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IEEE International Conference on Engineering Technologies and Applied Sciences (ICETAS)

作者： Zied Ben Hazem Zafer Bingül Department of Mechatronics Engineering College of Engineering (COE) University of Technology Bahrain Bahrain Department of Mechatronics Engineering Automation and Robotics Laboratory Kocaeli University Kocaeli Turkey

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination.

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Pinch Analysis of Heat Exchanger Network in the Produce Hydrogen and Electricity from Biogas Integrated with CO2 Capture 7

Pinch Analysis of Heat Exchanger Network in the Produce Hydr...

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7th International Conference on Advanced Computing and Communication Systems, ICACCS 2021

作者： Sukpancharoen, Somboon Rajamangala University of Technology Thanyaburi Division of Mechatronics and Robotics Engineering Pathum Thani Thailand

ISBN: (纸本)9781665405201

The process of producing hydrogen and electric power from biogas and the combined hydroxyapatite (HAp) production from calcium hydroxide (Ca(OH)2), which uses a substrate of calcium. This production process also generates CO2 from the methane steam reforming (MSR) reaction and water gas shift (WGS) reaction, while the carbonation reaction then serves to capture this CO2, thus eliminating it before it reaches the atmosphere. In order to lower the production costs, simulations were carried out using the Aspen Plus software to determine how to find efficiencies in the process. Analysis using the Aspen Energy Analyzer shows that heat integration can lead to improved energy efficiency in production plants in addition to product diversification. To achieve energy integration, the process of hot and cold streams must be appropriately matched, while the introduction of utilities should occur only to balance energy consumption deficits. This study proposes a basic systematic retrofit approach based on pinch analysis (PA) to reduce the utility consumption for any kind of industrial heat exchanger network (HEN) through a new minimum temperature approach which requires only minimal capital investment. When assessing the production process following improvement of the HEN, the total costs decreased from 1.57e+06 /year to 8.63e+05 /year, representing an annual decline of 44.92%. © 2021 IEEE.

关键词： Hydrogen production

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Interactive Health Care Robot to Measure Vital Signs

Interactive Health Care Robot to Measure Vital Signs

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ryo Saegusa Kensuke Ohno Rikuto Okonogi Department of Information Systems Kanagawa Institute of Technology Atsugi Japan Department of Robotics and Mechatronics Kanagawa Institute of Technology Atsugi Japan

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In order to maintain the health of aged people living in care facilities, care staffs need to check the vital conditions of the residents frequently. For the facility staffs, however, taking vital signals of residents is one of the time-consuming tasks, and the operation is strongly expected to be supported by modern robot technologies. In this study, we propose an interactive health care robot that measures vital signals of residents. In this interactive vital measurement, the health care robot gently approaches a resident and operates its arm to reach the resident's hand. The robot then interactively requests the resident to grab the haptic vital handle. The novelty of our method is in the design of human-robot interaction. On the surface of the haptic vital handle, the vital sensors and pressure sensors are arrayed in order to detect physical gripping. The vital signals of the blood oxygen saturation and heart rate are recorded only when the robot is detecting pressure patterns and confident of the hand gripping. This mechanism allows the open contact measuring without clipping resident's fingers. We performed experiments to measure vital and pressure signals from healthy adults and evaluated the reliability of the measurement in the different configurations of the body postures denoted as the stance, on-chair, on-wheelchair, and on-bed.

关键词： Heart rate Hands Medical services Robot sensing systems Reliability engineering Manipulators Pressure measurement Haptic interfaces Robots Sensor arrays

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Dual UWB Anchors-Based Target Tracking Strategy for an Omnidirectional Mobile Robot

Dual UWB Anchors-Based Target Tracking Strategy for an Omnid...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Le Bao Kai Li Wenbin Dong Wenqi Li Kyoosik Shin Changsoo Han Wansoo Kim Department of Mechatronics Engineering Hanyang University Ansan Republic of Korea Robotics Department Hanyang University ERICA Ansan Republic of Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

