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International Scientific Conference Electronics (ET)

作者： Ivaylo Georgiev Valentin Nikolov Ivan Chavdarov Bozhidar Naydenov Bulgarian Academy of Sciences Acad. G. Bonchev St Bl. 1 Institute of Robotics Sofia Bulgaria Sensata Technologies Sofia Bulgaria Department of Mechatronics Robotics and Mechanics Faculty of Mathematics and Informatics University of Sofia “St. Kliment Ohridski” Sofia Bulgaria

ISBN: (数字)9798350376449

ISBN: (纸本)9798350376456

This article presents sign language gestures application used for control of humanoid 3D printed hand with fingers, based on a modular principle. The 3D printed fingers are designed to be manufactured assembled, which facilitates the construction of the hand. All actuators, sensors, and electronic components, used in the hand control, are located in the palm. The sign language application provides good opportunities to test the dexterity and mechanical limitations of the developed humanoid hand. In addition to the sign language gestures program, a second application is created that allows hand control based on user input for each finger. The implemented software programs are described. Functional experiments are conducted and discussed.

关键词： Wrist Sign language Three-dimensional displays Thumb Humanoid robots Prototypes Software Planning Windows Python

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Time of single-pulse TMS delivery during cognitive task affects subject’s reaction time 6

Time of single-pulse TMS delivery during cognitive task affe...

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6th International Conference "Neurotechnologies and Neurointerfaces", CNN 2024

作者： Udoratina, Anna Grigorev, Nikita Savosenkov, Andrey Ermolaev, Denis Maksimenko, Vladimir Gordleeva, Susanna Neurotechnology Department Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia ANO Neimark Nizhny Novgorod Russia Neurotechnology Department Lobachevsky State University of NizhnyNovgorod Nizhny Novgorod Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9798350390926

In the present study, we investigated the effect of single-pulse TMS on sensorimotor integration (SI). Real and sham TMS was delivered while a subject performed a cognitive task to 6 areas of the cortex responsible for the motor component of SI, 200 ms or 800 ms after the presentation of visual stimuli. Here we show that the time of single-pulse TMS delivery affects the subject’s reaction time (RT). RT was significantly slower (p ©2024 IEEE.

关键词： Brain

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Dynamics of the Impact with Benson Friction Model 15th

Dynamics of the Impact with Benson Friction Model

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15th Conference on Acoustics and Vibration of Mechanical Structures, AVMS 2019

作者： Marghitu, Dan B. Cojocaru, Dorian Department of Mechanical Engineering Auburn University AuburnAL36349 United States Department of Mechatronics and Robotics University of Craiova Craiova Romania

ISBN: (纸本)9783030541354

An analytical model for the impact of a rigid link in planar pure rotation with a solid surface is developed. The free end of the link undergoes elastic and elasto-plastic deformations during the compression phase of the impact. The restitution is considered elastic with a permanent deformation. During the impact, a friction force based on Benson model is employed. The differential impact equations are solved for different initial impact incident angle and distinct values of the coefficient of kinetic friction. © 2021, Springer Nature Switzerland AG.

关键词： Deformation

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An Introduction to Robotically Assisted Surgical Systems: Current Developments and Focus Areas of Research

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Current robotics Reports 2021年第3期2卷 321-332页

作者： Klodmann, Julian Schlenk, Christopher Hellings-Kuß, Anja Bahls, Thomas Unterhinninghofen, Roland Albu-Schäffer, Alin Hirzinger, Gerd Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

Robotic assistance systems for diagnosis and therapy have become technically mature and widely available. Thus, they play an increasingly important role in patient care. This paper provides an overview of the general concepts of robotically assisted surgical systems, briefly revisiting historical and current developments in the surgical robotics market and discussing current focus areas of research. Comprehensiveness cannot be achieved in this format, but besides the general overview, references to further readings and more comprehensive reviews with regard to particular aspects are given. Therefore, the work at hand is considered as an introductory paper into the topic and especially addresses investigators, researchers, medical device manufacturers, and clinicians, who are new to this field. The current research in Robotically Assisted Surgical Systems (RASS) increasingly uses established robotic platforms. To minimize the patient trauma while optimizing the dexterity of the surgeon, miniaturized instruments and semi-autonomous assistance functions are developed. To provide the surgeon with all necessary information in an adequate manner, novel imaging sensors as well as techniques for multimodal sensory feedback and augmented reality are investigated. The Surgical Data Science applies data management and processing approaches including machine learning on medical data to provide optimal, individualized and contextual support to the surgeon. Robotic systems will significantly influence future patient care. Since they must fulfill manifold medical, technical, regulatory and economic requirements, their development calls for a close, active and interdisciplinary cooperation between stakeholders from hospitals, industry and science.

