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2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Efimov, Sergey Emelyanova, Oksana Pechurin, Alexander Voronezh Institute of High Technologies Department of Educational Work Voronezh Russia Southwest State University Department of Mechanics Mechatronics and Robotics Kursk Russia

ISBN: (纸本)9781665475952

It is promising to use small-sized unmanned hybrid aerial vehicles (HAV) of the tiltrotor type, which allow the implementation of various principles of movement, characteristic of both multi-rotor and aircraft systems. Rotation of propellers from vertical to horizontal position and vice versa increases the vehicle's mobility, however, intermittent modes of aircraft propellers can significantly affect its stability, loss of altitude and/or deviation from a given trajectory, which in turn can lead to loss of control and fall. Results: a calculation scheme of a tiltrotor, a mathematical model of transient modes of movement of the HAV in the form of a system of nonlinear differential equations and a motion control algorithm were developed, which differs from the known ones in that the traction control is carried out by the deviation of the vehicle from a given vertical coordinate at a given, in a certain range, angle of rotation of screws. The results of mathematical modeling are presented and studies of four control strategies in the transitional mode of motion are carried out. The developed criteria for the quality of the transient mode made it possible to identify the most optimal control strategy, which preserves the horizontal component of the traction force projection, which ensures the occurrence of the horizontal velocity projection and, accordingly, the necessary lift force of the HAV wings. © 2023 IEEE.

关键词： Traction control

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A Consideration of a Mini Model Suitable for a Small Motor Evaluated on a Driving Cycle

A Consideration of a Mini Model Suitable for a Small Motor E...

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International Conference on Power Electronics and Motion Control (IPEMC)

作者： Mikiya Itagaki Kantaro Yoshimoto Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

ISBN: (数字)9798350351330

ISBN: (纸本)9798350351347

In the automotive industry, an evaluation of a driving cycle is conducted using vehicle or motor of vehicle. In some cases, the validation using a small power motor or inverter is useful for the feasibility study in the early stage of research. This study proposes the calculation method of the load-torque for small motor in an evaluation of a driving cycle. The load-torque suitable for a small power motor is considered using the parameters of a mini model which is considered using the similarity rule. A Load motor control was implemented by an inertia simulator using a vehicle model. The results of simulation and experiment show that the parameters calculated by proposed method was useful to operate the small power motor with a mini model under Worldwide Harmonized Light Vehicles Test Cycle (WLTC).

关键词： Industries Motor drives Torque Asia Motors Inverters Motion control

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Vibration-Assisted Hysteresis Mitigation for Achieving High Compensation Efficiency

arXiv

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arXiv 2025年

作者： Park, Myeongbo An, Chunggil Park, Junhyun Kang, Jonghyun Hwang, Minho Department of Robotics and Mechatronics Engineering DGIST Daegu42988 Korea Republic of

Tendon-sheath mechanisms (TSMs) are widely used in minimally invasive surgical (MIS) applications, but their inherent hysteresis—caused by friction, backlash, and tendon elongation—leads to significant tracking errors. Conventional modeling and compensation methods struggle with these nonlinearities and require extensive parameter tuning. To address this, we propose a vibration-assisted hysteresis compensation approach, where controlled vibrational motion is applied along the tendon’s movement direction to mitigate friction and reduce dead zones. Experimental results demonstrate that the exerted vibration consistently reduces hysteresis across all tested frequencies, decreasing RMSE by up to 23.41% (from 2.2345 mm to 1.7113 mm) and improving correlation, leading to more accurate trajectory tracking. When combined with a Temporal Convolutional Network (TCN)-based compensation model, vibration further enhances performance, achieving an 85.2% reduction in MAE (from 1.334 mm to 0.1969 mm). Without vibration, the TCN-based approach still reduces MAE by 72.3% (from 1.334 mm to 0.370 mm) under the same parameter settings. These findings confirm that vibration effectively mitigates hysteresis, improving trajectory accuracy and enabling more efficient compensation models with fewer trainable parameters. This approach provides a scalable and practical solution for TSM-based robotic applications, particularly in MIS. Copyright © 2025, The Authors. All rights reserved.

