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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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ChildACT: Child Action Recognition Dataset in RGB Data 20

ChildACT: Child Action Recognition Dataset in RGB Data

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20th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2025

作者： Sandygulova, Anara Yershov, Andrey Zhanatkyzy, Aida Telisheva, Zhansaule School of Engineering and Digital Sciences Nazarbayev University Department of Robotics and Mechatronics Astana Kazakhstan

ISBN: (纸本)9798350378931

Human action recognition is concerned with analysing, understanding and synthesizing kinematic and kinetic data. Data-driven computer vision solutions have advanced the progress in the field of action recognition while it would not be possible without large and publicly available datasets. While there are numerous datasets available for adult action recognition, child-centered action recognition efforts are still scarce. This paper presents a dataset that consists of video recordings of 200 children of different age and gender groups performing seven actions (boxing, waving, clapping, running, jogging, walking towards the camera, and walking from side to side). Two camera perspectives are provided, with a top view and a frontal view in RGB format. The dataset provides an opportunity for kinematic analysis of children motion while it also aims to bridge the performance gap between activity recognition systems for adults and children. © 2025 IEEE.

关键词： Pattern recognition systems

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Design of Laparoscopic Executive Instruments for Robots

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International Journal Bioautomation 2021年第4期25卷 299-314页

作者： Atanasova-Georgieva, Veronika Robotized and Mechatronics Intelligent Systems Institute of Robotics Bulgarian Academy of Sciences Sofia1113 Bulgaria

The main objective of this work is focused on improving some technical deficiencies of existing laparoscopic executive instruments to robots. For this reason two main problems have been overtaken: i) to perform a kinematic-structural analysis of existing executive instruments by structural and kinematic criteria, to estimate their engineering characteristics, motivating the need to develop new ones and ii) to develop functionally operating model of an executive tool, with simplified kinematics of actuation of end-effectors, with higher reliability and easier support of the sterility of the instrument. In contrast to daVinchi robot system which includes structures with three orthogonal rotations this study describes other decision with combination of perpendicular and parallel rotations (R ┴ R ║ R). The design is simplified, no additional transmission mechanisms of the executive links are required, which in turn facilitates the process of control of the device and proved higher reliability © 2021,International Journal *** Rights Reserved

关键词： Kinematics

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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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2025 IEEE SoutheastCon, SoutheastCon 2025

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

ISBN: (纸本)9798331504847

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. © 2025 IEEE.

关键词： Physical therapy

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Image Processing Algorithms in the Automotive Field Using the CARLA Simulator

Image Processing Algorithms in the Automotive Field Using th...

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International Carpathian Control Conference (ICCC)

作者： Andrei-Costin Trasculescu Ionut-Cristian Resceanu Ionut-Ovidiu Padeanu Stefan-Irinel Cismaru Florina-Luminita Petcu Horatiu Roibu Florin-Alexandru Dita Ionut-Nicusor Iftimiciuc Nicu-George Bizdoaca Mechatronics and Robotics Department University of Craiova Craiova Romania University of Craiova Craiova Romania

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

Autonomous driving systems have emerged as a transformative technology in the transportation industry, offering enhanced safety, efficiency, and sustainability. This paper explores the application of machine learning techniques within the Car Learning to Act (CARLA) simulation framework to develop and evaluate autonomous driving models. CARLA, an open-source urban driving simulator, provides a versatile platform for training, testing, and validating autonomous agents in highly realistic and diverse environments. By leveraging supervised learning, reinforcement learning, and deep learning methods, this study focuses on tasks such as lane following, obstacle avoidance, and dynamic path planning. The integration of perception modules, including camera and LiDAR-based object detection, with decision-making algorithms is emphasized. Experimental results demonstrate the effectiveness of the proposed machine learning pipeline in improving driving policy robustness under varying environmental conditions. This work highlights the potential of CARLA as a critical tool for advancing research in autonomous vehicle technologies and underscores the role of machine learning in addressing complex challenges in autonomous navigation.

关键词： Training Deep learning Computer vision Machine learning algorithms Accuracy Computational modeling Object detection Autonomous vehicles Optimization Testing

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Design and Implementation of a Fault Inspection System for the Festo Modular Production System (MPS)

Design and Implementation of a Fault Inspection System for t...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Alisultan Sagynbay Azat Balapan Tohid Alizadeh Department of Robotics and Mechatronics Nazarbayev University Astana Kazakhstan

The rapid development of automation systems and the increased demand for efficient fault detection in manufacturing processes have led to the need for advanced fault detection systems. In this study, we present a novel fault detection system for the Festo MPS 500 system that provides an easier approach of communication. The system implements a camera and Python algorithms for accurate and reliable detection of misaligned parts. An image processing pipeline is developed that includes ROI selection, rectangle detection, fixed point selection, distance calculation, and digital signal communication with PLCs. The system achieved a high level of accuracy in detecting misaligned parts, while establishing a seamless data exchange between PLCs using Python's Snap7 library. Moreover, the system utilizes a human-machine interface to display errors and monitor the production process. The results indicate that the proposed fault detection system offers a reliable and efficient solution to improve communication between PLCs and enhance manufacturing performance, by introducing the usage of a high level programming language.

