检索结果-内蒙古大学图书馆

International Conference on mechatronics Technology (ICMT)

作者： Seunghyun Lim Jinhyeok Song Dongwon Yun Department of Robotics and Mechatronics Engineering DGIST Daegu Republic of Korea

This paper describes a driving direction estimation algorithm of a wheel-less snake robot and verifies that the algorithm allows the robot to locomote as desired in ROS-based simulation. Snake robots have serious operational difficulties since their driving directions are not intuitive. Therefore, a driving direction should be estimated for autonomous locomotion, such as path tracking and obstacle avoidance. A driving direction estimation algorithm based on the kinematics of the snake robot is used with path planning and tracking algorithms. The suggested driving direction estimation algorithm allowed straightness improvement and path tracking in the simulation environment.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The Manipulation of Four-Wave Mixing in a Fully Tunable MEMS Photonic Molecule

The Manipulation of Four-Wave Mixing in a Fully Tunable MEMS...

引用

Frontiers in Optics + Laser Science 2023, FiO, LS 203: Part of Frontiers in Optics + Laser Science 2023

作者： Lim, Min G. Choi, Dong J. Kim, Dong U. Park, Young J. Yu, Kyoungsik Han, Sangyoon Jeong, Kwang-Yong Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu42988 Korea Republic of Daejeon34141 Korea Republic of Jeju63243 Korea Republic of

We demonstrated the manipulation of four-wave mixing (FWM) in a fully tunable photonic molecule implemented on low-power silicon photonic MEMS. A seeded FWM with a conversion efficiency of −56dB at 7.3dBm pump power w... 详细信息

ISBN: (纸本)9781957171296

关键词： Four wave mixing Frequency combs Microelectromechanical systems Silicon Waveguide modes Wavelength conversion

来源：评论

学校读者我要写书评

暂无评论

Kirigami-inspired continuum soft arm with embedded sensing for non-destructive inspection and sorting

引用

Science China Materials 2025年第2期68卷 552-560页

作者： Jinsui Xu Boyi Xu Honghao Yue Yifan Lu Zheping Wang Zongquan Deng Fei Yang State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China Wu Xianming School of Intelligent Engineering South China University of TechnologyGuangzhou 510641China

The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.

关键词： kirigami embedded sensing continuous soft arm non-destructive inspection

来源：评论

学校读者我要写书评

暂无评论

Advanced Biomedical Laboratory (ABL) Synergy With Communication, robotics, and IoT

Advanced Biomedical Laboratory (ABL) Synergy With Communicat...

引用

IEEE Southeastcon

作者： Razvan Cristian Voicu Steven Steele Jorge Diaz Rodriguez Yusun Chang Chan Ham Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

Commercialization, development, and implementation of the Internet of Things (IoT) devices are accelerating. Developing low-cost, wireless, and wired devices that can communicate and sense has drastically improved all areas, including medical, manufacturing, transportation, home & office, military, and commercial. IoT notions provide numerous benefits, including enhancing logistics, monitoring, and autonomous actuation control. Thus, opening the door for more timely medical assistance in medical practices and preparation in chemical, biological, and biomedical laboratories. This paper introduces a strategy to develop an automated biomedical laboratory using IoT concepts and devices. The article presents distributed automation for individual components and a centralized directive for the autonomous assembly of various designs.

关键词： Wireless communication Wireless sensor networks Automation Educational robots Laboratories Transportation Safety

来源：评论

学校读者我要写书评

暂无评论

Vision-Based Motion Control for an 8-DOF Robotic Mobile Manipulator

Vision-Based Motion Control for an 8-DOF Robotic Mobile Mani...

引用

Annual IEEE Systems Conference

作者： Yunze Li Haoxiang Lang Ying Wang Department of Automotive and Mechatronics Engineering Ontario Tech University Oshawa ON Canada Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

ISBN: (数字)9798331508180

ISBN: (纸本)9798331508197

This paper introduces a visual servoing control strategy designed for a vision-based robotic mobile manipulation system. The system continuously updates the motion of both the mobile base and its integrated manipulator by utilizing visual feedback from a stereo camera. A detailed description of the system components is provided, including the mobile robot, the robotic manipulator, and the stereo vision system, along with the design of a visual servoing controller grounded in Lyapunov's stability theory. The controller operates by adjusting the movements of the mobile base and manipulator to minimize the disparity between the current and desired pose, ultimately guiding the system to achieve the target position and orientation. To validate the kinematic model and assess the performance of the proposed control strategy, experiments were conducted using the Husky mobile robot in conjunction with a 6-DOF UR5 robotic manipulator. The results from these experiments substantiate the effectiveness and robustness of both the robot model and the implemented control law. These findings confirm the potential of the proposed system in achieving reliable and precise mobile manipulation tasks.

