation Systems (ITS), the paper highlights the potential for creating smarter and more efficient transportation networks. This contemporary approach to data collection aligns with the rigorous standards and guidelines set forth by entities like AASHTO, emphasizing the role of automated systems in shaping the future of transportation management and infrastructure monitoring. ©2024 IEEE.

关键词： autonomous inspection system bio-inspired robots pedestrian count vehicle count

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Independent Optimization for Robot Path Planning and Dynamic Obstacle Avoidance 19

Independent Optimization for Robot Path Planning and Dynamic...

引用

19th IEEE International Conference on Smart Communities: Improving Quality of Life Using ICT, IoT and AI, HONET 2022

作者： Hall, Terrance Johnson, Christopher Swales, Brighton Koduru, Charles Tanveer, M. Hassan Kennesaw State University Dept. of Robotics and Mechatronics Engineering Marietta United States

ISBN: (纸本)9781665461979

Autonomous robots can be assigned with various tasks such as moving payload, analyzing terrain, and capturing data in an environment. For an Autonomous Mobile Robot (AMR) to execute such tasks the robot (Hussarion ROSbot) will require efficient algorithms and techniques to reference its current location. The robot is relative to surrounding obstacles in its predetermined path. The conducted research study explains the coordinated method used to successfully allow a robot to identify its position in the environment (Gazebo Simulation) and avoid obstructions with increasing velocity - contingent on nearby surroundings. The results show multiple robots individually tasked with distinct roles, while incorporating an obstacle avoidance function used to avoid both static and dynamic obstacles. Such results can be used in the applications of a high-capacity warehouse environments. © 2022 IEEE.

关键词： Multipurpose robots

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INDUSTRIALIZING RESIDENTIAL CONSTRUCTION USING ARTIFICIAL INTELLIGENT (AI) robotics

INDUSTRIALIZING RESIDENTIAL CONSTRUCTION USING ARTIFICIAL IN...

引用

ASME 2022 International Mechanical Engineering Congress and Exposition, IMECE 2022

作者： Abaza, Hussein Clark, Austin Schwartz, Aaron Ducre, Henry J. Guerra-Zubiaga, David A. Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9780791886649

This research investigates using AI robotics in automating wooden residential construction. Residential building construction still depends on manual labor. Automation is used to construct certain buildings such as wood trusses, cabinets, doors, windows, and mechanical systems. However, there is a great need for automating the assembly of the building construction. This research builds a framework on how robotics can automate the construction of significant building components and assemble them in the field. In this approach, walls, roofs, and floors assemble in the area. Several attempts have been made to use robots for wood framing. However, these automation attempts focused only on the structural parts of the wooden construction. The scope of this research includes using multiple robots with conveying belts to incorporate the assembly of the main building components, including the wooden framing, exterior sheathing and siding, electric wiring and trim, plumbing pipes, thermal insulation, vapor barrier, waterproofing, trim, windows, and doors, and first coat painting. Building assemblies will be transported to the field and fit together. The system will integrate mass customization strategies which includes Product Family Architecture and Personalization Design. This approach will improve quality assurance, reduce labor costs, reduce construction time, and reduce material waste. As a proof of concept, the research simulates the use of a robot to assemble walls components. The results showed that using AI robotics to automate wooden residential construction is possible and practical. The advancement in AI robots overcame the inconsistencies in building materials and achieved the goals of this project. Copyright © 2022 by ASME.

关键词： Internet of things

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Seat-Focused Multi-DOF Exoskeleton Wheelchair Synergy for Continuous Lower-Limb Rehabilitation

Seat-Focused Multi-DOF Exoskeleton Wheelchair Synergy for Co...

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IEEE Southeastcon

作者： Razvan Cristian Voicu Charles F Freeman Christopher E Garretson Zoe M Sun Ryan H. Bonus Zachary A Slutzky Niranjan Mukesh Muhammad Hassan Tanveer Yannique Tello Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Georgia

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

Wheelchair users with limited or nonexistent lower-limb mobility often struggle with significant muscle atrophy, circulatory complications, and other health issues. Although exoskeletons for gait training have shown promise, many are optimized for upright ambulation and overlook individuals remaining fully seated due to clinical or practical constraints. This article presents a seat-focused exoskeleton synergy integrated with a wheelchair to facilitate multi-DOF lower-limb mobilization without requiring transfers or standing maneuvers. The system addresses a critical gap by providing repeated, lower-intensity knee and ankle exercises throughout the day-either passively, actively with assistance, or in a resistive training mode-thus promoting muscle engagement and circulation from a seated position. The exoskeleton leverages the wheelchair's power source and employs modular, adjustable rails to accommodate diverse leg lengths. Emphasis is placed on biomechanical alignment, safe torque control, and user comfort, supported by a model-based controller accounting for inertia, Coriolis effects, and gravity in real time. Bench tests and preliminary trials confirm stable torque output, accurate tracking of desired motion profiles, and minimal burden when attaching or detaching the device. The article introduces modeling for a two-DOF prototype (knee flexion/extension and ankle dorsiflexion/plantarflexion), expandable to include additional joints or degrees of freedom, enabling broader rehabilitation targets such as hip abduction/adduction. By embedding rehabilitative capabilities directly into the wheelchair environment, the proposed approach seeks to close the gap between infrequent clinic appointments and continuous therapy aimed at mitigating muscle ailments. A seat-focused exoskeleton designed for every-day use can facilitate accessible, on-demand rehabilitation and substantially improve long-term health outcomes for mobility impaired users.

关键词： Training Knee Atrophy Ankle Torque Target tracking Wheelchairs Exoskeletons Torque control Muscles

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Analysis of the 'Extended Kalman Filter - Adaptive Digital Filter' System Operation in Filtering of Non-Stationary Signals

Analysis of the 'Extended Kalman Filter - Adaptive Digital F...

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2025 International Russian Smart Industry Conference, SmartIndustryCon 2025

作者： Bezmen, Petr Southwest State University Department of Mechanics Mechatronics and Robotics Kursk Russia

ISBN: (纸本)9798331511241

Processing of various origin non-stationary signals in control systems for robotic devices is an urgent problem. The use of the extended Kalman filter (EKF) for working with non-stationary signals, including signal filtering, is limited by the precise settings of the filter - the observed system model and the covariance matrices of the EKF algorithm, which requires the adaptability of the filter algorithm under conditions of an input rapidly changing noised non-stationary signal. In this regard, the paper proposes to use the system "extended Kalman filter - adaptive digital filter"(EKF-ADF system) for filtering of non-stationary signals, which is the EKF augmented with an adaptive digital filter with the NLMS (normalized least mean squares) adaptation algorithm in order to compensate for the error in the operation of the EKF when non-stationary signal filtering is performing. The study of the operation of the EKF-ADF system as a filter for non-stationary signals shows that under conditions of a significant noise applied on a non-stationary signal, the algorithm of the EKF-ADF system, in comparison with the EKF algorithm, which has settings similar to the EKF settings in the EKF-ADF system, possesses the highest values of the "signal-to-noise ratio"evaluation of filtering results. The EKF-ADF system can be used as a state observer of robotic devices, which is capable of operating under conditions of non-stationary processes. © 2025 IEEE.

关键词： Adaptive filters

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