Target tracking mobile robots still face challenges in terms of localization accuracy and tracking performance. This study presents a novel target tracking strategy for an omnidirectional mobile robot by using dual ultra-wideband (UWB) anchors. The proposed target tracking strategy integrates these sensors with a Mecanum wheeled mobile platform, optimizing motion control and target tracking. Based on the developed dual UWB anchors’ geometric localization model, the horizontal relative distance and orientation between the target and the robot were estimated. In tracking scenarios, the robot demonstrates advanced adaptability: While the target is at close-range, the robot rotates in place for orientation tracking to directly face the target, and the designed tracking algorithm allows the robot to dynamically adjust its rotation speed, resulting in smooth tracking movements. While the target is at longer-range, the robot dynamically modifies its tracking speed and orientation according to relative positional data, to ensure effective and continuous target following. Through experimental validation, the lateral error during target tracking is reduced, the tracking accuracy is improved by 50% compared to existing related studies, and the tracking performance is smoother.

关键词： Location awareness Target tracking Accuracy Robot sensing systems Sensor systems Sensors Mobile robots Reliability Faces Ultra wideband technology

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Towards learning-based trajectory tracking control for a planetary exploration rover: Development and testing

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

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Space robotics (iSpaRo), International Conference on

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

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Slip estimation and compensation are crucial factors for the success of ground-based planetary exploration missions. This work presents the development and implementation of a test campaign for the systematic evaluation of trajectory tracking controllers for a planetary exploration rover. The performed tests focus on machine learning algorithms for wheel-ground interaction. The control approaches are developed and tested both in simulation and on a rover prototype in a space-analog scenario. First results comparing the performance of the classical tracking controllers and their learning-based extensions are presented. The results imply that the use of machine learning techniques can improve the tracking performance on difficult terrain significantly.

关键词： Systematics Trajectory tracking Measurement uncertainty Estimation Machine learning Artificial neural networks Extraterrestrial measurements

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Igwo-Ss: Improved Grey Wolf Optimization Based on Synaptic Saliency for Fast Neural Architecture Search in Computer Vision

SSRN

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SSRN 2022年

作者： Arman, Shifat E. Deowan, Shamim Ahmed Department of Robotics and Mechatronics Engineering University of Dhaka Bangladesh

Neural Architecture Search (NAS) is the process of automating the design of neural network architectures for a given task. Although NAS provides an automatic way to find suitable neural network architectures for a specific task, the existing NAS algorithms are immensely time-consuming. The main bottleneck in NAS algorithms is the training time for each architecture. This study proposes an Improved Grey Wolf Optimization based on Synaptic Saliency (IGWO-SS), which is much faster than the existing NAS algorithms and provides better final performance. The IGWO-SS algorithm skips training the less promising architectures by creating a relative rank between the architectures based on synaptic saliency. The architectures that are lower in rank are considered less promising than the architectures that are higher in rank. Since the calculation of synaptic saliency is a very fast process, a significant amount of time is saved by skipping training of less promising architectures. We performed extensive experiments to determine the efficacy of synaptic saliency to improve NAS. Our experimental results suggest that the synaptic saliency of an untrained neural network positively correlates with its final accuracy. Hence, it can be used to identify untrained promising neural networks. The experimental results suggest that the IGWO-SS algorithm is almost 10x faster and achieves better final performance than five other bio-inspired algorithms. The IGWO-SS algorithm achieves higher mean accuracy than state-of-the-art NAS algorithms, including - REA, RS, RL, BOHB, DARTSV1, DARTSV2, GDAS, SETN, and ENAS. We hope that our work will make NAS more easily accessible and useful to researchers by reducing the time and resources required to perform NAS. © 2022, The Authors. All rights reserved.

关键词： Network architecture

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Updating the Content of a Computer Vision Course for Students from the STEM Programs

Updating the Content of a Computer Vision Course for Student...

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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 use of image acquisition, processing and recognition techniques already has a history in terms of practical applications. The current and future development of industrial applications favors the development of such techniques based on increasing their performance. Considering this trend, it is necessary to adapt the contents of the artificial vision courses with an emphasis on the practical applicability with the high performance of the new methods and techniques in the field. At the Faculty of Automation, Computers and Electronics, from the University of Craiova, Romania, such a course is offered to students from the undergraduate programs in Multimedia Systems Engineering, Applied Electronics, and mechatronics and robotics, respectively. The course includes chapters dedicated to digital image acquisition, image processing, image segmentation, image descriptors, image classification and recognition, and applications. This paper will present how to upgrade the chapter related to applications, referring to the practical application developed by a group of doctoral students from our faculty. Methodologies for the development of reliable and complex computer vision applications which are used in a manufacturing environment are generally presented. The principles for the V-model development methodology and the Agile methodology are parts of this presentation. Students will receive the basic knowledge needed for comparing the advantages and disadvantages of these established methods in the manufacturing industry. In practice, these methods should measure the reliability of the system, what percentage of the functional requirements is achieved and at what quality, the behavior of the hardware and software components, and the behavior of the system when integrated into the plant environment. For validating the concept, the results obtained using the V-model and Agile methodologies into a computer vision automated inspection application for engine blocks from an automot

