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6th International Conference on robotics and Automation in Industry, ICRAI 2024

作者： Zafar, Saqib Maqbool, Hafiz Farhan Ahmad, Naveed Ali, Arham Moeizz, Abdul Ali, Faizan Taborri, Juri Rossi, Stefano University of Tuscia Department of Economics Engineering Society and Business Organization VT Viterbo01100 Italy University of Engineering and Technology Lahore Department of Mechanical Mechatronics and Manufacturing Engineering Faisalabad Campus Lahore38000 Pakistan National Center of Robotics and Automation Human-Centred Robotics Lab Pakistan

ISBN: (纸本)9798350355703

Visual impairment affects the ability to navigate independently in an unknown environment due to reliance on human/dog assistance, potential miscommunication, and discomfort during mobility. To make the visually impaired (VI) individuals self-reliant and confident in their mobility the proposed system has been developed that contains a light detection and ranging (LiDAR) sensor for obstacle detection and two omni-wheels coupled with the DC gear encoder motors for precise movement in any direction without lifting the cane. Hector Simultaneous Localization and Mapping (SLAM), A, and steering wheel algorithms have been implemented in the robot operating system (ROS) for real-time environment mapping, efficient path planning, and navigating in an unknown indoor static environment, respectively. The Raspberry Pi 3B+ and Arduino Mega 2560 are used in the master-slave configuration for decision-making on path planning and controlling the maneuverability of the system in real-time. The proposed system in the paper is successfully tested on one subject in two indoor environments. The results demonstrate that the system serves as an assistive mobile robot, helping the VI individual to navigate confidently in an unknown environment and reach the destination without assistance. © 2024 IEEE.

关键词： Motion planning

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Geometric Programming for Nonlinear Satellite Buffer Networks With Time Delays under L_(1)-Gain Performance

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 554-556页

作者： Yukang Cui Yihui Huang Michael V.Basin Zongze Wu College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Shenzhen University Shenzhen 518060China Peng Cheng Laboratory Shenzhen 518060China Robotics Institute Ningbo University of TechnologyNingbo 315211China Autonomous University of Nuevo Leon Nuevo Leon 66455Mexico

Dear Editor,This letter concerns the parameter tuning problem for nonlinear satellite buffer networks with communication delays, aiming to optimize their stability properties under L_(1)-gain. We first model the satellite buffer networks by a nonlinear time-delay positive system and propose a novel characterization under which the nonlinear system is asymptotically stable with a prescribed L_(1)-induced performance.

关键词： nonlinear system prescribed

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Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) Micropositioner with Large Workspace 26

Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) M...

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26th International Conference on Computer and Information Technology, ICCIT 2023

作者： Das, Tilok Kumar Shahrear, Rifat Shirinzadeh, Bijan Dept. of Mechanical Engineering Chattogram Bangladesh Monash University Robotics and Mechatronics Research Laboratory Dept. of Mechanical and Aerospace Engineering Melbourne Australia

ISBN: (纸本)9798350359015

This paper presents a piezo-based compliant planer 3-DOF micropositioning stage for decoupled large workspace of the platform. Three piezoelectric actuators inside three double-stairs bridge-type mechanisms were used to drive the output platform in XY? directions. A-3PPR type kinematic chain has been oriented parallelly in such a way to have a rotational symmetry about the centroid. Two different types of prismatic flexure joints with a passive rotary flexure joint were utilized in each kinematic chain. The proposed design focused on the redundancy of the cross-axis coupling effect from the other axes during directional movements. To evaluate the performance, Finite Element Analysis (FEA) has been conducted. The decoupled 3-DOF micropositioning stage is able to maintain the maximum parasitic motion of 0.05% and 1.95 % in the Y and ? directions of their respective directional working range. So, the effect of cross-coupling motion during directional movement can be presumed to be less in this case. Further, the FEA results show that the micropositioning stage has a large work envelope of ±271.1 µm × 235 µm × ± 6.0352 mrad. Moreover, the evaluation of the dynamic characteristics predicts that out-of-plane motion will be less likely to occur. Thus, the 3-DOF micropositioning stage can provide a unidirectional decoupled large range of motions. © 2023 IEEE.

关键词： Compliant mechanism Cross-coupling effect Decoupling Finite Element Analysis (FEA) Planer motion

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Prototype of an intelligent textile based robot skin to expand potential applications for cobot's 8

Prototype of an intelligent textile based robot skin to expa...

