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检索条件"机构=Mechatronics and Robotics"

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Investigation on New Applications of Climbing and Walking Robots in Marine Environment

Investigation on New Applications of Climbing and Walking Ro...

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Ocean Studies (ICOS), International Conference on

作者： Ivan Ermolov Laboratory of robotics and mechatronics Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Moscow Russia

The article discusses the some new results of investigation of new applications of climbing and walking robots in marine environment. One of the perspective applications is a robot for hull cleaning. Another robot is designed to perform inspection operations at sea shelf deposit platform. Both robots use walking propulsion technology. Within this paper we discuss basic scenarios for their application and a outcoming general view on their structure. Some ideas of main components to be used within these robots are also presented.

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Updating the Content of an AI Course for Students from the robotics and Automation

Updating the Content of an AI Course for Students from the R...

引用

EAEEIE Annual Conference,

作者： Dorian Cojocaru Liviu Florin Manta Marian Abagiu Andrei Dragomir Alexandru Marin Mariniuc Mechatronics and Robotics Departament University of Craiova Craiova Romania

The impact of artificial intelligence applications in today’s society is constantly growing. In this context, it is important to adapt the curricula of artificial intelligence courses with an emphasis on the practical applicability of new concepts and methods. At the University of Craiova, Romania, such a course is offered to undergraduate students in robotics and Automation. The course includes chapters dedicated to problem solving, fuzzy logic, neural networks, and expert systems, with the identification of techniques related to the representation of knowledge and deep learning, respectively. This paper will present how to update the chapter on deep learning, referring to practical applications developed by groups of teachers, researchers and students from the faculty. The following applications are considered. An application is related to the management of a mobile robot that helps people with special needs in terms of control of the lower and upper limbs but who also have specific problems related to their visual system. Another application refers to the use of artificial intelligence techniques in applications for detecting casting defects in car engines. Another chapter that is to be introduced in the course refers to bots - cooperative software robots. The introduction of this chapter is also related to the international presence of an important number of highly successful companies that have been established by Romanian entrepreneurs. The three applications are demonstrated during the practical classes of the artificial intelligence course. Latest hardware platforms (i.e. nVidia Jetson Nano development boards) are used, and trending development environments, languages (Python, C++), and libraries (Numpy, Pandas, Matplotlib, SciKits) are implied. The inclusion of the presentation of these practical applications aims to increase the students' confidence that the knowledge received increases not only their level of theoretical knowledge, but also their chances

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Fully Tunable Fabry-Pérot Cavity on Silicon Photonic MEMS with 10 nW Static Power Consumption

Fully Tunable Fabry-Pérot Cavity on Silicon Photonic MEMS w...

引用

Conference on Lasers and Electro-Optics (CLEO)

作者： Young J. Park Man J. Her Dong U. Kim Dong J. Choi Min G. Lim Myung S. Hong Sangyoon Han Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Republic of Korea

We report on a fully tunable Fabry-Pérot cavity on the silicon photonic MEMS having only 10nW static power. Its resonance wavelength is tunable over the full FSR, and its transmissivity is tunable up to 3.8dB.

ISBN: (纸本)9781957171258

关键词： Microelectromechanical systems Optical components Optical directional couplers Resonance Silicon Waveguide modes

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Towards learning-based trajectory tracking control for a planetary exploration rover: Adaptive model predictive control

Towards learning-based trajectory tracking control for a pla...

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International Conference on System Theory, Control, and Computing (ICSTCC)

作者： Niklas Baldauf Kristin Lakatos Alexander Meinert Alen Turnwald Department of Space Applications (E:Space) E:Fs TechHub GmbH Institute of Robotics and Mechatronics German Aerospace Center (DLR)

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Automous Robotic vehicles are important for exploring distant planets due to the risks associated with manned missions. However, they face challenges in navigating unknown terrain, requiring a deep understanding of wheel-ground interaction for effective slip estimation and compensation. Conventional methods have proven insufficient in addressing these challenges. The DeLeMIS project showcases AI methods to enhance autonomy in uncertain terrain, focusing on the trajectory tracking performance. This paper presents the development and evaluation of an adaptive model predictive control algorithm within the project, extended by machine-learning techniques. The learning-based algorithm and conventional baseline controllers are implemented and systematically evaluated through a comprehensive test campaign, which is described in our previous publication. This paper gives an overview of the control architecture and the training process, providing detailed insights into the neural network architecture and the results on a prototypic rover hardware.