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Saratov Fall Meeting 2020 - Computations and Data Analysis: From Molecular Processes to Brain Functions

作者： Frolov, Nikita Pitsik, Elena Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis420500 Russia

ISBN: (数字)9781510645332

ISBN: (纸本)9781510645325

Healthy aging affects structural and neurochemical properties of the human brain neural network. It also changes the brain functioning via the transformation of neural interactions both within and between functionally distinct brain areas. The age-related degradation of the brain functioning is evident on the behavioral level in terms of the decline in reaction time, low ability to execute and control complex motor actions, weak flexibility in learning new skills. In this paper we apply functional connectivity analysis to reveal the age-related changes in the integrative brain dynamic during the motor initiation before the dominant hand movements accompanied. Analyzing the whole-scalp electroencephalography (EEG) signals on the sensor level, we find higher theta-band coupling in the ipsilateral hemisphere. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Electroencephalography

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Design and Implementation of Model Predictive Control (MPC) Based Pressure Regulation System for a Precision Agricultural Sprayer

Design and Implementation of Model Predictive Control (MPC) ...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Adrees Khan Fazal Nasir Muhammad Tufail Muhammad Haris Muhammad Tahir Khan Zhang Dong Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Institute of Automation Qilu University of Technology (Shandong Academy of Sciences) Jinan China

Model Predictive Control (MPC) is a control scheme that involves predicting the future behavior of a system and optimizing control actions to accomplish the desired objective. In this study, we develop an intelligent control algorithm, based on MPC to regulate the target pressure in variable-rate agriculture sprayer robots. Modeling and simulation steps of the spraying system are developed using MATLAB/Simulink environment, before passing to the description of the MPC algorithm. Real-time implementation of the MPC algorithm was conducted on an Arduino Mega 2560 controller board by using Simulink Support Package for Arduino Hardware in MATLAB/Simulink to experimentally validate the preliminary results of simulations. The work evaluates MPC to regulate the pressure in the system and compares the results with a traditional PID control system. Moreover, MPC is a novel method for nonlinear system control that achieves zero steady-state error, low transient response, and reduces peak overshoot compared to the results obtained with a PID controller, thereby reducing the waste of chemicals, and minimizing the toxicology and environmental risk.

关键词： Transient response Toxicology Software packages Spraying Agriculture Regulation Real-time systems

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Analyzing the Design of Windows Cleaning Robots 3

Analyzing the Design of Windows Cleaning Robots

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3rd International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2022

作者： Zhang, Ao Yao, Yefan Hu, Yufan Beijing National Day School International Department Beijing China Xi'an Jiaotong-liverpool University Department of Mechatronics and Robotics Suzhou China University of Electronic Science and Technology of China Department of Mechanical and Electrical Engineering Chengdu China

ISBN: (数字)9781665451604

ISBN: (纸本)9781665451604

It is imperative to maintain a clean living and working environment. As a result of the development of the construction industry, high-rise buildings are now ubiquitous. Traditional methods of cleaning are insufficient to maintain these buildings. Considering tall buildings can be more than 100 meters above ground level, airflow speeds are greater, and protection devices are essential. Additionally, manual cleaning is slower, and accidents are more likely. Consequently, the use of automatic cleaning robots is crucial to replacing manual cleaning. Further, automatic cleaning robots have the stability and accuracy that manual cleaning does not possess. Robots are more efficient at cleaning than humans. Three different types of cleaning robot mechanisms are discussed, including adsorption mechanisms, motion mechanisms, and cleaning mechanisms, and their application areas and advantages and disadvantages are compared. In the next section, we summarize the results of comparing the various types of mechanical engineering used in the adsorption device, the motion mechanism, and the cleaning device. The evaluation concludes with an assessment of the shortcomings and recommendations for future research. A number of types of automatic window cleaning robots are presented to the reader as references. © 2022 IEEE.