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8th International Conference on Mechanical Engineering and robotics Research, ICMERR 2023

作者： Niquet, Kirubagaran Patel, Nikunjkumar Schrodel, Frank Jahn, Matthias Varelmann, Sven Schmalkalden University of Applied Sciences Mechatronics and Robotics Thuringia Germany Schmalkalden University of Applied Sciences Automation Technology and Robotics Thuringia Germany ITP GmbH Engineers for Smart Textiles Germany B and R Industrie-Elektronik GmbH Germany

ISBN: (纸本)9798350330519

Human Robot Collaboration (HRC) already dates couple of decades back. However, as Industry 4.0 and 5.0 demands smart human-centered production technologies, more concerns has been raised in the recent years regarding optimization and adaption of collaborative robots (Cobots). The core idea of HRC focuses on sharing the same workspace and performing a joint task, by both robot and humans. This paper focuses mainly on the development of a textile-based cover for industrial robots, integrated by several sensor arrays, resulting in enabling the sense of the human in the vicinity of the robot. This information is further utilized to manipulate the standard robot control algorithm to facilitate a safe collaboration by adaptive speed control based on the distance of human and robot. Additionally, the cover material is based on textile, which in terms of passive safety, facilitates cushioning effect when collision is occurred. In terms of active safety, it provides a wide area of sensing with several proximity sensors integrated over the skin. © 2023 IEEE.

关键词： Intelligent robots

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Gait dynamic stability evaluation on inclined surfaces for inverted or everted feet walking

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Fuss und Sprunggelenk 2024年第4期22卷 254-268页

作者： Raza, Anam Mahmood, Imran Sultana, Tayyaba Sultana, Salma Dehghani-Sanij, Abbas A. Department of Zoology Government College University Faisalabad Pakistan Mechatronics and Control Engineering Department Faisalabad Campus UET Lahore Pakistan Institute of Design Robotics and Optimisation School of Mechanical Engineering University of Leeds United Kingdom

Background: This study investigates gait dynamic stability on inclined surfaces while walking with foot rotational impairments such as everted and inverted feet. Walking stability is assessed during gait transitional periods i.e. weight loading and unloading phases. Methods: Foot rotational impairments (eversion and inversion) are imitated using wedged foot insoles. A total of ten healthy subjects performed five trials for each of the inverted, everted, and normal feet conditions. Experimental data was collected using a twelve-camera motion capture system and a force plate installed on an inclined platform. Lower limb joint kinematics were computed in Visual-3D motion analysis software to evaluate the degree of foot rotational impairments. Gait dynamic stability was assessed by analysing the centre of mass and centre of pressure signals as neuromechanical input and output responses respectively. Both signals were modelled in time and frequency domains and stability margins were quantified by applying Nyquist and Bode (N&B) methods from control engineering theory. Results: Stability margins quantified from N&B methods illustrated the loading phase as stable and the unloading phase as unstable gait transitions. During the loading phase, both rotational impairments illustrated a decrease in stability (p < 0,05) for the ramp ascent walk and an increase in stability (p < 0,05) for the ramp descent walk. However, there was no difference observed for the respective unloading phases. Results from neuromotor outputs (CoP-velocity) illustrated a strong interlimb correlation (p < 0,001) during gait transitional periods, implying a compensatory stability interaction exists between opposite limbs. Further, stabilities quantified from outputs were found greater in magnitudes than the instability quantified from inputs illustrating the robustness of neuromotor balance control. Conclusions: Results support the hypothesis that gait stability gets affected while walking with rotation

关键词： Balance control Foot Gait stability Inclined walk Rotational impairments

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Upper limb exoskeleton for neurorehabilitation with control via brain-computer interface 6

Upper limb exoskeleton for neurorehabilitation with control ...

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Antipov, Vladimir Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

This paper describes the results of developing control methods for an active exoskeleton for rehabilitation of human upper limb motor activity. The experimental setup, real-time software implementation of the control system, and also the developed software environment for stimulation of the subject during the neurophysiological experiment are described. The research object of the above system is the processes of activation of brain areas in terms of analysis of bioelectrical electroencephalographic signals registered during a motor activity, suitable for use in the tasks of motor rehabilitation. The purpose of this work is to develop a hardware-software part of the experiment to study real-time algorithms for control of the upper limb exoskeleton for rehabilitation and education tasks using 'brain-computer' interfaces. © 2022 IEEE.

关键词： Brain computer interface

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Prediction of directivity characteristics of piezoelectric macro-fiber composite interdigital transducers: a semi-analytical approach

e-Journal of Nondestructive Testing

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e-Journal of Nondestructive Testing 2024年第7期29卷

作者： Raorane, Siddhesh Ambrozinski, Lukasz Stepinski, Tadeusz Packo, Pawel Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow30-059 Poland

The employment of guided waves for structural health monitoring applications has attracted substantial attention in recent years. Piezoelectric transducers are frequently employed in these systems for elastic wave generation and acquisition. Their dynamic properties, i.e., direction-dependent frequency characteristics such as directivity patterns, are an important feature for designing a reliable monitoring strategy. Although analysis of the transducer directivity pattern can be performed using finite element models, these usually tend to be computationally very expensive, especially for parametric and optimization studies. In this paper, a semi-analytical framework is proposed that can predict the far-field directivity patterns of complex transducers of arbitrary shape and structure mounted on a substrate. The framework described in this paper integrates analytical far-field predictions with a local finite element model evaluating the traction field produced by the transducer. Consequently, the FE model accurately captures near-field responses, whereas the analytical component predicts the far-field responses. The implementation of this semi-analytical framework requires the development of analytical and numerical approaches. The former includes computation of dispersion curves of the inspected plate, the stress and displacement profiles of wave modes, and ultimately, the excitability relations, while the latter includes estimation of the traction field between the transducer and the plate using the FE model. Owing to the popularity of piezoelectric macro-fiber composite (MFC) transducers, in this paper, we apply the proposed method to predict the directivity patterns of MFC M2807-P2 transducer. To validate the reliability of the proposed method, the predicted patterns are compared with experimental results obtained using Laser Doppler Vibrometer. © 2024, NDT. net GmbH and Co. KG. All rights reserved.

