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2020 Conference for Industry and Education Collaboration, CIEC 2020

作者： Sergeyev, Aleksandr Minerick, Adrienne Irwin, John Mechatronics Electrical and Robotics Engineering Technology College of Computing/Manufacturing and Mechanical Engineering Technology Michigan Technological University HoughtonMI United States

mechatronics is the synergistic integration of electrical and mechanical engineering, robotics, computational hardware, and software in the design of products and processes. mechatronics is an essential foundation for the expected growth in automation and manufacturing. There is a demand for graduate education in mechatronics as the landscape of engineering programs has changed in the past decade, shifting from traditional degrees leading directly to closely aligned positions in industry, to preparing individuals with advanced technical competencies capable of engaging in interdisciplinary research and industry applications. The proposed MS degree in mechatronics at Michigan Tech has a very flexible structure consisting of five pathways allowing students from technology, traditional engineering, community colleges, other institutions, and industry representatives to pursue an advanced degree in this emerging field. Students enrolled in the program have three graduation options: coursework, research with thesis, and internship with industry and report options. The industry-driven curriculum developed for the proposed program addresses the need for a skilled advanced manufacturing workforce and accelerate the development of a digitally-savvy workforce for emerging manufacturing technologies. It focuses on core technical skills, advanced technical design skills, and core technical implementation/instrumentation skills that are used in the design and manufacturing of control systems and devices used in consumer products, aerospace and military applications, automotive and other advanced manufacturing industries. In this paper, authors provide details on organizational and administrative structure of the degree. Copyright ©2020, American Society for Engineering Education

关键词： Students

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Self-Contained Calibration of an Elastic Humanoid Upper Body Using Only a Head-Mounted RGB Camera

Self-Contained Calibration of an Elastic Humanoid Upper Body...

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IEEE-RAS International Conference on Humanoid Robots

作者： Johannes Tenhumberg Dominik Winkelbauer Darius Burschka Berthold Bäuml DLR Institute of Robotics & Mechatronics Germany Deggendorf Institute of Technology Germany Technical University of Munich Germany

ISBN: (纸本)9798350309805

When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic tree is needed. Besides the accuracy of the calibrated model, the calibration process should be fast and self-contained, i.e., no external measurement equipment should be used. Therefore, we extend our prior work on calibrating the elastic upper body of DLR's Agile Justin by now using only its internal head-mounted RGB camera. We use simple visual markers at the ends of the kinematic chain and one in front of the robot, mounted on a pole, to get measurements for the whole kinematic tree. To ensure that the task-relevant cartesian error at the end-effectors is minimized, we introduce virtual noise to fit our imperfect robot model so that the pixel error has a higher weight if the marker is further away from the camera. This correction reduces the cartesian error by more than 20%, resulting in a final accuracy of 3.9mm on average and 9.1mm in the worst case. This way, we achieve the same precision as in our previous work [1], where an external cartesian tracking system was used.

关键词： Torso Visualization Robot vision systems Humanoid robots Kinematics Cameras Calibration

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An economical, Lego-like approach for real-time magnetic field mapping (MagMaps) using commercial magnetic sensors

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IEEE Transactions on Instrumentation and Measurement 2022年 1-1页

作者： Ahmed, Awais Abbasi, Sarmad Ahmad Gharamaleki, Nader Latifi Kim, Jin-Young Choi, Hongsoo Department of Robotics and Mechatronics Engineering and DGIST-ETH Microrobot Research Center Daegu Gyeongbuk Institute of Science and Technology Daegu South Korea