关键词： Training Accuracy Trajectory tracking Navigation Space missions Neural networks Computer architecture Prediction algorithms Hardware Predictive control

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DEVELOPMENT OF 3D PRINTED SOFT PNEUMATIC HAND MOTION SENSORS

DEVELOPMENT OF 3D PRINTED SOFT PNEUMATIC HAND MOTION SENSORS

引用

ASME 2022 International Mechanical Engineering Congress and Exposition, IMECE 2022

作者： Papendorp, Sky Iyun, Olukayode Schneider, Christian Tekes, Ayse Ashuri, Turaj Amiri Moghadam, Amir Ali Robotics and Mechatronics Department Kennesaw State University MariettaGA United States Mechanical Engineering Department Kennesaw State University MariettaGA United States

ISBN: (纸本)9780791886663

This paper reports on the design, fabrication, and evaluation of a novel 3D printed vacuum based soft sensor and its application as hand motion sensor. Soft sensors are an integral part of soft robotics as an emerging field of science that enables safe and easy human to machine interaction. The conventional sensors used to interface with humans in robotic systems are mechanically incompliant. Because of this mechanical compliance mismatch, these sensors cause unsafe interactions with humans. Recent advancements in 3D printing technology have allowed fabrication of complex geometries with soft polymers, perfect for more delicate and user-friendly sensors. While the existing soft pneumatic sensors work based on the positive pressure due to deformation, the proposed sensor in this work works based on vacuum due to deformation. In comparison with the similar positive pressure sensor, our vacuum-based sensor is much softer and has minimum interference with hand motion. Finite element analysis (FEA) is used to analyze the design. Also, a kinematic model of the hand is developed using Matlab to visualize the hand motion based on the sensor data. This could show the potential application of the soft hand motion sensor in virtual reality and telehealth. Copyright © 2022 by ASME.

关键词： Finite element method

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The Use of Four-Bar Mechanisms in Robotic Exoskeletons

The Use of Four-Bar Mechanisms in Robotic Exoskeletons

引用

International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Sultan Omirbayev Ilyas Issa Zholaman Kuangaliyev Azamat Turganbayev Aibek Niyetkaliyev Robotics and Mechatronics Department Nazarbayev University Astana Kazakhstan

ISBN: (纸本)9781665463812

Due to the specificity of the current world, there is a spike in demand for robotic exoskeletons of various types and purposes. An increase in the elderly populace, an increase in demanding jobs, and rehabilitation are the driving factors in the field of biomechatronics and exoskeleton research. The four main questions, such as human bionic compliance, optimization of the exoskeletons, reduction of costs and increase of efficiencies are on the front line of the exoskeleton research. In this work, one of such solutions, namely the application of four-bar mechanisms, is explored in detail. This paper is a comprehensive review of the different types of four-bar mechanisms and their use in the robotic exoskeletons. The main objective is to find the most efficient four-bar configuration to assist different body parts as well as to look at what makes certain arrangements superior to others. By analyzing the currently existing solutions provided in the scientific literature, the optimal solutions are derived and proposed to further advance the rapidly developing fields of robotics and biomechatronics.

关键词： Couplings Costs Exoskeletons Biomechatronics Older adults Robots Optimization

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Mechatronic Design and Fabrication of Aerogenerator composed of Vertical Axis Wind Energy Station with Helical Blades

Mechatronic Design and Fabrication of Aerogenerator composed...

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IEEE Students' Conference on Electrical, Electronics and Computer Science (SCEECS)

作者： Adrian Nacarino Andre Rueda-Lopez Anderson La-Rosa Jose Cornejo Ricardo Palomares Professional School of Mechatronics Engineering Ricardo Palma University Lima Peru Universidad Tecnologica del Peru Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Ricardo Palma University Lima Peru

ISBN: (数字)9798331529833

ISBN: (纸本)9798331529840

An innovative research, supervised by the Research Group of Advanced robotics and mechatronics (GI-ROMA) and the mechatronics Engineering School at Ricardo Palma University, was conducted, which explored the development of a helical vertical axis wind energy station. The mechanical design of the helical vertical axis focused on determining the blade type to achieve a shear stress of τ=5*10 -10 , nearly negligible, to let a continuous air flow and obtain a desired voltage output of 5 V. The electrical and electronic design included developing a voltage rectification stage to obtain a regulated output of 5 V; subsequently, 6 V 4.5 Ah batteries were charged and connected in series, with a maximum voltage of 12.67 V, as determined experimentally, which was then connected to a voltage inverter which produced 220 V at 200 W, capable of powering appliances like a 5 W light bulb with a 78.50% efficiency.

