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

作者： A.G. De Groot M.K. Welleweerd E.B. Cornel V. Groenhuis S. Stramigioli F.J. Siepel Robotics and Mechatronics group University of Twente The Netherlands Andros Clinics Arnhem The Netherlands

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Concentric Tube Robots (CTRs) show high potential as patient- and task-specific minimally invasive robots, as their workspace can be optimized for task completion in confined workspaces such as the human bladder. Ensuring high-quality task completion at regions of interest on the bladder wall, however, requires precise positioning and orienting of imaging devices or tooling relative to the bladder wall. To this end, we present an optimization framework for the design parameters of the CTR which not only considers position, but also orientation of the CTR End-Effector (EE) with respect to the task surface. This ensures that the EE-task can be performed under the set constraints at the desired task surface within a given workspace. Our results show the coverage of five EE-tasks over two task surfaces; a simplified model of the lower urinary tract (urethra and bladder) and an anatomically correct model based on MR-image segmentation. Optimization focused solely on positioning yields a notable 94.2 % reduction in task surface coverage when orientational considerations are incorporated into the EE-task. Moreover, the introduction of an alternative orientation for the EE-task results in an 18% decrease in coverage. Therefore, we conclude that task optimization should be performed based on both the position and orientation of the EE with respect to the task surface.

关键词： Performance evaluation Visualization Concentric tube robots Minimally invasive surgery Imaging Bladder End effectors Optimization Robots Design optimization

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Comparative Study of Energy Management Techniques for Solar PV-based Microgrid Systems 6

Comparative Study of Energy Management Techniques for Solar ...

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6th Parul International Conference on Engineering and Technology, PICET 2024

作者： Kamagaté, Yaya Shah, Heli Amit Sharma, Sspm B. Electrical Engineering Department Parul University Vadodara India Robotics and Automation Engineering Department Parul University Vadodara India Mechatronics Engineering Department Symbiosis University of Applied Sc Indore India

ISBN: (纸本)9798350369748

In recent years, microgrid systems have gained popularity as reliable, efficient, and clean energy sources for local communities. Among these, solar PV systems stand out as a widely used microgrid variant. However, the intermittent nature of solar power necessitates the incorporation of energy storage solutions to ensure a consistent electricity supply. In this context, batteries and supercapacitors emerge as two prominent options for storing energy in solar PV microgrids. This study leads a comprehensive examination and correlation of three distinct solar PV-based microgrid configurations: solar PV system (PVS), solar PV with battery system (PVBS), and solar PV with both battery and supercapacitor system (PVBSS). Employing MATLAB/Simulink, the analysis centers on their technical capabilities, particularly emphasizing energy management. The simulation results demonstrate that incorporating battery storage enhances the performance of the PVS microgrid, ensuring the stability of the DC bus voltage and thus balancing energy production and consumption. Furthermore, the PVBSS configuration exhibits superior performance through its capacity to deliver high power with rapid response times, consequently extending the battery lifespan. This investigation underscores the critical role of energy storage solutions in enhancing solar PV microgrids' effectiveness and overall performance. © 2024 IEEE.

关键词： Battery storage

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Design and Development of a Humanoid Robot for Sign Language Interpretation

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SN Computer Science 2021年第3期2卷 220页

作者： Nihal, Ragib Amin Broti, Nawara Mahmood Deowan, Shamim Ahmed Rahman, Sejuti Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh

Purpose: With an indisputable complexity of communication for hearing and speaking impaired people, most sign language recognition systems utilize virtual reality or onscreen robots. This paper presents the design and development of a special and low-cost humanoid robot that can perform as a sign language interpreter. To the best of our knowledge, this is the first endeavor to fabricate a humanoid robot for Bangla sign language (BdSL) and Medical signs interpretation. Methods: Considering the plethora of design criteria and balancing between rigidity and flexibility 3D models of the robotics parts are designed and 3D printed ensuring cost efficiency. With the help of modern fabrication technology, the robot is developed and assembled with proper actuators and circuitry. An image dataset is built comprising 950 images for BdSL recognition and made publicly available. We utilized the Recurrent neural network (RNN) and Convolutional neural network (CNN) for deep learning model establishment and feature extraction from video and image data. Results: The developed humanoid robot has 43 Degrees of freedom (DoF) which includes two 15 DoF hands. It can imitate 16 BdSL alphabets in sign language, can capture a video or image input in real-time from the user, and recognize 10 medical signs and 38 alphabets of BdSL. The learning model for video-based medical sign recognition achieved 87.5% test accuracy. Image-based Bangla sign language recognition achieved an overall test accuracy of 98.19% in our dataset and 93.8% in another available dataset. Conclusion: Compared to the state-of-the-art robotic systems for sign language interpretation, our approach has achieved higher kinematic characteristics, remarkable results in sign recognition, and impressive competency in sign imitation;all at almost 10 times lower cost than the state-of-the-art systems. The results are evidence that our approach is efficient and suitable in helping hearing and speaking impaired people. Moreover, thi