Magnetic field mapping is tedious;a magnetometer probe collects magnetic field data in a point-by-point manner within a two-dimensional (2D) or three-dimensional (3D) space. Magnetometer arrays accelerate this process by replacing point-by-point mapping with plane-by-plane mapping. When mapping a large space, a motorized stage is additionally required;the limitations include power inefficiencies, large footprints, cost, and the absence of real-time data acquisition. Here, we introduce MagMaps, a modular Lego-like approach to magnetic field mapping that overcomes the limitations described above. MagMaps includes a set of physically identical modules termed “MagBricks” that can be stacked in all three axes (similar to Lego bricks);this covers the region of interest and eliminates the need for a motorized stage. Each MagBrick is an independent enslaved module with a unique address, having a microcontroller that continuously acquires magnetic field data from a magnetometer array. An additional brick termed the “MasterBrick” serves as a bridge between the computer and the MagBricks. The MasterBrick collects magnetic field data from uniquely addressed MagBricks and communicates them to a computer, where they are sorted and displayed in real-time. This modular Lego-like approach and the use of only off-the-shelf electronic components allows MagMaps to offer real-time magnetic field mapping that is portable, power-efficient, and economical for various 2D or 3D spaces. IEEE

关键词： Real time systems

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Convergence Analysis for Delay Dependent LFC Scheme for Power Systems Networks Over Open Communication Networks with Disturbances

Convergence Analysis for Delay Dependent LFC Scheme for Powe...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Shafiqul Islam Dual-Degree Computer Science and Engineering Intelligent Robotics Mechatronics and Autonomous Systems Lab NCF 263 Xavier University of Louisiana New Orleans LA USA

This paper presents a delay-dependent convergence criterion for load frequency control (LFC) for smart power grid networks with the presence of disturbances and time-varying delays. The LFC scheme comprises delayed remote measurement and control signals with local state feedback signals. The convergence criteria are developed by using Lyapunov-Krasovskii functional for both symmetrical and asymmetrical time-varying delays associated with remote measurement and control channel. First, the analysis shows that all the power system states are bounded and asymptotically stable without the presence of disturbances. Then, the convergence analysis proves that all the power systems states are bounded and their bounds guarantee the convergence property of the $H_{\infty}$ control with the presence of bounded disturbances. These convergence properties are achieved by using well know Linear Matrix Inequalities (LMIs). Compared with the existing design, the proposed analysis uses both symmetrical and asymmetrical time-varying delays in the measurement channel from RTU to the control center and in the control channel from the control center to the power generation unit. In contrast with reported designs, the proposed design and analysis uses the disturbances associated with the closed loop systems appearing from modeling errors and other external load disturbances and faults.

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Representing Objects in Map Building Using A Semantic SLAM Scheme

Representing Objects in Map Building Using A Semantic SLAM S...

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Chinese Automation Congress (CAC)

作者： Yu Yang Di Wang Weiqi Zheng School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai

In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obtain object location in SLAM and determines object information such as category with a CNN-based object detector. The object identities are represented in the form of joint probability distributions that are updated by Bayes’ theorem. The FPA algorithm is used to obtain parameter valuation with maximum posterior probability so as to determine the modeling feature parameters of objects on the map. The similarity between objects is measured with the Bhattacharyya coefficient to avoid duplicate modeling of identified objects in map updating. The proposed system is simulated in Gazebo and an effective scheme balancing accuracy and computation cost is obtained. Finally, experiments on a small indoor robot demonstrate the effectiveness of our method.

关键词： Simultaneous localization and mapping Navigation Computational modeling Semantics Robot vision systems Human-robot interaction Probability distribution

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Design of an ice detector for electric tramways 15

Design of an ice detector for electric tramways

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15th IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to mechatronics, ECMSM 2021

作者： Bilek, Petr Horak, Marcel Jandura, Pavel Mach, Ondrej Richter, Ales Institute of Mechatronics and Computer Engineering Technical University of Liberec Faculty of MechatronicsInformatics and Interdisciplinary Studies Liberec Czech Republic Technical University of Liberec Faculty of Engineering Department of Glass Producing Machines and Robotics Liberec Czech Republic

ISBN: (纸本)9781538617571

The article describes design and development of an ice detection device that uses a real 1 m part of an electric copper trolley wire for its operation. The wire part is oriented in the same direction as the trolley wire in the given place and thus a high compliance of the ice sensor with real conditions (spatial dimensions, orientation and heat capacity) is achieved. An ice meter equipped with this sensor can determine the robustness and duration of ice phenomena on trolley wires much more accurately and uses this information to deduce the risk of endangering public transport. The ice detector works on the principle of strain gauge load cell weighing. For its own diagnostics, the device can also measure temperature and relative humidity and is equipped with heating wires so that the movable parts of the device do not freeze. © 2021 IEEE.

