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2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

作者： Della Noce, Eduardo Rodrigues Kalra, Arti Coelho, Andre Muskardin, Tin Kondak, Konstantin Institute of Robotics and Mechatronics Wessling82234 Germany

ISBN: (纸本)9780738131153

High Altitude Long Endurance (HALE) aircraft can take flight to altitudes as high as 20 km and can stay there for long periods of time. In this article, the viability of landing such an aircraft on a mobile platform using a cooperative control strategy for motion synchronization is examined. Time domain system identification is applied to create a model of the Elektra 2 Solar HALE aircraft, which was found to be high fidelity by the Federal Aviation Administration (FAA) standards. An analysis is made to evaluate the feasibility of autonomously landing the HALE Unmanned Aerial Vehicle (UAV) on top of a ground vehicle with a roof-mounted landing platform. Controller synthesis is done for the individual vehicles as well as the cooperative landing control, leading to an examination of the overall system stability and performance, using both deterministic and stochastic methods. © 2021 IEEE.

关键词： Stochastic systems

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Inpatient Monitoring System: Temperature, Oxygen Saturation, Blood Pressure, Heart Rate, and Infusion Automation Based on ESP 32, IoT, and Mobile Application 7

Inpatient Monitoring System: Temperature, Oxygen Saturation,...

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7th International Conference of Computer and Informatics Engineering, IC2IE 2024

作者： Joseph, Irvanda Anthony, Patrick Astuti, Winda Lie, Zener Sukra Iwan Solihin, Mahmud Bina Nusantara University Binus Aso School of Engineering Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Ucsi University Department of Mechanical and Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798331505530

The implementation of a patient monitoring system and infusion automation which aims to ensure regular and periodic monitoring of inpatient conditions are applied in this system. This embedded system is applied in hospitals and addresses the uneven distribution of healthcare workers in Indonesia, particularly in remote areas. Currently, manual checks by nurses can lead to errors and reduced patient comfort. The improvement supervision is developed in this work. The system monitored body temperature, oxygen saturation, blood pressure, heart rate, and automated infusions. All the embedded systems are connected to Internet of Things (IoT) and a real-time database accessible through an application and web. This system allows doctors and hospital authorities to make decisions based on patient condition history. The testing phase of the system shows four data acquisition devices (temperature, oxygen saturation, blood pressure, and heart rate), an ESP 32, and Firebase as a database, have ability to capture and send real-time data every five seconds and can be accessed by doctors, patients, and hospital authorities. © 2024 IEEE.

关键词： Remote patient monitoring

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Control Satellite Orientation with Neural Network 19

Control Satellite Orientation with Neural Network

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19th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2022

作者： Olaru, Adrian Olaru, Serban Mihai, Niculae University Politehnica of Bucharest Robotics and Manufacturing System Romania Aerospace METRA Romania Mechatronics Techno Accord Canada

ISBN: (数字)9781665460514

ISBN: (纸本)9781665460514

The orientation of a satellite in space, or the correction of its trajectory is a very important problem, very topical, which requires precise movements in conditions of existence of the disturbing forces such as the forces of attraction of the earth and the moon, solar currents, variations of magnetic fields. Determining the angular motion of the existing flywheels on each of the satellite's axes, movements necessary for reorientation in space, requires knowledge of direct and inverse kinematics, as well as the inverse dynamics of the satellite. Determining the Jacobian matrix is an important step to generate the pseudo-inverse Jacobian matrix necessary to iteratively calculate the angular displacement on each axis, and the used neural network must ensure a very fine filtering of the determined values, in order to obtain the Fourier vibration spectrum and extreme *** results obtained from this research as well as the designed LabVIEW virtual instrumentation will be able to be used in the future, for similar research. © 2022 IEEE.

关键词： Inverse kinematics

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Evaluation of modal parameters and static characteristics for composite mono leaf spring

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Noise and Vibration Worldwide 2021年第3期52卷 33-47页

作者： Samir Mohamed Mohamed Soliman, Ehab Mechatronics and Robotics Department Faculty of Engineering Egyptian Russian University Badr CityCairo11829 Egypt

The objective of this paper was to investigate and evaluate modal parameters and static characteristics for designed carbon/epoxy composite CFRP leaf spring made from carbon ﬁber-reinforced epoxy by comparing its finite element analysis FEA modal, harmonic and static results to that of conventional steel one under the same maximum full bump load. In ANSYS software, finite element modal, harmonic and static analysis for 3D models of conventional steel and designed composite mono leaf springs is carried out. FEA displacements for the steel and designed composite CFRP mono leaf springs at the maximum full bump load were 92.9 mm and 93.1 mm respectively. Compared to the steel mono leaf spring, the composite mono leaf spring has advantages;lower stresses, higher natural frequencies and higher safety in stresses of front and rear eyes. All these advantages let the composite leaf spring can be carried maximum full bump load with enough higher performance over steel one to avoid resonance and satisfy maximum stress failure criterion. © The Author(s) 2020.