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Parking Lines and Indoor Structural Feature-based SLAM with 2D LiDAR and AVM for Indoor Autonomous Parking

Parking Lines and Indoor Structural Feature-based SLAM with ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sekang Oh Taehyun Lim Yonggu Kang Seonghan Kim Department of Intelligent Mechatronics Engineering Sejong University Seoul Korea Department of Artificial Intelligence and Robotics Sejong University Seoul Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

Accurate localization is essential to achieve Automated Valet Parking (AVP) without collisions. However, indoor parking facilities where the use of GPS is restricted are usually lack of maps. This study proposes a Simultaneous Localization And Mapping (SLAM) approach that combines parking line information detected by Around View Monitor (AVM) with the scan data by a 2D LiDAR. The parking line information is extracted using a parking slot detection model and then fused with the scan data. Finally, an indoor map that includes parking spaces is created based on the fused scan data. The proposed method results in low computational requirements, and the generated map contains information such as parking lines, pillars, and walls, which enables accurate real-time localization. This generated map can be utilized in future AVP research to navigate from one location in the parking facility to an available parking space.

关键词： Location awareness Simultaneous localization and mapping Laser radar Accuracy Navigation Feature extraction Real-time systems Data mining Monitoring Global Positioning System

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Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes

Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear ...

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European Control Conference (ECC)

作者： Arne Sachtler Davide Calzolari Maximilian Raff Annika Schmidt Yannik P. Wotte Cosimo Della Santina C. David Remy Alin Albu-Schäffer German Aerospace Center (DLR) Institute of Robotics and Mechatronics Münchener Straβe 20 Oberpfaffenhofen Germany Department of Computer Engineering Technical University of Munich (TUM) Garching Germany University of Stuttgart Institute for Nonlinear Mechanics Stuttgart Germany Robotics & Mechatronics Group University of Twente Enschede The Netherlands Department of Cognitive Robotics Delft University of Technology (TU Delft) Delft The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is exploited to devise an efficient swing-up strategy for a double pendulum with weak, saturating actuators. Our approach involves stabilizing the system onto periodic orbits associated with the nonlinear modes while gradually injecting energy. Since these modes are autonomous system evolutions, the required control effort for stabilization is minimal. Even with actuator limitations of less than 1% of the maximum gravitational torque, the proposed method accomplishes the swing-up of the double pendulum by allowing sufficient time.

关键词： Actuators Torque Tensors Modal analysis Motors Orbits Generators

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Predicting Muscle Thickness Deformation from Muscle Activation Patterns: A Dual-Attention Framework

arXiv

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arXiv 2024年

作者： Lan, Bangyu Niu, Kenan The Robotics and Mechatronics Group The Faculty of EEMCS The University of Twente P.O. Box 217 Enschede7500 AE Netherlands

Understanding the relationship between muscle activation and thickness deformation is critical for diagnosing muscle-related diseases and monitoring muscle health. Although ultrasound technique can measure muscle thickness change during muscle movement, its application in portable devices is limited by wiring and data collection challenges. Surface electromyography (sEMG), on the other hand, records muscle bioelectrical signals as the muscle activation. This paper introduced a deep-learning approach to leverage sEMG signals for muscle thickness deformation prediction, eliminating the need for ultrasound measurement. Using a dual-attention framework combining self-attention and cross-attention mechanisms, this method predicted muscle deformation directly from sEMG data. Experimental results with six healthy subjects showed that the approach could accurately predict muscle excursion with an average precision of 0.923±0.900mm, which shows that this method can facilitate real-time portable muscle health monitoring, showing potential for applications in clinical diagnostics, sports science, and rehabilitation. Copyright © 2024, The Authors. All rights reserved.

关键词： Electromyography

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