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检索条件"机构=Mechatronics and Robotics"

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Bio-Inspired Design and Additive Manufacturing Techniques for Aquatic Robot Development Based on the Locomotion of the Istiophorus (Sailfish)

Bio-Inspired Design and Additive Manufacturing Techniques fo...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Bernabé Oscco Victor Cuyotupac Jose Mayorga Robert Castro Ricardo Palomares Jose Cornejo Professional 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 del Peru Lima Peru

ISBN: (数字)9798350354423

ISBN: (纸本)9798350354430

The goal of this project is to develop a robotic prototype capable of swimming at high speeds, intended for use un rescue operations and ocean research. The design focuses on replicating key characteristics of the sailfish's movement, particularly its dart-like shape during high-speed swimming, which is enhanced by its lack of scales, minimizing friction with water. The robotic prototype features degrees of freedom in its neck and fins, allowing vertical movement without human intervention, thereby providing added comfort and stability during deep-water rescue operations. Finally, the proposed bioinspired design of fish-morphology robots offered enhanced maneuverability, efficiency, adaptability, and stability for aquatic applications, while also presenting challenges that demand innovative solutions.

关键词： Aquatic robots Shape Prototypes Morphology Tail Propulsion Robot sensing systems Fish Stability analysis Sports

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Improving Biomedical Systems With robotics & Automation

Improving Biomedical Systems With Robotics & Automation

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International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Samuel J Slate Cole C Tryon Fernando E Uribe William Howland Matt Marshall Razvan Cristian Voicu Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

ISBN: (纸本)9781665461986

In biomedical processes, there are a wide variety of operations that require the use of pipetting and transferring liq-uids into a specialized dish known as a microplate. For example, researchers and scientists utilize Enzyme-Linked Immunosorbent Assay (ELIZA) to test for specific antigens within a testing solution. Researchers use a handheld, manual pipette during most ELISA tests to move solutions into microplates. While the entire ELISA process often incorporates machines/automation at different steps along the way, the pipetting process usually remains manual. Integrating an automated pipetting system into one such biomedical process can enhance repeatability and optimize time and accuracy. This paper presents the design and implementation of a custom biomedical pipetting system that uses stepper motors along three Cartesian axes to allow precise placement and control of the pipette end effector into individual bays of a microplate. The results show promising improvement both in time and equal volume distribution.

关键词： Liquids Automation Smart cities Manuals Throughput Filling Printers

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Human Hand Gesture Recognition System Using Body Sensor Network 4

Human Hand Gesture Recognition System Using Body Sensor Netw...

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4th International Conference on robotics and Automation in Industry, ICRAI 2021

作者： Maheen, Asra Bin Shahzad, Moosa Asif, M. Usama Ahmad, Syed Fasih Zafar, Saqib Maqbool, H. Farhan Usman, Muhammad Arshad, Hira Department of Mechanical Mechatronics And Manufacturing Engineering Faisalabad Pakistan Human-Centered Robotics Lab National Center of Robotics And Automation Lahore Pakistan Pakistan Engineering Council Islamabad Pakistan Department of Mechanical Mechatronics And Manufacturing Engineering Faisalabad Pakistan

ISBN: (纸本)9781665423434

Wearable technology has gained massive popularity for applications in healthcare in recent years. Body sensor network (BSN) includes wearable sensors such as Myoware muscle sensor that can capture electromyography (EMG) signal from human muscles during a movement. This study involves the control of a 3d prosthetic hand using EMG data of basic hand gestures from healthy subjects and operating the prosthetic hand with this classified data. Artificial Neural Networks (ANN) are biologically inspired computational networks which help to build predictive models from large databases. Backpropagation combined with feedforward ANN is used to classify data here. Classification results showed an accuracy of about 91% for four-hand gestures - hand closed, hand open, pointing index finger, and pinch motion. The BSN-based prosthetic hand can facilitate rehabilitation of amputees, perform surgery using recorded EMG data from a surgeon's hands and reduce industrial manpower in the future. © 2021 IEEE.

关键词： Neural networks

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Characterization of k-Carrageenan and Iron (III) Oxide Based Piezoresistive Film by Microrobotic System

Characterization of k-Carrageenan and Iron (III) Oxide Based...

