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Annual Conference of Industrial Electronics Society

作者： Kyeongsik Shin Sehoon Oh Dept. Robotics and Mechatronics Engineering DGIST Daegu Republic of Korea

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

This paper proposes an optimal design methodology for Parallel Elastic Actuators (PEAs) that minimizes torque and power consumption for tasks with external conditions. Furthermore, the paper advocates for selecting an actuator based on a comparison of the dynamic characteristics of PEAs and Series Elastic Actuators (SEAs) for a specific task. However, the design of actuators may need to vary depending on the task and application, but the criteria for this are often unclear. To address the ambiguous design criteria, we analyze the dynamic characteristics of PEAs and SEAs under external conditions and utilize them for optimal design. By formulating cost functions for various tasks, we identify the most suitable actuator design for each task. This study establishes criteria for designing PEAs for tasks with external conditions and proposes a general framework for PEA design optimization.

关键词： Industrial electronics Actuators Torque Power demand Gears Design methodology Cost function Numerical models Springs Design optimization

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Enhancing Accessibility and Affordability of Mobile Robotic Platforms Through MMATR: A Modular Machine-Learning Autonomous Trainable Rover

Enhancing Accessibility and Affordability of Mobile Robotic ...

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IEEE Southeastcon

作者： Daniel Byers Mark Vladimir Ogloblin Brandon Nguyen M. Hassan Tanveer Matt Marshall Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Georgia

Traditional mobile robotic platforms often prove cost-prohibitive for small enterprises, offering limited functionality constrained to pre-programmed tasks. The Modular Machine-Learning Autonomous Trainable Rover (MMATR) ad-dresses this gap by striving to democratize access to automated mobile robotics. Prioritizing cost-effectiveness, programma-bility, and user-friendliness, MMATR presents an accessible solution. This research outlines MMATR's primary goals: autonomous operation through embedded machine learning, user-friendly retraining facilitated by a Python GUI, extensi-bility via user-developed modules, and a generatively designed, consumer-sized 3D-printable chassis. MMATR integrates a diverse range of functionalities, including five ultrasonic sensors for autonomous navigation, a user-friendly Python GUI for retraining the embedded machine learning model, and the capa-bility to extend functionality through user-developed modules. This paper details the design, implementation, and potential applications of MMATR, contributing to the advancement of accessible and affordable mobile robotic platforms.

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Hysteresis Compensation of Flexible Continuum Manipulator using RGBD Sensing and Temporal Convolutional Network

arXiv

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arXiv 2024年

作者： Park, Junhyun Jang, Seonghyeok Park, Hyojae Bae, Seongjun Hwang, Minho The Department of Robotics and Mechatronics Engineering DGIST Daegu42988 Korea Republic of

Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face control difficulties due to hysteresis from cabling effects such as friction, elongation, and coupling. These effects are difficult to model due to nonlinearity and the difficulties become even more evident when dealing with long and coupled, multi-segmented manipulator. This paper proposes a data-driven approach based on Deep Neural Networks (DNN) to capture these nonlinear and previous states-dependent characteristics of cable actuation. We collect physical joint configurations according to command joint configurations using RGBD sensing and 7 fiducial markers to model the hysteresis of the proposed manipulator. Result on a study comparing the estimation performance of four DNN models show that the Temporal Convolution Network (TCN) demonstrates the highest predictive capability. Leveraging trained TCNs, we build a control algorithm to compensate for hysteresis. Tracking tests in task space using unseen trajectories show that the proposed control algorithm reduces the average position and orientation error by 61.39% (from 13.7mm to 5.29mm) and 64.04% (from 31.17◦ to 11.21◦), respectively. This result implies that the proposed calibrated controller effectively reaches the desired configurations by estimating the hysteresis of the manipulator. Applying this method in real surgical scenarios has the potential to enhance control precision and improve surgical performance. Copyright © 2024, The Authors. All rights reserved.

