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International Russian Automation Conference (RusAutoCon)

作者： Andrey Yatsun Andrei Malchikov Robotics Dept. South-West State University Kursk Russia Department of Mechanics Mechatronics and Robotics South-West State University Kursk Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

The article considers a soft exoskeleton for industrial use equipped with an active elastomer. The article describes the features of the implementation of the design of the assisting device and the principles of operation. A mathematical model is proposed to describe the dynamics of the controlled movement of a human-machine system when lifting a load. The structure of the control system and the sensing system, including distributed force sensors integrated into the exoskeleton mounting system, are presented. The numerical results of modeling of a soft exoskeleton control system are obtained, showing the features of the generating of an assistive force in the processes of performing the exercise and proving the applicability of the proposed algorithms of the system.

关键词： Exoskeletons Process control Elastomers Control systems Robot sensing systems Mathematical models Sensor systems Numerical models Force sensors Wearable sensors

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Analysis of the Stability and postcritical Behavior of the Ziegler’s Pendulum in Simulink

Analysis of the Stability and postcritical Behavior of the Z...

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International Conference on Information Technologies in Engineering Education (Inforino)

作者： Vladimir P. Radin Elena V. Poznyak Olga V. Novikova Valerian E. Tsoy Viktor P. Chirkov Sergey F. Kuznetsov Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Power Engineering Institute Moscow Russia

ISBN: (数字)9798350371369

ISBN: (纸本)9798350371376

The paper presents a nonlinear Simulink model of a double pendulum loaded with potential and follower forces. At first stability region of the initial equilibrium position was found using the dynamic method. Then time-depended displacements and phase portraits of the pendulum were obtained and investigated for various parameters of the loading: in the stable regions, at the intersection of the boundaries of flutter and divergence, in distant postcritical regions. In the simulation some features of phase trajectories of the nonlinear nonconservative system have been found and illustrated. The relevance of simulation for training future specialists in the field of dynamics and strength of machines is shown.

关键词： Training Software packages Simulation Loading Dynamics Stability analysis Trajectory

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Modeling and simulation of soft bio-mimetic fingers with a novel soft thumb design for bionic hand applications using ANN

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Biotechnology Notes 2025年 6卷 164-176页

作者： Soliman, Eman R.A. Nada, Ayman Ishii, Hiroyuki Fathelbeb, Ahmed M.R. Mechatronics and Robotics Engineering Egypt Japan University of Science and Technology Alexandria Egypt School of Creative Science and Engineering Waseda University Tokyo Japan

The paper presents a novel design for a soft bio-mimetic finger and soft thumb structure for bionic hand applications. It introduces an anthropomorphic pneumatic flexible finger system using a PneuNets framework to enhance flexibility and maneuverability. The research investigates the influence of geometric variations (wall thickness, chamber number, and spacing) on finger deformation, demonstrating that reduced wall thickness and augmented chambers substantially improve flexibility. A key innovation is the soft thumb design that accurately replicates the complex movements of the Carpometacarpal (CMC) joint, enabling natural opposition and dexterity. Eight models were developed for four fingers and two models for the thumb. Simulation results indicate that models with thinner walls (2 mm) achieve bending angles exceeding 80° at 120 KPa, whereas 3 mm models remain below 50°. Moreover, increasing the number of chambers enhances deformation, with each added chamber contributing approximately 41 % more flexibility. For the thumb models, we successfully mapped the motion ranges and accurately mimicked the base joint, enabling natural opposition and dexterity. Furthermore, the paper also integrates Artificial Neural Networks (ANNs) to model forward kinematics, improving the estimation of bending angles and end-tip positions, which enhances the overall adaptability and control of the system. © 2025 The Authors

关键词： Anthropomorphic Artificial neural network (ANN) Bionic hands Neural network PneuNets Soft robotics Soft robotics finger Soft thumb

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Shadow Detection of Building Facades for Energy Efficiency Using YOLOv8 and Segmentation Techniques

Shadow Detection of Building Facades for Energy Efficiency U...