关键词： Friction

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A Study of the Magnetically Active Objects Motion in a Closed Channel Under the Influence of Magnetic Force

A Study of the Magnetically Active Objects Motion in a Close...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Malchikov, Andrei Ryapolov, Petr South-West State University Department of Mechanics Mechatronics and Robotics Kursk Russia South-West State University Department of Nanotechnologies Microelectronics General and Applied Physics Kursk Russia

The paper examines various models of the motion of magnetically active micro objects under the influence of a magnetic field generated by a moving permanent magnet. A mathematical model is proposed that describes the controlled motion of a spherical microrobot within a closed channel that simulates a vessel cavity. A key feature of the model is its ability to simulate the complex magnetic interactions between the permanent magnet and the investigated object, leading to intricate motions of the microrobot. The results of studying various motion modes are presented, and a comparative analysis is performed with the results of full-scale experiments conducted on a laboratory bench. © 2024 IEEE.

关键词： Microrobots

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Mixed Reality Application in Robot Navigation and Control 16

Mixed Reality Application in Robot Navigation and Control

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16th International Conference on Applied and Theoretical Electricity, ICATE 2024

作者： Cismaru, Stefan-Irinel Petcu, Florina-Luminita Resceanu, Ionut-Cristian Roibu, Horatiu Trasculescu, Andrei-Costin Pana, Cristina-Floriana Bizdoaca, Nicu-George University of Craiova Faculty of Automation Computers and Electronics Mechatronics and Robotics Department Craiova Romania University of Craiova Faculty of Automation Computers and Electronics Computer Science Department Craiova Romania

ISBN: (纸本)9798350388107

Among the emerging technologies, Mixed Reality (MR) has provided the means to interact with holograms. A very distant future is now near and accessible, which allows for the replacement of classic controllers for robots and is driven by MR. Holograms involve dynamic 3D elements that are integrated into the environment, enhancing control means for the user. These elements may be visually attended to and interacted with via eye concentration or hand gestures, and they have the capability to execute a variety of activities. This emerging technology enables interactions that are otherwise unattainable in alternative settings or contexts, such as the presence of an avatar inside the program. Furthermore, it has the potential to be expanded to govern other mechatronic devices, including robots. The purpose of this work is to offer an improved and interactive method of controlling a mechatronic platform by using holograms, such that the adaptability of this technology may be shown in the context of operating real systems. Important for the authors of this paper is the broadening of the spectrum in which the application lies, thus contributing to the process followed for the development and applicability of the solution in key areas such as industry, training, and medicine. © 2024 IEEE.

关键词： Holograms

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope 2

Obstacle Identification Based on Deep Learning for Inspectio...

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2nd International Conference on Automation, robotics and Computer Engineering, ICARCE 2023

作者： Yang, Chengxu Sun, Xiangyu Liu, Gangfeng School of Mechatronics Engineering Harbin Institute of Technology Harbin China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350308341

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks. © 2023 IEEE.

关键词： Inspection

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Comparative Analysis of Reinforcement Learning Techniques in Simulated robotics Environments 7

Comparative Analysis of Reinforcement Learning Techniques in...

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7th International Conference on Intelligent robotics and Control Engineering, IRCE 2024

作者： Yoseph, Abey Tanveer, M. Hassan Voicu, Razvan Cristian Shahid, M. Farrukh Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States National University of Computer and Emerging Sciences Department of Ai and Data Science Karachi Pakistan

ISBN: (纸本)9798350352399

Machine learning is a critical component of artificial intelligence and computer science that uses data and algorithms to emulate the way that humans learn and predict. Reinforcement learning, one of the many forms of machine learning, trains an agent through trial and error, with successful outcomes being rewarded and unsuccessful outcomes being penalized. The implementation of three reinforcement learning algorithms, Qlearning, Deep Q-Learning, and Double Deep Q-Learning, was tested using a series of ROS (Robot Operating System) packages in the Gazebo simulation environment. The Python openai-ros package and Gym libraries were used to input a robot into a configurable environment and test out the performance of a specific reinforcement learning algorithm. The agent's action space was discretized into three specific actions, move forward, turn left, or turn right, that the robot could take. The reward or punishment was given after each step based on if the current action moved the robot towards the goal state or away from it. For each algorithm, the agent was first pre-trained on an obstacle free environment for 200 episodes and then was placed in an environment with two box-shaped obstacles to avoid. The algorithm/neural network parameters from the pre-training environment were loaded prior to the agent being tested in the new environment. The goal state at each episode was randomly generated and the robot's performance was evaluated using the cumulative reward achieved per episode and the number of times it reached the goal. © 2024 IEEE.

