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检索条件"机构=Mechatronics and Robotics"

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Fault Detection, Isolation and Recovery in the MMX Rover Locomotion Subsystem

Fault Detection, Isolation and Recovery in the MMX Rover Loc...

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IEEE Conference on Aerospace

作者： Juliane Skibbe Elise Aitier Stefan Barthelmes Markus Bihler Gabriel Brusq Franz Hacker Hans-Juergen Sedlmayr German Aerospace Center (DLR) Robotics and Mechatronics Center Weßling Germany Centre national d'études spatiales (CNES) Toulouse France

In any mechatronic system, faults can occur. Likewise also in the MMX rover, which is a wheeled rover mutually developed by CNES (Centre national d'études spatiales) and DLR (German Aerospace Center), intended to land on Phobos. An essential part of the MMX rover is the locomotion subsystem which includes several sensors and eight motors actuating the four legs and the four wheels. In each of these components and their interfaces, there is a possibility that faults arise and lead to subsystem failures, which would mean that the rover cannot move anymore. To reduce this risk, the possible faults of the MMX locomotion subsystem were identified in a FMECA study and their criticality was classified, which is presented in here. During this examination, the criticality was graded depending on different mission phases. With the help of this study, the hardware, firmware and software design were enhanced. Further, certain fault detection, isolation and recovery strategies were implemented in the locomotion firmware and software as well as in the full rover software.

关键词： Legged locomotion Software design mechatronics Fault detection Wheels Software Hardware

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The development and evaluation of a combined initial alignment algorithm for strapdown inertial navigation system 3

The development and evaluation of a combined initial alignme...

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3rf International Scientific Conference on Metrological Support of InnovativeTechnologies, ICMSIT 2022

作者： Afonin, A.A. Sulakov, A.S. Maamo, M.S. Shapovalov, N.A. Moscow University for Industry and Finance "synergy" Faculty of Robotics and Mechatronics 9/14 street Meshchanskaya Moscow129090 Russia Department of Control Systems Informatics and Power Engineering 4 Volokolamskoe shosse Moscow125993 Russia

This paper proposes a combined initial alignment algorithm for strapdown inertial navigation system, in which the initial alignment is carried out in two stages during the process of preflight preparations while the aircraft is not moving. This method of initial alignment has the advantages of being conducted based on the Earth's equatorial (Greenwich) coordinate system, which is also used by the aircraft onboard navigation system. In the first stage, the coarse initial alignment is carried out, and this is done according to the orientation parameters using the vector matching method. Then, in the second stage, a fine procedure is carried out, which may be looked at as an integrated system implemented using optimal Kalman filter. In this case, the initial parameters of orientation and navigation are refined, as well as the systematic errors of the inertial sensors are estimated and corrected. The simulation results show that the required level of initial alignment accuracy could be achieved by applying coarse and fine initial alignment procedures not sequentially but in a combination. © Published under licence by IOP Publishing Ltd.

关键词： Inertial navigation systems

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Open-Source, Low-Cost, and Bimodal Amateur Radio Communication Paradigm for Scientific CanSats

Open-Source, Low-Cost, and Bimodal Amateur Radio Communicati...

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robotics, Control and Automation Engineering (RCAE), International Conference on

作者： Carrington Chun Billy Kihei Sumit Chakravarty M. Hassan Tanveer Department of Robotics and Mechatronics Engineering Kennesaw State Univeristy Marietta GA Department of Electrical and Computer Engineering Kennesaw State Univeristy Marietta GA

To facilitate the development of accessible space-bound robotic explorers, this work demonstrates a novel communication architecture intended for scientific CanSats. As low-cost terrestrial simulation platforms for orbital satellites, CanSats provide a valuable proving ground for new technologies or techniques. CanSats are also a considerably more accessible technological frontier than orbital CubeSats, as CanSats are lower in cost to develop and retain fewer operational requirements. Multiple low-cost CanSats and a simple Base Station were developed using Commercial-Off- The-Shelf (COTS) components. The bimodal modulation technique utilizes Amplitude Shift Keying (ASK) as a means for transferring data packets between the devices, while the delay between multiple ASK trains modulates additional Pseudo Morse Code (PMC) information that is audibly decodable with a handheld amateur radio receiver or digitally with a Software Defined Radio (SDR). The presented framework could be a valuable addition to telemetry beacons for orbital satellites that are seeking to engage the open-source or amateur radio communities.

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3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers

3D Printable Gradient Lattice Design for Multi-Stiffness Rob...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Siebe J. Schouten Tomas Steenman Rens Filé Merlijn Den Hartog Aimee Sakes Cosimo Della Santina Kirsten Lussenburg Ebrahim Shahabi Mechanical Engineering Department Delft University of Technology CD Delft the Netherlands BioMechanical Engineering Department Delft University of Technology CD Delft the Netherlands Cognitive Robotics Department Delft University of Technology CD Delft the Netherlands Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wesling Germany

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Human fingers exhibit remarkable dexterity and adaptability through a combination of structures with varying stiffness levels, ranging from soft tissues (low stiffness) to tendons and cartilage (medium stiffness) to bones (high stiffness). This paper focuses on the development of a robotic finger that emulates these multi-stiffness characteristics. Specifically, we propose utilizing a lattice configuration, parameterized by voxel size and unit cell geometry, to achieve fine-tuned stiffness properties with high precision. A key advantage of this approach is its compatibility with single-process 3D printing, which eliminates the need for manual assembly of components with varying stiffness. Using this method, we present a novel, human-like robotic finger and a soft gripper. The gripper is integrated with a rigid manipulator and demonstrated in pick-and-place tasks, showcasing its effectiveness.