关键词： Hysteresis

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Recursive Input-Output Linearization for Slow-Fast Realization of Nonholonomic Hamiltonian Control Systems

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IEEE Transactions on Automatic Control 2024年第6期70卷 3571-3586页

作者： Gzenda, Vaughn Chhabra, Robin Carleton University Autonomous Space Robotics Laboratory OttawaONK1S 5B6 Canada Toronto Metropolitan University Department of Mechanical Industrial and Mechatronics Engineering TorontoONM5B 2K3 Canada

In this paper, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using the kinetic energy metric and the geometry of friction forces. The (slow) invariant manifold is identified by a set of invariance conditions resulting in partial differential equations that generally do not have an analytic solution. We approximate the invariant manifold along with the control inputs with power series and show that using this approximation the invariance conditions admit an inherent recursion. Accordingly, we develop a recursive procedure to perform dynamic input-output linearization of the approximated slow system. We consider the output trajectory tracking problem using a PD control law on the Nth order approximation of the invariant manifold. Closed-loop stability analysis is performed on both the invariant manifold and the full phase space of the system. We prove that if the internal dynamics of the nonholonomic system is exponentially stable, then the perturbed system remains asymptotically stable. Moreover, we prove that the output error dynamics is uniformly bounded when applying the approximated control law, with bounds dependent on the control gains and strength of the friction force. Our approach is illustrated through a numerical case study on a differential robot. © 1963-2012 IEEE.

关键词： Kinetic energy

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Development of Novel Stewart Robot Equipped with 3D Printed Soft Actuators

Development of Novel Stewart Robot Equipped with 3D Printed ...

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IEEE Southeastcon

作者： Joe Gilmore Cecil Abidoye Devin Grace Razvan Cristian Voicu Turaj Ashuri Amir Ali Amiri Moghadam Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

The Stewart platform, a parallel robot configuration, traditionally employs six rigid linear actuators to connect a base with a mobile platform. These actuators, typically prismatic and connected by spherical or universal joints, are arranged in alternating pairs, enabling six degrees of freedom in positioning and orientation. While this architecture has proven effective in applications requiring robust and rigid positioning systems, the advent of soft or compliant actuators presents new possibilities, especially in applications where safety is paramount, such as in medical robots involving human contact. This paper introduces a novel compliant Stewart mechanism, incorporating soft 3D-printed linear actuators designed to replace the rigid joints and legs in conventional rigid Stewart mechanisms. It explores the implementation of these soft actuators within the Stewart platform's framework, aiming to retain its six degrees of freedom (DOF) motion while enhancing safety and adaptability in sensitive environments. The results demonstrate the feasibility and potential of this approach, opening new avenues in robotic design for medical and other human-interactive applications where the combination of precision, safety, and adaptability is critical.

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Design of the Interior Permanent Magnet Synchronous Motor for Electric Vehicles Using Grain-Oriented Electrical Steel

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Transactions of the Korean Institute of Electrical Engineers 2022年第7期71卷 939-944页

作者： Kwon, Min-Su Lim, Dong-Kuk Seo, Hyeon-Uk Dept. of Electrical Electronic and Computer Engineering University of Ulsan Korea Republic of Dept. of Robotics & Mechatronics Korea Institute of Machinery Materials Korea Republic of

In this paper, the interior permanent magnet synchronous motor (IPMSM) for electric vehicles (EVs) using grain-oriented electrical steel (GO) is proposed. It was confirmed through the B-H characteristic curve and the B-W characteristic curve that the GO has superior magnetic characteristic compared to the non-grain-oriented electrical steel (NO). In order to maximize the effect of GO, the GO was partially applied to the stator teeth that has a uniform magnetic flux direction through magnetic path analysis of the EV traction motor. It has been confirmed that the output and various characteristics of the motor have improved with the application of GO. In particular, the iron loss was decreased by 44.83% in no-load condition. Moreover, the average torque and the efficiency were increased by 5.26%, 0.29%, respectively and the iron loss was decreased by 42.45% in load condition. The result of this study shows that the partial application of the GO in IPMSM improves the performance of the motor, effectively © 2022 Korean Institute of Electrical Engineers. All rights reserved.

关键词： Traction motors

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Frequency Response of a Rigid Rotor on Magnetorheological Fluid Squeeze Dampers

Frequency Response of a Rigid Rotor on Magnetorheological Fl...

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International Russian Automation Conference (RusAutoCon)

作者： Alexander Fetisov Yifan Liu Maksim Litovchenko Department of Mechatronics Mechanics and Robotics Orel State University Orel Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

The paper presents the results of modeling the dynamic behavior of a rotor system using fluid film bearings and magnetorheological squeeze dampers. A rigid rotor model is used to describe the dynamics. A linearized bearing and damper models are used to describe force interactions in a two-mass system that takes into account the mutual motion of the damper, bearing and rotor. The hydrodynamics models of the bearing and damper are based on the Reynolds equation for the case of non-Newtonian rheological behavior of the lubricant. Dynamic coefficients were calculated for all sets of rotor speed and the applied magnetic field values. The trajectories of rotor motion were obtained on the basis of dynamic coefficients. A harmonic analysis was performed based on the rotor motion trajectories. The controllability of a magnetorheological liquid damper was analyzed based on an estimation of the maximum amplitudes of rotor vibration displacements.