关键词： Carbon

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High-Performance Admittance Control of An Industrial Robot Via Disturbance Observer 48

High-Performance Admittance Control of An Industrial Robot V...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Samuel, Kangwagye Haninger, Kevin Oh, Sehoon Dgist Department of Robotics and Mechatronics Engineering Daegu Korea Republic of Fraunhofer Ipk Department of Automation Berlin Germany

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Safe physical interaction using admittance control on an industrial robot with inner-loop motion control remains challenging. This is partly due to the low intrinsic admittance and stability issues from inner-loop motion control limitations (e.g. bandwidth). To increase the admittance at an interaction point with the user/environment, this paper proposes a robust admittance control architecture. A disturbance observer (DOB) is used to improve effective inner-loop motion control, suppressing the effects of velocity disturbances. The DOB uses the robot's closed-loop task space velocity control as the nominal model, compensating disturbances between the commanded robot velocity and realized robot velocity output. An admittance controller uses measured force to generate robot velocity commands. Detailed analyses are carried out to theoretically evaluate the proposed control system. Experiments conducted on a COMAU RACER-7-1.4 industrial robot verify the effectiveness of the proposed admittance control scheme and stability in environmental contact. Moreover, the proposed method is simple to implement on the existing robot system. © 2022 IEEE.

关键词： Industrial robots

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Low Impedance Rendering Toward Safe Human-Robot Interaction 25

Low Impedance Rendering Toward Safe Human-Robot Interaction

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

作者： Wonbum Yun Kiyoung Choi Junyoung Kim Sehoon Oh HyunJoon Chung AI Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

This study proposes a novel approach for low-impedance rendering in robots to ensure safe human-robot interaction. Low-impedance control enhances safety by enabling robots to respond flexibly to physical contact with humans. However, real-world disturbances such as friction often necessitate high impedance, creating a trade-off between safety and task precision. To address this challenge, a modified disturbance observer (DOB)-based control framework is introduced, designed to prevent external contact forces from being treated as disturbances. Experimental results demonstrate significant improvements in impedance rendering performance under various conditions, ensuring precise and safe robot operations in dynamic shared environments.

关键词： Robust control Friction Human-robot interaction Rendering (computer graphics) Disturbance observers Safety Recycling Impedance Reliability Robots

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Experimental investigation of modulation transfer technique for damage detection of structures

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Procedia Structural Integrity 2024年 54卷 264-270页

作者： Jakub Gorski Kajetan Dziedziech Andrzej Klepka AGH University of Science and Technology Department of Robotics and Mechatronics al. Mickiewicza 30 Cracow 30-059 Poland

The damage detection in structures using modulation transfer phenomena is a topic of increasing interest. However, the lack of comprehensive knowledge and established signal processing methods have hindered its widespread application. This paper explores the potential of the modulation transfer phenomenon for damage localisation by conducting experiments on test stands with two structures: a damaged and an undamaged beam. A well-defined procedure for processing response signals and damage indicators was established. Before the experiments, modal analysis was conducted to select the appropriate excitation frequency. The presented results include spectra and trends of the damage indicators, demonstrating the viability of using the modulation transfer phenomenon for damage localisation. Furthermore, the vibroacoustic modulation phenomenon was observed during the tests. These findings underscore the potential of modulation transfer techniques in structural health monitoring applications.

关键词： nonlinear acoustic modulation transfer damage localisation structural health monitoring

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Representing Objects in Map Building Using A Semantic SLAM Scheme

Representing Objects in Map Building Using A Semantic SLAM S...

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2022 Chinese Automation Congress, CAC 2022

作者： Yang, Yu Wang, Di Zheng, Weiqi Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai China

ISBN: (纸本)9781665465335

In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obtain object location in SLAM and determines object information such as category with a CNN-based object detector. The object identities are represented in the form of joint probability distributions that are updated by Bayes' theorem. The FPA algorithm is used to obtain parameter valuation with maximum posterior probability so as to determine the modeling feature parameters of objects on the map. The similarity between objects is measured with the Bhattacharyya coefficient to avoid duplicate modeling of identified objects in map updating. The proposed system is simulated in Gazebo and an effective scheme balancing accuracy and computation cost is obtained. Finally, experiments on a small indoor robot demonstrate the effectiveness of our method. © 2022 IEEE.

关键词： Semantics

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Minimalistic Soft Exosuit for Assisting the Shoulder via Biomechanics-Aware Optimization 21

Minimalistic Soft Exosuit for Assisting the Shoulder via Bio...

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2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022

作者： Joshi, Sagar Beck, Irene Seth, Ajay Santina, Cosimo Della Mechanical Maritime and Materials Engineering Faculty TU Delft Delft Netherlands Robotics and Mechatronics Department Munich Germany

ISBN: (纸本)9798350309799

Soft exosuits can help to prevent work-related musculoskeletal disorders by offloading human muscles through the application of external forces across the human joints. Many exosuits achieve this through tension producing elements called as exotendons. However, the design of these devices is based on intuition and experience. This leads to potentially sub-optimal or even harmful designs that could cause discomfort or injury to the wearer. This paper deals with automatically finding appropriate attachments and routing locations for exotendons. We propose to do that by accurate musculoskeletal modeling and design parameter optimization of soft exosuits. We focus here on a soft exosuit with a single passive exotendon to assist the shoulder. Using three arm raising-lowering and internal-external rotation motions as examples, we optimize the attachment point and rest-length of the exotendon to reduce overall muscle effort. We then fabricate the exosuit and validate the model predictions by testing with six participants. Supporting the predictions from simulations, measured muscle activity shows reductions in the deltoid and trapezius muscles. This work represents the first instance of explicitly optimizing functional and geometric parameters of exotendons in wearable assistive devices for minimizing human effort. © 2022 IEEE.

关键词： Muscle

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Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

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Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

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