关键词： Visualization Computational modeling Kinematics Transforms Manipulators Cameras Visual servoing Mathematical models 6-DOF Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Artificial Neural Networks for the Forward Kinematics of a SCARA Manipulator: A Comparative Study with Two Datasets

Artificial Neural Networks for the Forward Kinematics of a S...

引用

2024 ASU International Conference in Emerging Technologies for Sustainability and Intelligent Systems, ICETSIS 2024

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassène Tunis Borj Cedria1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India Le Belvédère Tunis1002 Tunisia

ISBN: (纸本)9798350372229

In the field of robotics and automation, the precise determination of manipulator positions is a fundamental aspect with widespread applications. Despite the significance of analytical methods, solving the Forward Kinematics (FK) for Selective Compliance Assembly Robot Arm (SCARA) manipulator robots can be complex and computationally intensive. Our research introduces a method to address the FK problem for the four degrees of freedom (4-DoF) SCARA manipulator through Artificial Neural Networks (ANNs). We utilize two different generated datasets, one with a fixed step size and another one based on a sinusoidal signal, for training the ANNs. This choice of datasets allows us to assess the ANN s' generalization capabilities across a range of operating conditions. Thereafter, the study is planned to investigate the ANN's performance while employing three distinct training algorithms: Levenberg-Marquardt (LM), Bayesian Regularization (BR), and Scaled Conjugate Gradient (SCG). Through a comprehensive comparison of the performance of different ANN models, different training algorithms, and the two adopted generated datasets, this study provides valuable insights into selecting the most optimal training configurations for the SCARA robot's FK solutions. We employ the Mean Squared Error (MSE) and the error histogram as two performance metrics to assess the accuracy of various ANNs. The results reveal that optimal MSE outcomes were obtained when utilizing a balanced architecture with three hidden layers in the analysis of the sinusoidal-signal-based datasets. © 2024 IEEE.

关键词： Artificial Neural Network Fixed-step- and sinusoidal-signal-based datasets Forward kinematics SCARA manipulator robot Training optimizers

来源：评论

学校读者我要写书评

暂无评论

Vibrio-acoustic modulation for damage detection-investigation of nonlinear effects for contact-type damage.

e-Journal of Nondestructive Testing

引用

e-Journal of Nondestructive Testing 2025年第3期30卷

作者： Klepka, Andrzej Dziedziech, Kajetan Department of Robotics and Mechatronics AGH University of Krakow Mickiewicza Av. 30 Krakow Poland

The paper presents an experimental investigation of nonlinear effects in vibro-acoustic modulation tests, generated due to contact-type nonlinearity. The two samples with prepared contact surfaces were tested in experimental works. Two excitation types, low and high frequencies, are introduced into the structure via an electromagnetic shaker and piezoelectric transducer, respectively, to produce contact-related nonlinear effects. The contact surfaces are driven to move relative to each other in two types of motion: micro slip and stick and slip. The motion types are classified according to displacement values using a laser vibrometer. For a given scenario, the analysis of nonlinearities is performed based on signal response. The paper focuses on the investigation of both sideband distribution around carrier frequency and higher harmonics of low-frequency excitation. © 2025 The Authors.

关键词： Stick-slip

来源：评论

学校读者我要写书评

暂无评论

Planar Trajectory Simulation for Lunar CanSats using a Wheeled Ground Robot

Planar Trajectory Simulation for Lunar CanSats using a Wheel...

引用

Intelligent Computing and robotics (ICICR), International Conference on

作者： Carrington Chun Tom Swift Mason Cox S M Tanvir Faysal Alam Chowdoury M. Hassan Tanveer David A. Guerra-Zubiaga Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta United States of America

ISBN: (数字)9798350372274

ISBN: (纸本)9798350372281

This research effort attempted to employ a low cost Kobuki mobile ground robot to generate low-fidelity planar simulations of potential trajectories for CanSats operating in lunar environments. Although this mobile robot was determined to lack the capability to simulate lunar accelerations, initial tests showed that simple planar trajectories could still be successfully programmed for the motion platform. By attaching the prototype CanSats to the top of the Autonomous Ground Vehicle (AGV), the CanSat could be driven along these preprogramed trajectories. Such motion profiles provided an adequate means for initial testing of prototype optical hardware for a lunar oriented CanSat lander. Notably, significant inconsistencies were observed in the internally computed heading for the AGV. In addition to the inaccurate localization, the lack of a closed loop control system further minimized the applicability of this study. However, due to the ubiquitousness of wheeled robotic ground vehicles and the ready availability of these devices from commercial sellers at an affordable cost, there are many possible avenues for future expansion of this work. Most significantly, as systems capable of simulating microgravity environments are often very costly and require special training to operate effectively, the proposed low-cost and low-fidelity approach could provide an interim testing solution for less technologically mature space-oriented research, such as CanSats.