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Electrical, Electronic and Information Sciences (eStream), Open Conference of

作者： Viktor Masalskyi Jurate Jolanta Petroniene Sigitas Petkevicius Ugne Piliukaityte Uldis Zaimis Ujjawal Malani Andrius Dzedzickis Vytautas Bučinskas Department of Mechatronics Robotics and Digital Manufacturing Faculty of Mechanics Vilnius TECH Vilnius Lithuania Institute of Science and Innovative Technology Liepaja University Liepaja Latvia

ISBN: (数字)9798331598730

ISBN: (纸本)9798331598747

This paper represents continued development and investigation of a piezoresistive sensor based on k-carrageenan and iron (III) oxide with natural moieties of algae containing cellulose. Because of the cheapness of raw material, k-carrageenan-based sensors can be used as disposable without any sufficient harm to the environment. Iron (III) oxide, k-carrageenan, and cellulose exhibit complex charge transfer. The promising green electronics biopolymer-based hydrogel film requires careful study, since the structure of natural biopolymers extracted from plants and algae depends on environmental condition, the changes of the molecular structure resulting data scatter. This composition can work as a piezoresistive strain sensor, a pressure sensor, with wide application, for example, in automated storage with the additional property to record humidity changes. We represent the investigation how this sensor can be applied for external pressure events. Experimental results demonstrate typical hydrogel behavior. The distribution of measured resistance values on applied force shows map of electrical activity of film. The potential values differences resulted by contacting to sensor film by a nonconductive rod. The contact point selection programed by the scanning system, with control of distance and applied force to the surface.

关键词： Hydrogels Contacts Force Cellulose Iron Manufacturing Force sensors Charge transfer Piezoresistance Immune system

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ExSLeR: Development of a Robotic Arm for Human Skill Learning

ExSLeR: Development of a Robotic Arm for Human Skill Learnin...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Deokjin Lee Kiyoung Choi Junyoung Kim Wonbum Yun Taehoon Kim Kanghyun Nam Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Mechanical Engineering Yeungnam University Gyeongsan Korea

The trend in robotics has shifted from collaboration with humans to learning and reproducing human skills, reflecting a growing social demand. In response, it is imperative to consider both hardware and software aspects in the design of robots. On the hardware side, the robot should be equipped with adequate sensors for mimicking human motion and force, and its design should meet necessary requirements such as workspace, degree of freedom, payload capacity, and weight, all of which are contingent upon the intended use of the robot. On the software side, the robot should be equipped with a real-time system and stable control algorithms to ensure safe operation. This paper presents the ExSLeR arm which meets the requirements for human skill learning. The performance of the ExSLeR arm is validated by a set of experiments through motion tracking with heavy payload and compliant interaction control tasks.

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Road Signage and Road Obstacle Detection Using Deep Learning Method 1

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International Conference on Intelligent Manufacturing and robotics, ICIMR 2023

作者： Juen, Lee Cheng Khairuddin, Ismail Mohd Majeed, Anwar P. P. Abdul Abdullah, Muhammad Amirul Nasir, Ahmad Fakhri Ab Faculty of Manufacturing and Mechatronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pahang26600 Malaysia School of Robotics Xi’an Jiaotong-Liverpool University Taicang Suzhou215400 China Faculty of Computing Universiti Malaysia Pahang Al-Sultan Abdullah Pekan Pahang26600 Malaysia

ISBN: (数字)9789819984985

ISBN: (纸本)9789819984978

This study presents a deep learning approach for road signage and road obstacle detection. The purpose of this research was to train a robust and efficient method for detecting road signs and obstacles in real time. This study aims to address the challenges and feasibility of deep learning on road signage and obstacles. A model is trained on YOLOv5 using transfer learning method and the performance of the proposed model was evaluated on a test set. The results showed the YOLOv5 achieved 93.5% mean average precision (mAP). The study concludes that deep learning is a promising method for road signage and road obstacle detection and has potential applications in the field of autonomous vehicles. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Object detection

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Design, Fabrication, and Control of Micro-Heater Based on Joule Effect for Low-Cost Medical Device 48

Design, Fabrication, and Control of Micro-Heater Based on Jo...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Tolba, Muhammad S. Fanni, Mohamed Nasser, Gamal A. Umezu, Shinjiro Fath El-Bab, Ahmed M. R. Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Helwan Univeristy Faculty of Engineering Mechanical Engineering Department Cairo Egypt Assuit University Mechatronics Engineering Assuit Egypt Waseda University School of Creative Science and Engineering Tokyo Japan