关键词： Cleaning

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Fitting Parameters of Linear Dynamical Systems to Regularize Forcing Terms in Dynamical Movement Primitives

Fitting Parameters of Linear Dynamical Systems to Regularize...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Freek Stulp Adrià Colomé Carme Torras Robotics and Mechatronics Center (RMC) German Aerospace Center (DLR) Weßling Germany CSIC-UPC Institut de Robòtica i Informàtica Industrial (IRI) Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Due to their flexibility and ease of use, Dynamical Movement Primitives (DMPs) are widely used in robotics applications and research. DMPs combine linear dynamical systems to achieve robustness to perturbations and adaptation to moving targets with non-linear function approximators to fit a wide range of demonstrated *** propose a novel DMP formulation with a generalized logistic function as a delayed goal system. This formulation inherently has low initial jerk, and generates the bell-shaped velocity profiles that are typical of human movement. As the novel formulation is more expressive, it is able to fit a wide range of human demonstrations well, also without a non-linear forcing term. We exploit this increased expressiveness by automating the fitting of the dynamical system parameters through opti-mization. Our experimental evaluation demonstrates that this optimization regularizes the forcing term, and improves the interpolation accuracy of parametric DMPs.

关键词： Interpolation Accuracy Perturbation methods Fitting Robustness Dynamical systems Robots

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Study of a Tethered Platform Stabilization Problem in the Vertical Plane

Study of a Tethered Platform Stabilization Problem in the Ve...

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International Russian Automation Conference (RusAutoCon)

作者： Petr Bezmen Oksana Emelyanova Sergey Efimov department of mechanics mechatronics and robotics Southwest State University Kursk Russian Federation department of civil protection Voronezh Institute of state fire service of EMERCOM of Russia Voronezh Russian Federation

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

The use of a tethered platform of an unmanned aerial vehicle may be the only solution for a problem of a wireless communication relay system to quickly obtain information about the environment in hard-to-reach areas or in emergency situations. Power supply to the platform, as well as the transmission of information from the equipment that installed on board, is carried out via a cable. Also, the unmanned aerial vehicle platform is equipped with various communication loads, such as wireless network communications, mobile communications, et cetera to provide a communication between various operators within a radius of tens of kilometers. A tethered platform stabilizing at a certain height is the most important problem which associated with compensating for disturbing static and dynamic effects from wind flow. Purpose of the study: to create tools for designing tethered flying platforms taking into account external short-time disturbances and a given position deviation limit in the vertical plane. The results of mathematical modeling of a tethered platform attitude control taking into account a inextensible cable and a platform propellers' fixed traction force are presented. The positioning accuracy ensuring problem of a tethered platform in a given area was solved.

关键词： Propellers Power supplies Wireless networks Force Dynamics Autonomous aerial vehicles Mobile communication Mathematical models Vehicle dynamics Relays

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Fuzzy Open Loop Speed Control of DC Motor Using Armature and Field Impedances

Fuzzy Open Loop Speed Control of DC Motor Using Armature and...

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IEEE Long Island Systems, Applications and Technology Conference (LISAT)

作者： M. A. Salam Ahmed ElSayed Navarun Gupta Uma Boda Shafiqul Islam Sanjib Das Electrical Engineering School of Engineering University of Bridgeport Bridgeport Connecticut USA Mechatronics & Robotics Xavier University New Orleans Louisiana USA Maitainance Excelence Moderna Norwood Massachusetts USA

ISBN: (数字)9798331506667

ISBN: (纸本)9798331506674

DC motors are used in a wide variety of applications. These applications include car seats, wipers, windshields, doors, power tools, etc. Although permanent magnet DC motors are mostly common types, the separately exited DC motors have more utilization in industrial applications, especially for speed control. In this paper, different variable impedance techniques are utilized to control the speed of the DC motors using open-loop control techniques. Furthermore, a fuzzy logic-based controller is used to automatically generate the required armature and field impedances required for the desired motor speed.

关键词： Fuzzy logic Resistance Velocity control DC motors Permanent magnets Impedance Automobiles Automotive components

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