关键词： Adaptation models Costs Robot kinematics Moon Prototypes Kinematics Land vehicles

来源：评论

学校读者我要写书评

暂无评论

An Enhanced Ensemble-Based Long Short-Term Memory Approach for Traffic Volume Prediction

引用

Computers, Materials & Continua 2024年第3期78卷 3585-3602页

作者： Duy Quang Tran Huy Q.Tran Minh Van Nguyen Faculty of Civil Engineering Nha Trang UniversityNha Trang650000Vietnam Robotics and Mechatronics Research Group Faculty of Engineering and TechnologyNguyen Tat Thanh UniversityHo Chi Minh City700000Vietnam Department of Civil Engineering Ho Chi Minh City University of Technology and EducationHo Chi Minh City700000Vietnam

With the advancement of artificial intelligence,traffic forecasting is gaining more and more interest in optimizing route planning and enhancing service *** volume is an influential parameter for planning and operating traffic *** study proposed an improved ensemble-based deep learning method to solve traffic volume prediction problems.A set of optimal hyperparameters is also applied for the suggested approach to improve the performance of the learning *** fusion of these methodologies aims to harness ensemble empirical mode decomposition’s capacity to discern complex traffic patterns and long short-term memory’s proficiency in learning temporal ***,a dataset for automatic vehicle identification is obtained and utilized in the preprocessing stage of the ensemble empirical mode decomposition *** second aspect involves predicting traffic volume using the long short-term memory ***,the study employs a trial-and-error approach to select a set of optimal hyperparameters,including the lookback window,the number of neurons in the hidden layers,and the gradient descent ***,the fusion of the obtained results leads to a final traffic volume *** experimental results show that the proposed method outperforms other benchmarks regarding various evaluation measures,including mean absolute error,root mean squared error,mean absolute percentage error,and *** achieved R-squared value reaches an impressive 98%,while the other evaluation indices surpass the *** findings highlight the accuracy of traffic pattern ***,this offers promising prospects for enhancing transportation management systems and urban infrastructure planning.

关键词： Ensemble empirical mode decomposition traffic volume prediction long short-term memory optimal hyperparameters deep learning

来源：评论

学校读者我要写书评

暂无评论

FFT-UAVNet: FFT Based Human Action Recognition for Drone Surveillance System

FFT-UAVNet: FFT Based Human Action Recognition for Drone Sur...

引用

Sustainable Technologies for Industry 4.0 (STI), International Conference on

作者： Abdul Monaf Chowdhury Ahsan Imran Md Mehedi Hasan Dept. of Robotics and Mechatronics Engineering University of Dhaka Bangladesh

Unmanned aerial vehicles (UAVs) have emerged as a transformative technology for human action recognition, providing a birds-eye view and unlocking new possibilities for precise and comprehensive support in surveillance systems. While substantial advances in ground-based human action recognition have been achieved, the unique characteristics of UAV footage present new challenges that require tailored solutions. Specifically, the reduced scale of humans in aerial perspectives necessitates the development of specialised models to accurately recognize and interpret human actions. Our research focuses on modifying the well-established C3D model and incorporating Fast Fourier Transform (FFT)-based object disentanglement (FO) and space-time attention (FA) mechanisms. By leveraging the power of FFT, our model effectively disentangles the human actors from the background and captures the spatio-temporal dynamics of human actions in UAV footage, enhancing the discriminative capabilities and enabling accurate action recognition. Through extensive experimentation on a subset of the UAV-Human dataset, our proposed FFT-UAVNet (m-C3D+FO&FA+FC) model demonstrates remarkable improvements in performance. We achieve a Top-1 accuracy of 64.86% and a Top-3 accuracy of 83.37%, surpassing the results obtained by the standard C3D and X3D methods, which achieve only a Top-1 accuracy of 28.05% and 31.33%, respectively. These findings underscore the efficacy of our approach and emphasize the significance of the proposed model for UAV datasets in maximizing the potential of UAV-based human action recognition.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：