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Emerging Trends in Industry 4.0 (ETI 4.0)

作者： Ankit Kumar Bhavana Singh Muzammil Khan Pushpendra Kumar Department of Mathematics Bioinformatics & Computer Applications Maulana Azad National Institute of Technology Bhopal India Robotics and Mechatronics Group University of Twente

ISBN: (数字)9798350373783

ISBN: (纸本)9798350373790

This paper introduces a nonlinear fractional order variational model for the robust estimation of optical flow. In particular, it can be used to generalize the existing models from integer to fractional order. The proposed model combines a nonlinear Geman-McClure norm based data term with a Marchaud fractional derivative based regularization term. It significantly offers robustness against outliers, efficiently handle discontinuous texture and edge information and provides a dense flow field. The numerical discretization of the variational functional is facilitated using the Gru” nwald-Letnikov fractional derivative. Through an outer fixed point iteration scheme, the discretized nonlinear system is transformed into a linear system of equations, which is further solved using iterative techniques. Experimental evaluations across diverse datasets assess the model performance using various error measures (AAE, AEE, AENG). The results are also compared with the state-of-the-art-techniques.

关键词： Linear systems Technological innovation Computational modeling Measurement uncertainty Estimation Mathematical models Robustness Numerical models Nonlinear systems Optical flow

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Transportation Systems for Intelligent Cities

Transportation Systems for Intelligent Cities

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International Carpathian Control Conference (ICCC)

作者： Yahya Kadhim Jawad Mircea Nitulescu Doctoral School University of Craiova Craiova Romania Department of Mechatronics and Robotics University of Craiova Craiova Romania

The automation level of systems within smart city structures can be increased by implementing the new machine-to-machine (M2M) communication model. Also, transportation systems in modern society pose serious challenges. This type of implementation provides seamless integration of all the physical and virtual objects that are part of the smart city infrastructure. In vehicle technologies and their applications in various areas such as traffic management and information are being developed by automobile manufacturers. By integrating vehicles, technologies, sensing devices, and surveillance cameras, their sensing and communication capabilities can be leveraged to achieve intelligent transportation systems (ITS). leading to new challenges. Data latency and throughput requirements of certain applications within the smart city framework need to be addressed. The main goal of the suggested model is to improve the M2M nodes by creating an integrated system of electronic devices, communications, and sensors. They will be the link between smart cities and vehicles in the beginning. By integration of these components into the infrastructure of cities, it is likely that this technology will be applied to all manners of transportation in the future.

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Biologically Inspired Networking (BIN): Leveraging Neurobiological Principles for Adaptive, Scalable, and Efficient Communication

Biologically Inspired Networking (BIN): Leveraging Neurobiol...

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International Conference on Computing, Networking and Communications (ICNC)

作者： Razvan Cristian Voicu Amanda Frischmann Muhammad Hassan Tanveer Amir Ali Amiri Moghadam Yannique Tello Gabriela Oprea-Ilies Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia Windship Cancer Institute Emory University School of Medicine Atlanta Georgia

ISBN: (数字)9798331520960

ISBN: (纸本)9798331520977

The surge in interconnected applications, particularly in AI, IoT, and intelligent infrastructure, imposes new demands on communication networks, requiring them to handle high data volumes, support real-time exchanges, and dynamically adapt to fluctuating conditions. Traditional networking models, reliant on centralized processing and static protocols, are insufficient to meet these evolving needs, resulting in inefficiencies, latency, and scalability issues. This paper introduces a biologically inspired networking paradigm that mimics neurobiological principles such as event-driven communication, distributed intelligence, and adaptive resource management. By conceptualizing data types as analogous to neurotransmitters and infrastructure learning as synaptic plasticity, the framework provides a dynamic, scalable solution that enhances efficiency and resilience. The proposed model is particularly suited for resource-constrained environments, dynamically optimizing resource allocation and communication pathways in real time. Simulations demonstrate significant improvements in latency, resource utilization, scalability, and reliability, proving its potential as a foundation for next-generation networks.