关键词： Forecasting

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Mathematical Modeling of Combined Actuator for Rehabilitation Exoskeleton

Mathematical Modeling of Combined Actuator for Rehabilitatio...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Aleksandr Pechurin Andrey Yatsun Sergey Jatsun Department of Mechanics Mechatronics and Robotics South-West State University Kursk Russian Federation

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

This paper deals with the mathematical modeling of a lower limb rehabilitation exoskeleton with a combined actuator. The actuator consists of an electric actuator and a mechanical energy storage spring acting as a gravity compensator, which is used to create an auxiliary torque compensating part of the gravity load. A mathematical model is described and mathematical modeling of the trajectory motion of the leg of the exoskeleton with a combined drive under different characteristics of the mechanical energy storage is carried out. The trajectory motion is based on anthropomorphic gait, based on approximated data of human step video recordings. The simulation results confirm that the mechanical energy storage generates an auxiliary torque compensating part of the gravitational forces of the exoskeleton leg.

关键词： Legged locomotion Actuators Torque Exoskeletons Mathematical models Trajectory Mechanical energy Energy storage Load modeling Gravity

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Cryptographic Solutions for Secure Communications and Compliance with International Automotive Standards: Implementation on Mechatronic Platforms

Cryptographic Solutions for Secure Communications and Compli...

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International Carpathian Control Conference (ICCC)

作者： Florin-Alexandru Dita Ionut-Nicusor Iftimiciuc Ionut-Cristian Resceanu Florina-Luminita Petcu Nicu-George Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

The rapid evolution of modern vehicles, driven by the integration of advanced software systems and connectivity features, has introduced significant cybersecurity challenges to the automotive industry. This transformation, while enhancing user experience and vehicle functionality, has exposed critical vulnerabilities that could jeopardize vehicle integrity, user safety, and data confidentiality. As vehicles increasingly rely on interconnected systems, ensuring robust cybersecurity measures has become a paramount concern for manufacturers, regulators, and researchers. The primary focus of the study is on the application of cryptographic algorithms to establish secure communication channels between various vehicle components and systems. Cryptographic techniques, which form the cornerstone of secure data exchange, are explored in depth to address threats such as unauthorized access, data manipulation, and eavesdropping. A practical simulation was conducted to demonstrate the efficacy of secure data exchange mechanisms. This simulation utilized two hardware platforms: the Renesas Synergy SK-S7G2 and the Raspberry Pi. By implementing modern cryptographic protocols, the study showcases how encrypted communication can mitigate cybersecurity risks in real-world automotive scenarios. Furthermore, the research highlights the significance of adhering to industry standards such as ISO/SAE 21434, which provides a comprehensive framework for addressing cybersecurity in automotive systems. By aligning with these standards, manufacturers can systematically identify and mitigate risks, thereby enhancing the overall security posture of their vehicles. This compliance not only ensures regulatory adherence but also fosters consumer trust in the safety and reliability of digital vehicles. The study also provides tailored strategies for automotive cybersecurity, emphasizing proactive risk management, regular software updates, and robust encryption protocols. This work contributes valuab

关键词： Technological innovation mechatronics Systematics Steering systems Software systems User experience Cryptography Computer security Standards Automotive engineering

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Handling Qualities of a New Last-Mile Vehicle

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Journal of Transportation Technologies 2022年第1期12卷 137-158页

作者： Jordi D’hondt Dominiek Degryse Eric Demeester Peter Slaets Marc Juwet Department of Robotics Automation and Mechatronics KU Leuven Gent Belgium Department of Robotics Automation and Mechatronics KU Leuven Diepenbeek Belgium Department of Robotics Automation and Mechatronics KU Leuven Group T Leuven Belgium

This paper assesses the vehicle dynamics of a new cargo bike concept developed for euro pallet sized cargo. The cargo bike developed is for last-mile delivery. Different aspects of manoeuvrability and stability are examined using a series of manoeuvres based on tests from the automotive industry combined with bicycle industry regulations. These manoeuvres objectively evaluate and determine the handling capabilities of the cargo bike concept. Those tests can be compared using the results of the benchmark vehicles. The results conclude the new cargo bike has proper vehicle dynamics above the majority of benchmark vehicles but there is still room for improvement.

关键词： Cargo Bike Last-Mile Delivery Handling Qualities E-Commerce

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