关键词： Magnetic films Damping Vibrations Magnetomechanical effects Rotors Shock absorbers Mathematical models Trajectory Numerical models Magnetic levitation

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RL-Based Control of UAS Subject to Significant Disturbance

RL-Based Control of UAS Subject to Significant Disturbance

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Kousheek Chakraborty Thijs Hof Ayham Alharbat Abeje Mersha Smart Mechatronics and Robotics research group Saxion University of Applied Science Enschede The Netherlands Robotics and Mechatronics research group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper proposes a Reinforcement Learning (RL)-based control framework for position and attitude control of an Unmanned Aerial System (UAS) subjected to significant disturbance that can be associated with an uncertain trigger signal. The proposed method learns the relationship between the trigger signal and disturbance force, enabling the system to anticipate and counteract the impending disturbances before they occur. We train and evaluate three policies: a baseline policy trained without exposure to the disturbance, a reactive policy trained with the disturbance but without the trigger signal, and a predictive policy that incorporates the trigger signal as an observation and is exposed to the disturbance during training. Our simulation results show that the predictive policy outperforms the other policies by minimizing position deviations through a proactive correction maneuver. This work highlights the potential of integrating predictive cues into RL frameworks to improve UAS performance.

关键词： Training Attitude control Simulation Force Reinforcement learning Autonomous aerial vehicles Stability analysis Maintenance Dynamical systems Logistics

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Light-GBM based signal correction method for surface myoelectropotential measured by multi-channel band-type EMG sensor

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IFAC-PapersOnLine 2023年第2期56卷 3558-3565页

作者： Shotaro Nakamura Won Jiwoong Dong Huiqi Masami Iwase Department of Robotics and Mechatronics Tokyo Denki University 120-8551 Tokyo JAPAN

The aim of this research is to develop a user interface using myoelectrical signals, a type of biological signal. A multi-channel band-type EMG sensor is used to measure this signal. The goal is to make it easier to attach and detach the EMG sensor, while still obtaining sufficiently accurate measurements even if the sensor is placed slightly off the standard position. To achieve this, a Light-GBM based method is proposed to estimate the degree of deviation of the EMG sensor from the standard position. Once the deviation is estimated, a filter is constructed to compensate for the effect of the deviation on the myoelectrical signal. Experimental results using this method show that the sensor misalignment can be estimated with over 90% accuracy, and that correcting the myoelectrical signal based on this information improves joint angle estimation by approximately 13% in terms of root mean square error.

关键词： user interface EMG optimization Light GBM nonlinear ARX estimation

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INNOVATIVE Y-SHAPED STENT FABRICATION: A LEAP FORWARD IN BIFURCATION LESION TREATMENT

INNOVATIVE Y-SHAPED STENT FABRICATION: A LEAP FORWARD IN BIF...

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ASME 2024 International Mechanical Engineering Congress and Exposition, IMECE 2024

作者： Gharaie, Saleh Zolfagharian, Ali Moghadam, Amir Ali Amiri School of Engineering Faculty of Science Engineering and Built Environment Deakin University Burwood Australia Dept. of Robotics & Mechatronics Engineering Kennesaw State University AtlantaGA United States

ISBN: (纸本)9780791888629

This study introduces a novel method for fabricating Yshaped stents from Nitinol sheets, aimed at addressing clinical needs more effectively than current braided designs. Stents play a crucial role in treating narrowed blood vessels, but conventional methods often result in high bending resistance and increased risk of in-stent restenosis (ISR). The proposed method allows for precise control over the stent's flexibility and mesh density, overcoming the limitations of braiding techniques. A complex Y-shaped stent design was developed and subjected to extensive mechanical testing, including tensile, bending, and crush resistance tests, and finite element analysis (FEA). The results demonstrated that the developed stent exhibited superior flexibility, lower bending resistance, and high structural integrity under various load conditions. The stent's performance was benchmarked against a commercially available Y-shaped stent, showing comparable or improved mechanical properties. This innovative approach enhances the mechanical performance of Yshaped stents and also opens new possibilities for design customization, potentially improving clinical outcomes and reducing complications associated with stent implantation. Copyright © 2024 by ASME.

关键词： Tensile testing

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