关键词： Adaptation models Adaptive systems Biological system modeling Scalability Real-time systems Resource management Internet of Things Artificial intelligence Surges Resilience

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Integrated DOB-Based Approach for Admittance Control of an Industrial Robot

Integrated DOB-Based Approach for Admittance Control of an I...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany

Admittance control can improve robot performance and robustness in interactive tasks, but is still limited by stability when implemented on low-admittance hardware, such as position-controlled industrial robots. This limits applications which require the payload, reach, or positioning accuracy. While the idealized reference admittance behavior would be stable with any passive environment, real robots can be unstable, especially with high-stiffness environments. Thus, instability comes from deviation from the ideal reference model, due to either inner-loop bandwidth, time-delay, or other model error. To improve accuracy of rendered dynamics and reduce contact forces, a novel integrated disturbance observer-based admittance control method which is implemented on a position/velocity-controlled industrial robot in task space is proposed. The multisensor information is integrated to estimate and cancel the disturbances, outside the position/velocity control loop, all in task space. Experiments on the actual robot show that the proposed method is able to improve accuracy and reduce contact forces even at higher admittance.

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Development of a Variable Stiffness Mechanism with a Linear Output for Exosuit Integration

Development of a Variable Stiffness Mechanism with a Linear ...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Tim Verburg Sagar Joshi Ajay Seth Cosimo Della Santina Cognitive Robotics Department Delft University of Technology Delft The Netherlands BioMechanical Engineering department Delft University of Technology Delft Netherlands German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weβling Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

People suffering from conditions affecting their activities of daily living and those who do straining repetitive tasks could be assisted using supportive devices. These devices have generally been stiff in design, with more recent advances exploring soft suits, removing the need for heavier structural components. These supportive devices are often fitted with rigid actuators that lack inherent compliance and rely on feedback to regulate the assistive force. Compl iant actuators able to control stiffness and pretension have only been applied in rigid assistive devices with these devices being designed for controllable stiffness in rotation and not linear motion. This work briefly presents the results of a user study on the effects of a compliant actuator in a soft supportive device for arm flexion, the development and testing of a variable linear stiffness mechanism for a linear motion capable of controlling the stiffness and equilibrium position, and the integration of said actuator in an exosuit.

关键词： Actuators Force measurement Current measurement Force Biomechatronics Biomedical measurement Manufacturing Springs Robots Testing

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mechatronics Fundamentals and Locomotion Analysis of Hybrid Mobile Robot: Rocker-Bogie Wheeled System and SCARA Manipulator

Mechatronics Fundamentals and Locomotion Analysis of Hybrid ...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Juan Alva Renzo Meza Ricardo Palomares Jose Cornejo School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru Universidad Tecnologica el Peru Lima Peru

ISBN: (数字)9798350354423

ISBN: (纸本)9798350354430

Plastic on beaches and seas is a problem that affects the entire planet; more than 300 million metric tons of plastic are produced per year, in contrast to the 1.5 million metric tons recorded in 1950. In a world where the annual production of plastic is measured in hundreds of millions of tons, it is essential to critically address the collateral effects of this material on our environment, intending to propose innovative and sustainable solutions to mitigate its negative consequences. This study aims to solve the health problem caused by plastic bottles on beaches. The proposed collector robot aims to be a solution dedicated to cleaning stone beaches by having the capacity to collect plastic bottles from 0.5 to 2 liters. The collector robot comprises a ROVER-type mobile robot, and a SCARA-type manipulator robot with 3 degrees of freedom. The movement analysis of the ROVER mobile robot and the SCARA manipulator robot was carried out, generating rectangular and circular trajectories using Matlab's Simulink. A virtual environment was recreated, using CoppeliaSim software to guarantee correct operation through mobility and operation tests, achieving optimal results.

关键词： Legged locomotion Sea surface Software packages Virtual environments Manipulators Surface roughness Finite element analysis Trajectory Plastics Plastic products

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Crop and Weeds Classification in Aerial Imagery of Sesame Crop Fields Using a Patch-Based Deep Learning Model-Ensembling Method 2

Crop and Weeds Classification in Aerial Imagery of Sesame Cr...

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2nd International Conference on Digital Futures and Transformative Technologies, ICoDT2 2022

作者： Moazzam, S. Imran Khan, Umar S. Nawaz, Tahir Qureshi, Waqar S. National University of Sciences and Technology National Centre of Robotics and Automation Department of Mechatronics Engineering Islamabad Pakistan Technological University Dublin Department of Computer Science Dublin Ireland