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Artificial Intelligence, robotics and Control (AIRC), International Conference on

作者： Nardine Radany Mostafa Abdelaziz Mechatronics and Robotics Mechanical Engineering Dept. The British University in Egypt (BUE) Cairo Egypt

ISBN: (数字)9798350385076

ISBN: (纸本)9798350385083

Effectively utilizing natural light in architectural design has a substantial impact on energy usage in addition to improving aesthetic appeal. This study presents a novel use of shadow detection for energy-saving projects and architects. We use two different AI approaches, segmentation techniques and YOLOv8, to automate recognizing shadows thrown on building facades. This paper starts with a thorough explanation of the importance of shadow analysis in architectural design, highlighting how it can maximize natural lighting and reduce energy use. First, we study how to recognize shadows on building facades using YOLOv8, a state-of-the-art object identification framework. This paper discusses how YOLOv8 was modified for this particular use case. Secondly, we explore Otsu's threshold segmentation method as an alternative approach to shadow detection. The YOLOv8 shadow detection approach is favored for its versatility across diverse input image types, enabling effective shadow detection even in dissimilar images. It efficiently identifies shadows by generating bounding boxes that indicate the degree of shadow accuracy. Otsu's threshold image segmentation is recommended for situations where additional image processing is intended, such as determining shadow areas using methods like background subtraction.

关键词： Image segmentation Renewable energy sources Accuracy Shape Image color analysis Buildings Process control

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Strain sensor on a chip for quantifying the magnitudes of tensile stress on cells

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Microsystems & Nanoengineering 2024年第3期10卷 305-315页

作者： Yuyin Zhang Yue Wang Hongze Yin Jiahao Wang Na Liu Songyi Zhong Long Li Quan Zhang Tao Yue School of Mechatronics Engineering and Automation Shanghai UniversityShanghaiChina School of Future Technology Shanghai UniversityShanghaiChina Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhouChina Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghaiChina Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghaiChina

During cardiac development,mechanotransduction from the in vivo microenvironment modulates cardiomyocyte growth in terms of the number,area,and arrangement ***,the response of cells to different degrees of mechanical stimuli is ***-on-a-chip,as a platform for investigating mechanical stress stimuli in cellular mimicry of the in vivo microenvironment,is limited by the lack of ability to accurately quantify externally induced ***,previous technology lacks the integration of external stimuli and feedback sensors in microfluidic platforms to obtain and apply precise amounts of external ***,we designed a cell stretching platform with an in-situ *** in-situ liquid metal sensors can accurately measure the mechanical stimulation caused by the deformation of the vacuum cavity exerted on *** platform was applied to human cardiomyocytes(AC16)under cyclic strain(5%,10%,15%,20 and 25%),and we found that cyclic strain promoted cell growth induced the arrangement of cells on the membrane to gradually unify,and stabilized the cells at 15%amplitude,which was even more effective after 3 days of *** platform’s precise control and measurement of mechanical forces can be used to establish more accurate in vitro microenvironmental models for disease modeling and therapeutic research.

关键词： stress deformation arrangement

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Gait Measurement System Toward Robotic Rehabilitation of Locomotive Functions

Gait Measurement System Toward Robotic Rehabilitation of Loc...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ryo Saegusa Dept. of Robotics & Mechatronics Kanagawa Institute of Technology Atsugi Japan

The extension of health expectancy is getting a more important subject for developed countries with higher rate of elderly population. In order to sustain their societies, aged people are encouraged to participate in the social activities, while the social participation requires them to keep their locomotive function high enough to accomplish their missions. From this reason, the easy and frequent assessment of the locomotive function thought the people's daily lives is strongly expected. One of the promising methods to evaluate locomotive function is the Timed Up and Go test (TUG test), which is a widely used method in the field of physical therapy for locomotive rehabilitation in medical facilities. Throughout our research activities, we have been investigating robotic approaches to assess cognitive and motor functions of aged people in the purpose of their health expectancy extension. In this article, we will propose a novel method of a gait measurement system that will be incorporated with health care mobile robots developed previously. We demonstrated experiments to measure the walking patterns of 23 subjects of aged people in order to evaluate their locomotive functions using the proposed gait measurement system.