关键词： Service robots Fingers Lattices Tactile sensors Soft robotics Three-dimensional printing Distance measurement Robustness Grippers Tendons

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Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region

Enhancing Model-Based Step Adaptation for Push Recovery thro...

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IEEE-RAS International Conference on Humanoid Robots

作者： Tobias Egle Yashuai Yan Dongheui Lee Christian Ott Automation and Control Institute TU Wien Vienna Austria Autonomous Systems Lab TU Wien Vienna Austria Institute of Robotics and Mechatronics (DLR) German Aerospace Center Wessling Germany

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturbances requires bipedal robots to dynamically adjust their stepping strategies, including footstep positions and timing. Unlike most advanced walking controllers that restrict footstep locations to a predefined convex region, substantially limiting recoverable disturbances, our method leverages reinforcement learning to dynamically adjust the permissible footstep region, expanding it to a larger, effectively non-convex area and allowing cross-over stepping, which is crucial for counteracting large lateral pushes. Additionally, our method adapts footstep timing in real time to further extend the range of recoverable disturbances. Based on these adjustments, feasible footstep positions and DCM trajectory are planned by solving a QP. Finally, we employ a DCM controller and an inverse dynamics whole-body control framework to ensure the robot effectively follows the trajectory.

关键词： Legged locomotion Limiting Perturbation methods Humanoid robots Reinforcement learning Robustness Real-time systems Timing Trajectory IEEE Regions

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Design of Fast Model Predictive Controller for Permanent Magnet Synchronous Motor Drive System

Design of Fast Model Predictive Controller for Permanent Mag...

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第42届中国控制会议

作者： Qian Guo Qinyao Liu Zhimin Cao Institute of Intelligent Manufacturing and Smart Transportation Suzhou City University Department of Mechatronics and Robotics School of Advanced Technology Xi'an Jiaotong Liverpool University

In this article, a new predictive controller based on fast model predictive control has been proposed for permanent magnet synchronous motor(PMSM) drive system to solve the quadratic programming problem online in a very short period. The mathematical model of PMSM has been described in terms of state space and discretized by Euler method firstly. Then, the discrete model is linearized at the steady state point. Based on this, the optimization objective function which is used to measure the performance of the PMSM is designed properly. The approximate primal barrier interior point method is employed to speed up the optimization process. Finally, the simulation results declare that the proposed algorithm is useful for PMSM drive *** addition, the proposed approach enables the model parameters, the horizon size as well as the weighting factors updated in real time so that it has potential to solve problems such as model mismatch in the future.

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Two-Level Sensorimotor Learning for Leader-Follower Consensus Control

Two-Level Sensorimotor Learning for Leader-Follower Consensu...

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European Control Conference (ECC)

作者： J. Franco-Robles J. Escareno O. Labbani-Igbida 3iL Ingénieurs Limoges France Robotics and Mechatronics Department XLIM Laboratory UMR CNRS 7252 University of Limoges France

The present work addresses the problem of leader-follower consensus based on a bioinspired sensory motor approach. The herein presented learning scheme entails two levels: (i) a supervised offline babbling training, where babbling generates a preliminary inference of the unknown environment, and (ii) during the consensus the execution (online) stage the cortical map is re-training throughout agents, which simultaneously to the consensus lapse the learning model is refined. The purpose of the proposed strategy is to link the human sensorimotor postural model with the consensus problem to endow of natural plasticity to the MAS. In order to fullfil the leader-follower control objective a controller based Lyapunov stability theory is synthesized. A set of numerical simulations are conducted to evaluate the MAS performance while following the cortical mapped leader trajectory.

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Crafting CanSats: A Novel Modular Design Paradigm for Scientific CanSats

Crafting CanSats: A Novel Modular Design Paradigm for Scient...

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

作者： Carrington Chun Uday Patel M. Hassan Tanveer Tom Swift Kevin Dallesasse Sumit Chakravarty Department of Robotics and Mechatronics Engineering Kennesaw State Univeristy Marietta Cobb Department of Electrical and Computer Engineering Kennesaw State Univeristy Marietta GA

This paper introduces a novel modular design paradigm for Scientific CanSats, offering a cost-effective platform for testing space-related hardware in near-space environments with reduced developmental timelines. By harnessing Commercial Off The Shelf (COTS) products alongside open-source technologies, this framework emphasizes quick integration of diverse scientific instruments and control systems. The core architectural elements comprise: (1) a unified power and communication bus, (2) standardized mechanical attachments and interfaces, and (3) distributed computing and data management. To validate the effectiveness and adaptability of this design, undergraduate students were engaged to design modules adhering to the established standards. This approach facilitated the creation of an adaptable ecosystem of Command and Sensor Modules, enabling swift assembly and reconfiguration of CanSats with diverse scientific potentials. Remarkably, students transitioned from conceptual design to tangible modules within a semester, while CanSat assembly and reconfiguration from existing modules took five and four minutes respectively.