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Temperature control is vital in micro-heaters used in medical devices such as the polymerase chain reaction (PCR). The primary goal is to achieve tight control and a high rate of heating for a portable, low-cost medical device. Even though the fact that several designs for micro-heaters have been proposed, uniform temperature distribution and the high-speed heating rate remain challenging for micro-heaters. This high speed is achieved by the reduction of the thermal mass. The most common methods for reducing thermal mass or heating time in a device are to establish a highly desired structural design and to select a better heating mechanism with a robust controller. Increasing the thermal mass improves temperature distribution on the heater surface but slows heat transfer. On the other hand, removing the thermal mass makes the controller struggle to provide a high-temperature uniformity distribution on the micro-heater surface. In this study, we provide a design of a cost-effective, high-speed, thin-film micro-heater based on the Joule heating technique. The CoventorWare software tool is used to simulate the temperature distribution of the micro-heater. The heater provides a well-distributed temperature on the heated surface. When a DC voltage of 24 V was applied for 250 s, a maximum temperature of 272 °C was obtained. Besides, the heater's average heating rate is 15 °C/s. The heater is then fabricated with the micro-electromechanical systems (MEMS) technology on a silicon substrate. The transfer function of the heating system is computed. Two controllers are designed to control the temperature of the micro-heater and improve its response. The classical proportional-integral-derivative (PID) controller produces rise time (Tr) of 21.9 s, settling time (Ts) of 73.3 s, and a maximum overshoot (Mp) of 4.8 %. Then by applying a fractional-order proportional-integral-derivative (FOPID) controller, a great enhancement in the system performance is observed, the controller is

关键词： Thin films

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Conceptual Mechatronic Design of Robotic System for Lower Limb Rehabilitation in Post-Stroke Patients using the VDI 2206 and VDI 2225 Standard

Conceptual Mechatronic Design of Robotic System for Lower Li...

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

作者： Carol Sandoval Cesar Martel Jose Cornejo Adrian Nacarino Margarita Murillo Manrique Ricardo Palomares Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Ricardo Palma University Lima Peru Institute of Research in Biomedical Sciences (INICIB) Lima Peru

ISBN: (数字)9798331529833

ISBN: (纸本)9798331529840

This study aims to design a robotic system for continuous passive motion therapy to support lower limb rehabilitation in post-stroke patients. The design process adheres to VDI 2206 and VDI 2225 standards. Key stages include defining requirements based on anthropometric and biomechanical data, function structuring, and using a morphological matrix to explore solutions. Weighted matrices evaluated ergonomics, control precision, and safety, leading to an optimal design for knee and ankle rehabilitation. The system provides controlled, passive movement, supports up to 80 kg, and allows adjustable speed and load resistance, ensuring smooth actuation and biomechanical alignment for effective motor recovery. A Von Mises analysis of the rail-structure connector, using 304 stainless steel under a 784 N vertical load (simulating patient weight), revealed a maximum stress of 29.58 MPa and deformation of 1.12×10 -4 , remaining within the material's elastic limit.

关键词： Biomechanics mechatronics Wheelchairs Medical treatment Stroke (medical condition) Motors Standards Robots Stress Testing

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Compliance Control and Simulation of a Next-Generation Chewing Robot 42

Compliance Control and Simulation of a Next-Generation Chewi...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Xudong Xu, Weiliang Dhupia, Jaspreet Bronlund, John Han, Jianda The University of Auckland Department of Mechanical & Mechatronics Engineering Auckland New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Reddit Institute Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (纸本)9789887581543

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Compliance control

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Intuitive Instruction of Robot Systems: Semantic Integration of Standardized Skill Interfaces

Intuitive Instruction of Robot Systems: Semantic Integration...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Junsheng Ding Ingmar Kessler Alexander Perzylo Markus Knaueri Andreas Dömel Christoph Willibald Sebastian Riedell Stefan Profanterl Sebastian Brunner Arsenii Dunaev Le Li Manuel Brucker fortiss GmbH Munich Germany Institute of Robotics and Mechatronics German Aerospace Center (DLR) Oberpfaffenhofen Germany Agile Robots SE Munich Germany

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

This work aims at facilitating the integration of industrial robots and other devices such as their gripper tools at small and medium-sized enterprises (SMEs). For this purpose, an intuitive user interface for the skill-based instruction of robot systems is combined with standardized opc UA-based skill interfaces that support various hardware and software resources from different manufacturers. Special emphasis is laid on supporting different user groups with varying levels of expertise. Production system engineers are provided with a detailed graphical user interface (GUI) for hierarchically defining new skills by combining preexisting ones. System operators receive a simplified view with limited complexity for process instruction and changing high-level task parameterizations. The skills and relevant semantic context knowledge about products, processes, and resources (PPR) are formally represented in OWL ontologies to enable hardware-agnostic process descriptions that can be deployed to different production environments, while automatically deriving parameterizations for skill invocations. The proposed concept has been qualitatively evaluated in two real-world robot workcells based on a smartphone accessory packaging use case.

关键词： Production systems Automation Service robots Semantics Standardization Packaging Software Hardware Robots Graphical user interfaces

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