关键词： Convolutional neural network Humanoid robot Recognition Recurrent neural network Sign language

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CACS20223 Mechatronic Joystick Drive with Feedback for excavator

CACS20223 Mechatronic Joystick Drive with Feedback for excav...

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International Automatic Control Conference

作者： Shatokhin Oleksii Vytautas Bučinskas Student of Department of Mechatronics Robotics and Digital Manufacturing Mechatronic Systems Faculty of Vilniaus Gedimino Technikos Universitetas Department of Mechatronics Robotics and Digital Manufacturing

The purpose of this work is to develop and perform research on a universal joystick drive system for different manual hydraulic distributors and improve its operation performance by introducing a new mechatronic design and a control algorithm. To do this, research of various sensors will be carried out. Research on the operation of sensors in the joystick drive system will help further developments in this direction and can add additional functions such as automatic, tele-operated, or manual with dig assistance. Implementing a mechatronic system for hydraulic system control in existing excavators and other hydraulic driven machines. This new developed device and methodology of their implementation will convert an excavator into a robot containing 4 degrees of freedom. Research based on the original test bench, consisting of computer-controlled drives for hydraulic distributor manipulation of real excavator working joysticks. The development allows you to upgrade equipment instead of buying a new one, which reduces the cost of updating and makes it easier for workers, as well as allows them to work more efficiently.

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Exploring the Feasibility of Solar-Powered Autonomous Underwater Survey Vehicles for Extended Underwater Exploration

Exploring the Feasibility of Solar-Powered Autonomous Underw...

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IEEE Southeastcon

作者： Alan Bounyasith Ben Mueller Dongwoo Jin Uday Patel M. Hassan Tanveer Matthew Marshall Yusun Chang Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

Autonomous Underwater Vehicles (AUVs) have emerged as vital tools in underwater ecological research. However, challenges such as limited operating range, energy constraints, and communication issues persist. This research investigates the practicality of autonomous survey vehicles by proposing a solution that integrates renewable energy sources, enhances communication capabilities during submersion, and facilitates long-term deployments. The study presents a solar-powered Autonomous Underwater Survey Vehicle (AUSV), comprising a submersible and a tethered solar buoy. The AUSV aims to operate autonomously along predefined paths, ensuring constant communication, extended operation cycles, and efficient data collection. The solar buoy provides GPS tracking, data transmission, and renewable energy generation, eliminating the need for periodic resurfacing. The submersible is equipped with thrusters, sensors, and data acquisition tools for oceanic measurements. The project's focus is on addressing limitations in traditional survey methods, providing an economical and efficient alternative for underwater exploration, with potential applications in ecological studies, water quality testing, and bathymetry. The presented proof-of-concept prototype lays the groundwork for future advancements in underwater infrastructure and scientific exploration. Keywords: Solar autonomous underwater vehicle, renewable energy, AUV, underwater mobile robots, oceanic survey, autonomous exploration.

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Model- and Data-Based Control of Self-Balancing Robots: Practical Educational Approach with LabVIEW and Arduino

arXiv

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arXiv 2024年

作者： Abdelgawad, Abdelrahman Shohdy, Tarek Nada, Ayman Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt

A two-wheeled self-balancing robot (TWSBR) is non-linear and unstable system. This study compares the performance of model-based and data-based control strategies for TWSBRs, with an explicit practical educational approach. Model-based control (MBC) algorithms such as Lead-Lag and PID control require a proficient dynamic modeling and mathematical manipulation to drive the linearized equations of motions and develop the appropriate controller. On the other side, data-based control (DBC) methods, like fuzzy control, provide a simpler and quicker approach to designing effective controllers without needing in-depth understanding of the system model. In this paper, the advantages and disadvantages of both MBC and DBC using a TWSBR are illustrated. All controllers were implemented and tested on the OSOYOO self-balancing kit, including an Arduino microcontroller, MPU-6050 sensor, and DC motors. The control law and the user interface are constructed using the LabVIEW-LINX toolkit. A real-time hardware-in-loop experiment validates the results, highlighting controllers that can be implemented on a cost-effective platform. © 2024, CC BY.

