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43rd IBIMA Conference on Artificial intelligence and Machine Learning, IBIMA-AI 2024

作者： Manka, Michal Buratowski, Tomasz Kohut, Piotr Miekina, Lucjan Jaworski, Konrad Dragula, Dominik Klorek, Tomasz Bartkowiak, Bartosz Department of Robotics and Mechatronics AGH University of Krakow Krakow Poland VISBROKER Sp. Z O.O. Poznan Poland

ISBN: (纸本)9783031774928

An advanced vision algorithm that enables accurate measurements of clothes worn on a specially designed robot called Morpher has been presented in this paper. After a short introduction to the e-commerce market and its problems with the large number of returns, a new method of clothes size measurement was presented. The paper presents the new mechatronic mannequin that may change its dimensions between the 5th and 95th percentile of the human body size. This mannequin connected with the vision system may be helpful not only for online clothes sellers but also for designers, manufacturers, and clothing buyers because they provide quick and accurate information about the fit and comfort of clothing. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Marketplaces

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Evaluation of Accuracy and Repeatability of Scanning Probe Microscope Positioning System 8

Evaluation of Accuracy and Repeatability of Scanning Probe M...

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8th IEEE Open Conference of Electrical, Electronic and Information Sciences, eStream 2021

作者： Rozene, Juste Striska, Laisvidas Treciokaite, Vaiva Sutinys, Ernestas Dzedzickis, Andrius Morkvenaite-Vilkonciene, Inga Zickus, Vincas Makulavicius, Mantas Bucinskas, Vytautas Vilnius Gediminas Technical university Department of Mechatronics Robotics and Digital Manufacturing Vilnius Lithuania

ISBN: (纸本)9781665449281

Scanning probe microscope (SPM) positioning system quality depends on the design of the positioning system, environmental factors, frictional forces, and load. The aim of our research is to determine the accuracy and repeatability of a homemade micropositioning system for sample positioning in the experimental SPM setup. For the design of the micropositioning system, micrometric resolution ball-screw drives with stepper motors were used. Axes parameters, such as positioning errors, repeatability, and accuracy, were evaluated using the ISO 230-2 standard methodology. The results from experimental research show positioning accuracy of X-axis 113.67 μm, and repeatability 13.68 μm. Although the accuracy value mainly contains a systematic positioning error 103.5 μm, therefore, this can be compensated using features available in LinuxCNC control software. The positioning accuracy of the Y-axis was 6.86 μm, and repeatability 6.72 μm. Improvements in the mechanical components that make up the axis and additional research can improve the value of the repeatability of the X-axis of the system and the adaptability of the positioning system for SPM design. © 2021 IEEE.

关键词： Stepping motors

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Kinematic and Dynamic Analysis of a 3-■US Spatial Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2020年第1期33卷 114-130页

作者： Mervin Joe Thomas M.L.Joy A.P.Sudheer Mechatronics/Robotics Lab Department of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia

Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector *** are found in medical,assembly and manufacturing industries where accuracy is *** is often desired to have a compact and simple architecture for the robotic *** this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is *** kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive *** kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free *** analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system *** gravity and inertial forces of all links are considered in the mathematical *** analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.

关键词： Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis

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Comparative Analysis of Vacuum Generative Devices for Vacuum Suction Cups of Mobile Transport Systems Designed for Underwater Operation

Comparative Analysis of Vacuum Generative Devices for Vacuum...

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Ocean Studies (ICOS), International Conference on

作者： Philipp Belchenko Maxim Knyazkov Pavel Ostrikov Eugeny Semenov Artem Sukhanov Laboratory of robotics and mechatronics Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Moscow Russia

The article discusses the results of studies of gas-dynamic and hydrodynamic processes in cavities and channels of vacuum suction cups of mobile transport systems operating in an aqueous environment. Transient processes occurring in the cavities of vacuum suckers from the moment the vacuum generator is powered on to the moment of steady-state vacuum level are obtained. Commercially available ejector-type vacuum generators with the same nozzle diameter, but with different parameters of the vacuum level and evacuation time (suction flow rate), as well as a diaphragm air pump were used in the research. Commercially available suction cups with a bellows with a diameter of 100 mm were used as a vacuum holding device on the surface. Experimental studies were conducted to study the behavior of vacuum suction cups in an aqueous environment to identify the possibility of their use for mobile transport systems operated in a liquid environment. To conduct research, an experimental stand was created that allows real-time recording of the level of vacuum in the cavities of vacuum suckers in an aqueous medium and recording the time to a steady level of vacuum.