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Sparse Hierarchical Non-Linear Programming for Sparse Inverse Kinematic Planning and Control with Autonomous Goal Selection

arXiv

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arXiv 2024年

作者： Pfeiffer, Kai Department of Mechatronics and Robotics School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China

Sparse programming is an important tool in robotics, for example in real-time sparse inverse kinematic control with a minimum number of active joints, or autonomous goal selection. However, current approaches are limited to real-time control without consideration of the underlying non-linear problem. This prevents the application to non-linear problems like inverse kinematic planning while the robot autonomously chooses from a set of potential goal positions. Instead, kinematic reachability approximations are used while the robot’s whole body motion is considered separately. Furthermore, the sparse constraints are not prioritized for intuitive problem formulation. Lastly, the computational effort of the used standard solvers is cubically dependent on the number of constraints which is problematic in the presence of a large number of possible goals. In this work, we address sparse hierarchical non-linear programs with tools from hierarchical non-linear programming to gain a holistic understanding of the problem at hand. The resulting sequential sparse hierarchical quadratic programming solver scales linearly in the number of constraints and enables the formulation of sparse non-linear equality and inequality constraints on any priority level without feasibility requirements. This enables efficient robot sparse hierarchical inverse kinematic planning and control with autonomous goal selection from a high number of possible goal positions without any reachability approximations. © 2024, CC BY.

关键词： Inverse kinematics

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On the Experience of Developing an Engineering OOP Application by a Student Group

On the Experience of Developing an Engineering OOP Applicati...

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International Conference on Information Technologies in Engineering Education (Inforino)

作者： Elena V. Poznyak Irina N. Medvedeva Julia Ju. Ivanova Valerian E. Tsoy Olga V. Novikova Tatjana E. Stenina Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Power Engineering Institute Moscow Russia

ISBN: (数字)9798350371369

ISBN: (纸本)9798350371376

The development of small applications for engineering calculations is a feasible, useful and interesting work for students of applied mechanics. In order to produce a workable application, it is necessary to have deep knowledge and competences in the field of mechanics, computational methods, information technologies. These knowledge and competences are improved if students are tasked not only to study the behavior of a mechanical system, e.g., a nonlinear dynamical system as described in this paper, but also to develop their own easy-to-use verified object-oriented tool.

关键词： Graphics Object oriented modeling Software Mathematical models Nonlinear dynamical systems Rubber Mechanical systems

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Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots

Modeling and Control of Intrinsically Elasticity Coupled Sof...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zach J. Patterson Cosimo Della Santina Daniela Rus Computer Science and Artificial Intelligence Laboratory MIT Department of Cognitive Robotics Delft University of Technology Institute of Robotics and Mechatronics German Aerospace Center (DLR)

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature, there is an increasing trend toward designing soft-rigid hybrids with intrinsically coupled elasticity between various degrees of freedom. In this work, we seek to address the issues of modeling and controlling such structures, particularly when underactuated. We introduce several simple models for elastic coupling, typical of those seen in these systems. We then propose a controller that compensates for the elasticity, and we prove its stability with Lyapunov methods without relying on the elastic dominance assumption. This controller is applicable to the general class of underactuated soft robots. After evaluating the controller in simulated cases, we then develop a simple hardware platform to evaluate both the models and the controller. Finally, using the hardware, we demonstrate a novel use case for underactuated, elastically coupled systems in "sensorless" force control.

关键词： Couplings Elasticity Soft robotics Robot sensing systems Market research Hardware Stability analysis

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Fine Manipulation Using a Tactile Skin: Learning in Simulation and Sim-to-Real Transfer

arXiv

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arXiv 2024年

作者： Kasolowsky, Ulf Bäuml, Berthold Technical University of Munich Germany The DLR Institute of Robotics and Mechatronics German Aerospace Center Germany

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin that can be used together with rigid-body (hence fast) physics simulators. The model considers the softness of the real fingertips such that a contact can spread across multiple taxels of the sensor depending on the contact geometry. We calibrate the model parameters to allow for an accurate simulation of the real-world sensor. For this, we present a self-contained calibration method without external tools or sensors. To demonstrate the validity of our approach, we learn two challenging fine manipulation tasks: Rolling a marble and a bolt between two fingers. We show in simulation experiments that tactile feedback is crucial for precise manipulation and reaching sub-taxel resolution of Copyright © 2024, The Authors. All rights reserved.

关键词： Robotic arms

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