关键词： Adversarial machine learning

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Multi-purposeful activities for robot-assisted autism therapy: What works best for children's social outcomes? 23

Multi-purposeful activities for robot-assisted autism therap...

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18th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2023

作者： Zhanatkyzy, Aida Telisheva, Zhansaule Amirova, Aida Rakhymbayeva, Nazerke Sandygulova, Anara Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan Graduate School of Education Nazarbayev University Astana Kazakhstan

ISBN: (纸本)9781450399647

This research designed and applied 24 multi-purposeful robot activities of varying social mediation levels in a multiple-session experiment with 34 children of diverse autistic characteristics in a rehabilitation setting. This paper explores what type of robot activities can meet individual needs to bring more socio-behavioral progress and juxtaposes child characteristics to identify behavioral outcomes in each activity. This knowledge would help us to respond to the question of what activity types suit specifc subgroups of Autism Spectrum Disorder (ASD). Our data analysis included coding 48.5 hours of video data for a total of 14 measures to fully capture children's activity-based socio-emotional outcomes. Overall, the activities on varying social mediation levels brought more or less positive social outcomes to all children. However, children showed some diferent behavioral outcomes as mediated by core autism-related and age-specifc characteristics. This study provides in-depth accounts of what might be helpful in designing and applying multi-purposeful activities responsive to the diverse needs of children. © 2023 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Robots

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A Study on Improving the Performance of Dynamic Model Based Redundant Navigation System for Sensor Fault Scenarios

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Journal of Institute of Control, robotics and Systems 2025年第4期31卷 351-359页

作者： Ko, Bo Sung Choi, Hyeong Jun Jeon, Myung Jun Cho, Hyeon Jin Song, Jin Woo Department of Artificial Intelligence and Robotics and Convergence Engineering for Intelligent Drone AIRI Sejong University Korea Republic of Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone AIRI Sejong University Korea Republic of Agency for Defense Development Maritime Technology Research Institute Korea Republic of

This study proposes a redundant navigation system for UUV (Unmanned Underwater Vehicle) utilizing a 6 DOF (Degree of Freedom) VDM (Vehicle Dynamic Model). The system is designed to enable safe UUV asset return when all navigation sensors become inoperable. Since it is impossible to perfectly determine VDM coefficients through water tank experiments, a method to improve VDM output accuracy in real time during UUV mission is necessary. Here in this study, we introduce real-time adaptive 6 DOF VDM output error compensation algorithm to enhance the performance of redundant navigation systems. This research aims to establish the foundation for backup navigation solutions in situations when critical UUV sensor failures occur. © ICROS 2025.

关键词： Water tanks

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GA-Based Optimization of Control Strategies for a 3R Nonplanar Robotic Manipulator 12

GA-Based Optimization of Control Strategies for a 3R Nonplan...

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12th RSI International Conference on robotics and mechatronics, ICRoM 2024

作者： Ahmadpanah, Parham Charehjoo, Taha Ghanbarzadeh, Armin Najafi, Esmaeil K.N. Toosi University of Technology Faculty of Mechanical Engineering Tehran Iran Saxion University of Applied Sciences Smart Mechatronics and Robotics reserach group Enschede Netherlands

ISBN: (纸本)9798331529734

robotics and control are key to automation and industry. In this work, the model of a 3R nonplanar manipulator is simulated in MATLAB. A sinusoidal trajectory was used for the robot's movement, while Gaussian noise was added to the system to simulate real-world application. The impact of the noise was handled using a moving average filter. The effect of four different control systems was evaluated, including Proportional-Integral-Derivative, Fuzzy Logic, Adaptive Neuro-Fuzzy Inference System, and Sliding Mode Control, on each joint torque. The parameters for each controller were tuned with a Genetic Algorithm. The results showed that the most accurate trajectory tracking was provided by Sliding Mode Control, especially when noise was present, while the Adaptive Neuro-Fuzzy Inference System proved to be very flexible. The study discusses the applicability of these controllers, their optimization, and their effect on manipulators under uncertainty. © 2024 IEEE.

关键词： Genetic algorithms

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