ISBN: (纸本)9781665498197

Sesame (Sesamum indicum L.) is an important commercial and food crop, and its yields is limited by many insects, pests, diseases, and weeds. Autonomous aerial agrochemicals spray application on sesame fields using a drone aims to save crop from these yield limiting factors and in addition agrochemicals application quantity and site could be controlled, and human health is expected to be protected. For accurate and selective spray application, autonomous systems would need some parameters to distinguish between crop, weed and background. In this research an aerial sesame field dataset has been collected with the focus to classify patch areas of sesame and weeds present in the field. Dataset was captured using Agrocam. We have developed a patch image-based classification approach along with a novel SesameWeedNet convolutional neural network (CNN) inspired by the layer's configuration of VGG networks and depth-wise convolutions of the MobileNet. The small model contains 6 convolutional layers, and it runs faster and accurately on small patch images. Our approach breaks 1920×1080-pixel images into smaller patch images of size 45×45 pixels. After that, these small patch images are fed to a relatively small CNN for training, validation, and finally for classification. Patch based model ensemble and dataset grouping are two major parts in our methodology. Our system recommends the dataset grouping according to vegetation present in the images to enhance classification results. We have achieved accuracy up to 96.7% with our proposed method. We have tested our system under sunlight variation, in wet and dry soil conditions and at different growth stages. To the best of our knowledge, no attempt has been made to classify and treat crop and weeds in sesame fields at the post-emergence stage previously. In this research we have made the contribution of aerial sesame-weed dataset and a complete deep learning-based approach to classify weeds in sesame fields under variable lighti

关键词： Crops

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Passively Adapting External Force Compensation System for Serial Manipulators 16th

Passively Adapting External Force Compensation System for S...

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16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Demian, Albert Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis420500 Russia School of Computer Science College of Science University of Lincoln Brayford Pool Lincolnshire LincolnLN6 7TS United Kingdom

ISBN: (纸本)9783031457692

This paper proposes a design approach for a spring-based compensator that passively adapts to external loadings. The proposed compensator is based on a combination of spring-lever mechanisms that are adjustable to the robot’s configuration. Springs in this arrangement are mounted on sliding pivots that connected to springs that allow passive adjustment of the value of the counter-torque. While previous research is either concerned with gravity compensation or with variable stiffness actuators, the proposed approach deals with the variation of external loadings. The proposed force compensator can be used in robotics applications where the robot experiences high external loads during operation. The model was tested in simulation for a planar 2-DoF manipulator and a planar redundant 3-DoF manipulator. The presented results show 58.5% torque reduction for 2-DoF and 55.2% reduction for 3-DoF. Robot redundancy can enhance counter-balancing since the compensation level is configuration-dependent. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robots

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Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping

Increasing Admittance of Industrial Robots By Velocity Feedb...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany

Admittance and impedance controllers are often purely feedforward, using measured external force or motion, respectively, to generate a reference for an inner-loop controller. In this case, the range of dynamics which can be rendered is limited by the inner-loop, which causes, e.g. contact stability issues for low admittance industrial robots in stiff contact. When both position and force are measured, feedback control can be added to more flexibly reshape the rendered dynamics. This paper uses velocity feedback to increase the admittance of motion-controlled industrial robots in force control applications. This allows an industrial robot with a lower intrinsic admittance, which may be needed for payload, speed, or accuracy, to realize a higher admittance by control, allowing lighter manual guidance and safer contact. This is achieved by a modified disturbance observer, where an inverse dynamic model estimates external forces and amplifies them with positive feedback. This approach is compared with using positive velocity feedback with a shaping filter. Here, velocity reference calculated by the virtual admittance model is modified by the DOB (Dist-Add) or the positive velocity feedback (Vel-Add). When combined with an outer-loop admittance controller, these methods can render a higher admittance while maintaining contact stability compared to standard feedforward admittance control.

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Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements

arXiv

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arXiv 2023年

作者： Tenhumberg, Johannes Sievers, Leon Bäuml, Berthold DLR Institute of Robotics & Mechatronics Germany Deggendorf Institute of Technology Germany Technical University of Munich Germany

A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a multi-fingered robotic hand can be precisely calibrated only by moving the tips of the fingers pairwise into contact. The only prerequisite for this is sensitive contact detection, e.g., by torque-sensing in the joints (as in our DLR-Hand II) or tactile skin. The measurement function for a given joint configuration is the distance between the modeled fingertip geometries, but the actual measurement is always zero. In an in-depth analysis, we prove that this contact-based calibration determines all quantities needed for manipulating objects with the hand, i.e., the difference vectors of the fingertips, and that it is as sensitive as a calibration using an external visual tracking system and markers. We describe the complete calibration scheme, including the selection of optimal sample joint configurations and search motions for the contacts despite the initial kinematic uncertainties. In a real-world calibration experiment for the torque-controlled four-fingered DLR-Hand II, the maximal error of 17.7 mm can be reduced to only 3.7 mm. Web: https://***/2023-humanoids-contact/ Copyright © 2023, The Authors. All rights reserved.

关键词： Calibration

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