关键词： Renewable energy sources mechatronics Wind energy Blades Inverters Wind turbines Voltage control Sustainable development Stress Robots

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

Fine Manipulation Using a Tactile Skin: Learning in Simulati...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Ulf Kasolowsky Berthold Bäuml Learning AI for Dextrous Robots Lab (***) Technical University of Munich Germany DLR Institute of Robotics and Mechatronics German Aerospace Center

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

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 <1 mm (despite a taxel spacing of 4 mm). Moreover, we demonstrate that all policies successfully transfer from the simulation to the real robotic ***: ***/skin/iros24

关键词： Hands Geometry Tactile sensors Fasteners Skin Calibration Spatial resolution Robots Physics Intelligent robots

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Tele-Running: Trajectory Generation for Monopod Robots by Teleoperation

Tele-Running: Trajectory Generation for Monopod Robots by Te...

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IEEE International Conference on Systems, Man and Cybernetics

作者： David Wandinger Annika Schmidt Antonin Raffin Alin Albu-Schäffer Manuel Keppler Institute of Robotics and Mechatronics German Aerospace Center (DLR) Germany Department of Informatics Technical University of Munich (TUM) Garching Germany

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

Energy-efficient legged locomotion in robots depends on exploiting passive dynamics, particularly with integrated mechanical compliance. Traditional model-based control strategies that leverage these dynamics often encounter challenges due to inherent model uncertainties. We propose a novel model-free method for generating motor trajectories in compliantly actuated monopods using teleoperation with force feedback. This approach allows operators to detect ground reaction forces and excite the robot's natural frequency, achieving highly efficient hopping. The method results in a mechanical Cost of Transport (CoT) of 0.25 at 0.63 m S −1 on an articulated hopper. To further enhance energy efficiency and adjust for hardware variations, these trajectories are refined using Black-Box Optimization (BBO) directly on the hardware. Experimental results confirm that these optimized trajectories closely match the efficiency of those initiated by humans, demonstrating the effectiveness of this method in exciting the robot's natural dynamics.

关键词： Legged locomotion Costs Dynamics Force feedback Closed box Motors Hardware Energy efficiency Trajectory Optimization

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Comparison of Object Detection Technique for Applications in ETAT Automation Training Set 7

Comparison of Object Detection Technique for Applications in...

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7th International Conference on Information Technology, InCIT 2023

作者： Kosiyanurak, Karin Singsri, Pongpat Seangsri, Soontaree Promput, Sommart Rajamangala University of Technology Tawan-ok School of Engineering and Innovation Department of Mechatronics and Robotics Engineering Chonburi Thailand Rajamangala University of Technology Tawan-ok Faculty of Science and Technology Department of Information and Communication Technology Chonburi Thailand

ISBN: (纸本)9798350358698

Object detection is a type of artificial intelligence (AI) that is currently being developed and used widely. It can classify and detect objects in images or videos. This research aims to investigate object detection that is suitable and accurate for detecting the color of the workpieces in the training set. This study will experiment comparison of three object detection models: 1. OpenCV Python code via the Thonny software. Using the BGR color separation principle, the range of color values must be specified so that the model can separate different colors. 2. V4-tiny and 3. V7-tiny are models that use model training principles in the CiRA-CORE Platform. In this study, 1,271 images of workpieces processed with the Augmentation Technique were utilized to train the model. and 240 images for testing the model. To analyze of find a suitable and accurate model for detecting the color of workpieces Because light is important in visual or object detection in real-time this study divided the experiment into two conditions: LED Lighting and without LED Lighting. The results showed that V7-tiny is an object detection model that can detect the color of the target in both lighting conditions. The V7-tiny model has an accuracy of 97.92%. © 2023 IEEE.

关键词： Object detection

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