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Multi-Robot Object Transport in Constrained Environments: A Model Predictive Control Approach

Multi-Robot Object Transport in Constrained Environments: A ...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Ibrahim Muhammed Ayman A. Nada Haitham El-Hussieny Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

This paper presents a robust approach for cooperative object transportation using a multi-robot system driven by Model Predictive Control (MPC). Object transportation is a critical task in various applications such as industrial automation, logistics, and search and rescue, requiring efficient and reliable methods to handle dynamic and constrained environments. Utilizing multiple robots in object transportation enhances flexibility, scalability, and efficiency, allowing for distributed workload and improved robustness against individual robot failures. Current techniques in multi-robot object transportation include centralized and decentralized control strategies, The key challenges are communication constraints, coordination complexity, and real-time adaptability. Our methodology leverages Decentralized MPC, which significantly contributes to overcoming these challenges by enabling real-time, local decision-making while ensuring global coordination and optimal performance. The proposed approach is proven through various types of scenarios, demonstrating its potential as a scalable and efficient solution for multi-robot systems operating in constrained environments.

关键词： Service robots Scalability Robot kinematics Transportation Search problems Robustness Real-time systems Multi-robot systems Predictive control Resilience

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Separation of microalgae from bacterial contaminants using spiral microchannel in the presence of a chemoattractant

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Bioresources and Bioprocessing 2024年第1期11卷 511-525页

作者： Leticia F.Ngum Y.Matsushita Samir F.El-Mashtoly Ahmed M.R.Fath El-Bab Ahmed L Abdel-Mawgood Institute of Basic and Applied Sciences Biotechnology ProgramEgypt-Japan University of Science and TechnologyAlexandria 21934Egypt Institute of Basic and Applied Sciences Nanoscience ProgramEgypt-Japan University of Science and TechnologyAlexandria 21934Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and TechnologyAlexandria 21934Egypt.

Cell separation using microfluidics has become an effective method to isolate biological contaminants from bodily fluids and cell cultures,such as isolating bacteria contaminants from microalgae cultures and isolating bacteria contaminants from white blood *** this study,bacterial cells were used as a model contaminant in microalgae culture in a passive microfluidics device,which relies on hydrodynamic forces to demonstrate the separation of microalgae from bacteria contaminants in U and W-shaped cross-section spiral microchannel fabricated by defocusing CO_(2) laser *** a flow rate of 0.7 ml/min in the presence of glycine as bacteria chemoattractant,the spiral microfluidics devices with U and W-shaped cross-sections were able to isolate microalgae(Desmodesmus sp.)from bacteria(***)with a high separation efficiency of 92%and 96%*** the same flow rate,in the absence of glycine,the separation efficiency of microalgae for U-and W-shaped cross-sections was 91%and 96%,*** was found that the spiral microchannel device with a W-shaped cross-section with a barrier in the center of the channel showed significantly higher separation *** microchannel chips with U-or W-shaped cross-sections were easy to fabricate and exhibited high *** these advantages,these devices could be widely applicable to other cell separation applications,such as separating circulating tumor cells from blood.

关键词： W-shaped cross-section CO_(2)laser ablation Glycine Separation efficiency Removal ratio

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Data Collection, Heat Map Generation for Crack Detection Using Robotic Dog Fused with FLIR Sensor

Data Collection, Heat Map Generation for Crack Detection Usi...

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IEEE Southeastcon

作者： Jose Chagoya Shrey Patel Charles Koduru Aiden Kovarovics M. Hassan Tanveer Razvan C. Voicu Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

The imperative need to monitor critical infrastructure, encompassing power plant transformers and essential civil structures, is paramount for ensuring their sustained longevity and safety. A notable progression in this domain arises from the widespread availability of Forward-Looking Infrared (FLIR) cameras, made possible by reductions in manufacturing costs. These FLIR cameras, distinguished by their remarkable precision in temperature data collection and visualization, hold significant potential across diverse fields. This paper underscores the pioneering application of FLIR cameras in infrastructure monitoring, with a specific focus on power transformers and aging civil structures like bridges. In the realm of transformers, the FLIR camera exhibits the capability to delve into and record internal temperatures, facilitating the early identification of deviations from standard operational temperature ranges. Detection of such anomalies serves as a trigger for preemptive measures, thereby minimizing operational disruptions. Similarly, for structures such as bridges, routine FLIR analyses prove instrumental in discerning temperature variations that may indicate potential wear or fractures. This timely identification allows for proactive maintenance, ensuring structural integrity and averting potential hazards. To augment the safety and efficiency of data collection, this research advocates for the integration of FLIR cameras with mobile robots, exemplified by the Unitree GoAirl. This strategic amalgamation enables precise yet remote surveillance, mitigating risks to operators while maximizing the accuracy of infrastructure health assessments. The proposed approach not only advances the capabilities of FLIR technology but also her-alds a paradigm shift in the realm of infrastructure monitoring, promising enhanced reliability and safety standards.

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ChildACT: Child Action Recognition Dataset in RGB Data 25

ChildACT: Child Action Recognition Dataset in RGB Data

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Anara Sandygulova Andrey Yershov Aida Zhanatkyzy Zhansaule Telisheva Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

关键词： Training Legged locomotion Transfer learning Human-robot interaction Estimation Kinematics Cameras Human activity recognition Video recording Testing

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