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Enabling Distributed Low Radio Frequency Arrays - Results of an Analog Campaign on Mt. Etna

Enabling Distributed Low Radio Frequency Arrays - Results of...

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IEEE Conference on Aerospace

作者： Emanuel Staudinger Robert Pöhlmann Siwei Zhang Armin Dammann Riccardo Giubilato Ryo Sakagami Peter Lehner Martin J. Schuster Andreas Dömel Bernhard Vodermayer Andre F. Prince Armin Wedler German Aerospace Center (DLR) Institute of Communications and Navigation Wessling Germany German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany

Measurement of the red-shifted 21-cm signal of neu-tral hydrogen, and thus observing The Dark Ages is expected to be the holy grail of 21-cm Cosmology. A Radio-telescope to observe low radio frequency signals is needed, but radio interfer-ence on Earth and Earth's ionosphere blocking these signals are limiting science investigations in this field. Hence, such a radio-telescope composed of dozens to hundreds of antennas shall be deployed on the lunar far side. Such arrays are shielded from interference from Earth and Earth's ionosphere blocking very low radio frequencies is not present. Within the Helmholtz Future Topic Project Autonomous Robotic Networks to Help Modern Societies (ARCHES) we developed necessary technologies for autonomous robotic de-ployment of antenna elements, modular payload box design, and robust radio-localization to enable such distributed low-frequency arrays. In particular the antennas' positions must be determined accurately, such that the array can be operated as phased array. Our developments lead to the execution of an analog-demonstration on the volcano Mt. Etna, Sicily, Italy, in June and July 2022 over the course of four weeks. We successfully demonstrated the autonomous robotic deployment of antenna elements and our decentralized real-time radio-localization system to obtain the antenna element positions. Ad-ditionally, we showed a proof-of-concept operation of the phased array comprising four antenna elements: estimating the signal direction of arrival of a radio-beacon with unknown position, and the beamforming capabilities itself, for a carrier frequency of 20 MHz. In this paper, we give insights into our developed technologies and the analog-demonstration on the volcano Mt. Etna, Sicily, Italy. We show results of the successfully executed mission and give an outlook how our developed technologies can be further used for lunar exploration.

关键词： Phased arrays Earth Limiting Moon Real-time systems Volcanoes Robots

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Mechatronic Bio-Design and Development of an Exoskeleton to Improve Egonomics and Reduce Occupational Risks in Operators

Mechatronic Bio-Design and Development of an Exoskeleton to ...

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Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI), IEEE Conference on

作者： Bryan Sanchez Adrian Nacarino Robert Castro Josue Alata Rey Ricardo Palomares Jose Cornejo Mariela Vargas Jorge Cornejo Proffesional School of Mechatronics Engineering Ricardo Palma University Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Ricardo Palma University Lima Peru Instituto de Investigaciones en Ciencias Biomédicas (INICIB) Ricardo Palma University Lima Peru Mayo Clinic USA

ISBN: (数字)9798331521691

ISBN: (纸本)9798331521707

In 2020, the International Labor Organization reported that more than 2.78 million fatalities occur annually due to occupational accidents or work-related diseases, highlighting a critical global issue. To address this concern, an innovative study was conducted in 2024 under the auspices of the Professional School of Mechatronic Engineering at Ricardo Palma University, the objective of this research was to develop a bio-inspired exoskeleton designed to augment the strength capabilities of workers performing tasks at shoulder height, including lifting, holding, and manipulating objects. The mechanical design phase defined a safe elbow range of motion from 0° to 90°, and subsequent simulation analyses were carried out using Autodesk Fusion 360. For the prototyping stage, Enhanced Polylactic Acid (EPLA) and Polylactic Acid Plus (PLA+) were employed, with 3D models fabricated on a Creality Ender3 V3 SE printer. Finite Element Analysis (FEA) revealed a maximum deformation of 0.489 mm in the forearm exoskeleton and a maximum Von Mises stress of 3.243 MPa. Furthermore, Electromyography (EMG) testing demonstrated a reduction in biceps muscle activity exceeding 75% when the exoskeleton was utilized. Without the exoskeleton, the steady-state response reached approximately 200 bits while holding an object; in contrast, with the exoskeleton, this response decreased to less than 50 bits, indicating a significant reduction in muscle effort. For future works, it is recommended to integrate torque sensors and implement artificial intelligence algorithms to enhance the system’s capability to accurately interpret operator intent, thereby improving both task efficiency and adaptability.

关键词： Technological innovation mechatronics Torque Exoskeletons Muscles Three-dimensional printing Electromyography Finite element analysis Stress Testing

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