关键词： Controllers

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Gesture-Guided Exosuit Interface: Advancing Motion Tracking and Automation for Robotic Control

Gesture-Guided Exosuit Interface: Advancing Motion Tracking ...

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IEEE Southeastcon

作者： Jaykob Aksoy Jose Gonzalez Siddhant Ala Franccesca Tabertus Jose Chagoya Charles Koduru M. Hassan Tanveer Matthew Marshall Yusun Chang Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

Exosuits, also known as exoskeletons, represent a burgeoning technology designed to augment human physical capabilities while alleviating bodily strain. This project introduces a novel approach to exosuit functionality, focusing on motion tracking through a fused deposition modeled apparatus with rotary hall effect sensors. The system precisely monitors shoulder and elbow joint movements, translating them into control signals for a two-wheeled robot. The innovative design aims to provide an affordable, hands-free solution for motion tracking, offering applications in the control and automation of various vehicles, machines, and equipment. The research addresses challenges such as sensor data fusion, aiming to seamlessly integrate sensor information for real-time control. As exosuits evolve, the emphasis lies in minimizing size, enhancing comfort, and expanding applications, potentially leading to inconspicuous, wearable devices with broad compatibility. The goal is to create user-friendly exosuit with a modular design, capable of controlling a variety of devices, with minimal setup and calibration. This project contributes to the ongoing development of exosuit technology, offering a promising avenue for future applications in fields ranging from virtual reality, medical and industrial domains.

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Graphical Interface for Behavioral Studies on a Hexapod Robot

Graphical Interface for Behavioral Studies on a Hexapod Robo...

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International Carpathian Control Conference (ICCC)

作者： Mircea Nitulescu Department of Mechatronics and Robotics University of Craiova Craiova Romania

This paper presents the main elements in the development of a graphical interface for the behavioral studies on a hexapod robot. The Matlab environment and the facilities of its GUIDE editor were used. The interface is organized zonally and allows the simple modification of numerous constructive and functional parameters of the robot to evaluate its behavior. The interface also provides supervised control when entering the desired data to prevent errors or unrealistic situations. One of the final goals was to study relative to the essential classes of obstacles specific to walking robotics. Further developments of the interface also allowed coupling with a simplified physical model of the hexapod robot to allow evaluations between simulations and real physical behaviors.

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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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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Haque, Sean Tanveer, Muhammad Hassan Voicu, Razvan Cristian Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

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. © 2025 IEEE.

关键词： Model predictive control

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The Motion Suspension System for On-Ground Tests of Space Robots: Demonstration and Results

The Motion Suspension System for On-Ground Tests of Space Ro...

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IEEE Conference on Aerospace

作者： Ferdinand Elhardt Marco De Stefano Manfred Schedl Martin Stelzer Andreas Stemmer Ismael Rodriguez Ria Vijayan Máximo A. Roa Tobias Bruckmann Institute of Robotics and Mechatronics German Aerospace Center DLR Oberpfaffenhofen Germany Chair of Mechatronics University of Duisburg-Essen Duisburg Germany

Space robotics plays a significant role in advancing space exploration creating various opportunities for upcoming space missions. Robotic systems deployed on satellites can be used to extend the lifetime of target satellites, inspect orbital assets, and support the deorbiting process. On-ground verification and validation are essential for ensuring the reliable performance of the robot in space. However, space robots are designed for zero gravity conditions, but are tested within Earth’s gravity. This creates significant challenges as the robotic joints provide limited torque preventing them from performing movements in Earth’s environment. Against this background, the Institute of robotics and mechatronics at the German Aerospace Center (DLR) and the University of Duisburg-Essen have developed the Motion Suspension System (MSS), a cable-driven parallel robot that enables space robots to operate in the full three-dimensional workspace. This paper outlines initial experiences with the MSS by focusing on a contact-oriented task utilizing the space-qualified DLR robot arm CAESAR (Compliant Assistance and Exploration SpAce Robot). It shows the applied suspension forces of the MSS in relation to the robot arm’s gravitational force, discusses the system’s limitations and capabilities in executing complex trajectories, and presents general lessons learned from using the MSS for verification.

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