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Algorithm for Controlling the Movement of a Robotic Aircraft Towing System along a Contrast Line

Algorithm for Controlling the Movement of a Robotic Aircraft...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Dmitrij Afonin Alexandr Pechurin Sergey Jatsun Dept. Mechanics Mechatronics And Robotics South-West State Univercity Kursk Russian Federation

The paper describes the control system of a robotic airfield towing system for towing aircraft at the third level of autonomy. The positioning control system is based on the principle of superposition of calculated "reference influences", taking into account the parameters of the trajectory and wheel system of bodies, as well as corrective influences, which depend on the tracking error. The corrective control is based on the logical processing of the optronic matrix signals. The method of synthesis of multi-channel regulator and the algorithm of control of robotic tugboat are given, the algorithms of control of robotic tugboat system movement along the set contrast line under the action of external disturbing influences of deterministic and random types are described. A comparative assessment of the quality of aircraft towing system according to the developed integral criterion is made.

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A Top-View Hand Gesture Recognition System for IoT Applications

A Top-View Hand Gesture Recognition System for IoT Applicati...

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International Conference on Smart Systems and Inventive Technology (ICSSIT)

作者： William J. Wisener Jorge Diaz Rodriguez Ammy Ovando Christopher Woolford Kishan Patel Dept. of Robotics & Mechatronics Engineering Department of Physics Kennesaw State University Atlanta Georgia

Gesture recognition integrated into Internet of Things (IoT) systems is a growing field with opportunities for improvement. Identifying hand gestures from vertical angles with a cooperative network of cameras can enable a broader collection of control methods for controlling IoT devices within residential and commercial environments. Integrating this smart home framework with other IoT control methodologies also creates a more user-friendly experience. To generate a proof of concept of the effectiveness with this control framework, a convolutional neural network was created using the YOLOv7 deep learning architecture and Roboflow software. This image detection network was connected to a simulated IoT device via Home Assistant home automation software and communicates using the MQTT protocol. The gesture detection system was tested on different camera setups to evaluate the importance of camera position and data sharing within a smart-home device network.

关键词： Protocols Deep architecture Gesture recognition Smart homes Cooperative systems Cameras Software

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具有间断解的PTT型黏弹性流体热对流数值模拟

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中山大学学报（自然科学版）（中英文） 2023年第5期62卷 136-144页

作者：张栏蒋子超陈玉惠张仪杨耿超姚清河中山大学航空航天学院广东深圳518107 Robotics and Mechatronics University of TwenteEnschede 7522 NBthe Netherlands

从间断解充分发展的黏弹性流体Rayleigh-Bénard(RB)热对流具备不同流态的时间信息和发展过程的流态变换,研究该问题对阐明Phan-Thien-Tanner(PTT)型黏弹性流体RB热对流的流动机理具有重要意义。本文首次采用二阶迎风型总变差不增... 详细信息

从间断解充分发展的黏弹性流体Rayleigh-Bénard(RB)热对流具备不同流态的时间信息和发展过程的流态变换,研究该问题对阐明Phan-Thien-Tanner(PTT)型黏弹性流体RB热对流的流动机理具有重要意义。本文首次采用二阶迎风型总变差不增差分格式对PTT型黏弹性流体的RB热对流进行了数值模拟,并基于与解析解的对比论证了该数值方法在空间离散上的收敛性与二阶精度。数值结果表明,本文的数值方法可模拟自间断初始场演化的PTT型黏弹性流体RB热对流,此外,本文还对该流动发展到稳态周期解的瞬态流动现象作了基本阐释,流动现象与从先验速度场发展的流动现象一致。

关键词：间断解总变差不增格式黏弹性流体 Phan-Thien-Tanner模型 Rayleigh-Bénard对流

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Static Characteristics of Zero-Current-Switching Quasi-Resonant Buck Converter under Variation of Resonant Circuit and Load Parameters 41

Static Characteristics of Zero-Current-Switching Quasi-Reson...

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41st IEEE International Conference on Electronics and Nanotechnology, ELNANO 2022

作者： Dymerets, Andrii V. Yershov, Roman D. Gorodny, Alexey N. Revko, Anatoliy S. Savchenko, Danyil Lytvyn, Svitlana V. Chernihiv Polytechnic National University Department of Electronics Automation Robotics and Mechatronics Chernihiv Ukraine Chernihiv Polytechnic National University Department of Foreign Philology Chernihiv Ukraine

ISBN: (数字)9781665469227

ISBN: (纸本)9781665469234

The influence of resonant circuit parameters on static characteristics of a half-wave buck zero-current-switching quasi-resonant converter is investigated. The dependences of the maximum voltage conversion ratio under variation of resonant circuit time constant and characteristic impedance with different load impedance values are obtained by dint of multi-factor numeric simulation. The dependences of the ratio between the transistor current peak value and load impedance rms value under variation of resonant circuit time constant and characteristic impedance with different load impedance values are also obtained. Approximated equations for above dependencies are fitted. The research results allow determining the allowable limits of resonant inductance and capacitance values, as well as the load impedance to maintain the zero-current-switching mode. © 2022 IEEE.

关键词： Resonant circuits

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AgileVision Academy: Indoor Drone Navigation and Obstacle Avoidance 14

AgileVision Academy: Indoor Drone Navigation and Obstacle Av...

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14th International Conference on Information Technology in Medicine and Education, ITME 2024

作者： Jiang, Haolong Gu, Lingdan Wang, Jiayu Lan, Xiao Liu, Qinyao Wang, Fanxin Xi'an Jiaotong Liverpool University University of Liverpool School of Advanced Technology Department of Electrical and Electronic Engineering Suzhou China Xi'an Jiaotong Liverpool University School of Robotics Department of Intelligence Robotics Engineering With Contemporary Entrepreneurialism Suzhou China Xi'an Jiaotong Liverpool University School of Advanced Technology Department of Information and Computer Science Suzhou China Xi'an Jiaotong Liverpool University School of Advanced Technology Department of Electrical and Electronic Engineering Suzhou China Xi'an Jiaotong Liverpool University School of Advanced Technology Department of Mechatronics and Robotics Suzhou China

ISBN: (纸本)9798350356670

Navigating cluttered indoor environments presents a significant challenge for aerial robots, requiring agility, speed, and a high level of reliability to avoid collisions. This project aims to address this challenge by developing advanced algorithms for lightweight drones, enabling them to reach target location and carrying out delivery efficiently and safely. Utilizing camera data to map and avoid obstacles, we create a system that not only maps and perceives the environment but also navigates its path to the destination. Included in the educational content, this project demonstrates the effectiveness of the technology through practical applications and real-world testing, helping the next generation of engineers accumulate technical experience and broaden their understanding of drone navigation algorithms and applications in system integration. It has a milestone impact on education and development of the drone field. © 2024 IEEE.

关键词： Drones

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Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions

Singularity-Robust Prioritized Whole-Body Tracking and Inter...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xuwei Wu Alin Albu-Schäffer Alexander Dietrich Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany School of Computation Information and Technology TUM Munich Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, we propose a singularity-robust whole-body control framework that ensures smooth task transitions while maintaining strict priorities. The weighted generalized inverse is adopted to derive a hierarchical control law compatible with singular and redundant tasks. Moreover, a smooth activation matrix is proposed to continuously shape both null-space projectors and task-level control actions. Validation has been conducted in MATLAB/Simulink and MuJoCo simulations with Rollin’ Justin.

关键词： Jacobian matrices Shape Task analysis Robots Matlab

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