关键词： Wire

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Conceptual Mechatronic Design of Ankle-foot Exoskeleton System for Assisted Rehabilitation of Pediatric Patients with Spastic Cerebral Palsy

Conceptual Mechatronic Design of Ankle-foot Exoskeleton Syst...

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IEEE MIT Undergraduate Research Technology Conference (URTC)

作者： Carol Sandoval Cesar Martel Ricardo Palomares Jeanette Borja Arroyo Margarita F. Murillo Manrique José Cornejo Professional School of Mechatronics Engineering Ricardo Palma University Lima Peru Research Group of Robotics and Mechatronics (GI-ROMA) Ricardo Palma University Lima Perú Rehabilitation Service for Locomotor and Cardiovascular System Edgardo Rebagliati Martins Hospital Lima Peru

ISBN: (数字)9798350309652

ISBN: (纸本)9798350309669

For this design, average anthropometric data specified by the National Institute of Health (NIH) were used for an 11-year-old child. Regarding the elements and materials, two motors with a reduction ratio of 500:1 were used, along with a control module that includes a rotary encoder for angle configuration, two Bowden cables for motion transmission, and an ankle-foot orthosis with variable angle adjustment. The results obtained for the motor ratio were a torque of 11.60 N.m. A Von Mises stress analysis was conducted on the support components made of ABS, the AISI 304 stainless steel pulley, and the PETG casing. Maximum stresses of 0.52MPa, 34.34 MPa and 0.95MPa were recorded, respectively. Finally, the ankle-foot working angle obtained for palmar flexion movement was 30°, and 20° for dorsiflexion. As future work, the exoskeleton will be implemented in a patient with spastic cerebral palsy, validating its impact on physical rehabilitation through gait analysis.

关键词： Weight measurement Torque Pulleys Exoskeletons Velocity control Motors National Institutes of Health

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Synchronization Control of Dual Motor Driving Steer by Wire System

Synchronization Control of Dual Motor Driving Steer by Wire ...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Insu Chung Sunyeop Lee Kanghyun Nam Younghoon Seo Sehoon Oh School of Mechanical Engineering Yeungnam University Gyeongsan Republic of Korea Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science & Technology Daegu Republic of Korea

The Steer by Wire (SbW) system is a system that replaces the mechanical connection between the steering wheel and the vehicle's wheels with electrical signals to control steering. Dual motor driving SbW is designed with physical redundancy in case the SbW system does not operate normally. The system's mechanism requires synchronization control between the two motors to maintain driver safety in response to external disturbances and changes in driving conditions. This paper presents a position control scheme that utilizes the mean and difference of the two motor angles to directly control tracking performance and synchronization error. To apply the proposed method, the system's dynamics were theoretically analyzed, and a controller was designed based on that analysis. Finally, the proposed control scheme's performance is validated through experiments.

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Energy and angular momentum control of robot running

Energy and angular momentum control of robot running

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Mediterranean Conference on Control and Automation (MED)

作者： Alessandro M. Giordano Simone Stivala Davide Calzolari Alin Albu-Schäffer Department of Informatics Technische Universität München (TUM) Garching Germany German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling Germany

A new approach for running by exploiting passive elastic dynamics is addressed in this paper. A control method based on energy and angular momentum regulation is proposed. The controller exploits invariance properties of energy and angular momentum to achieve stabilization of passive gaits with almost zero control effort after convergence. The passive gaits are derived based on a modified version of the well-known SLIP model, which takes into account the pitch dynamics during the flight phase, which is otherwise disregarded by the conventional SLIP model. Based on this model, the interesting phenomenon of running in presence of persistent somersaulting is investigated and persistently-somersaulting running gaits are identified and analyzed. Numerical simulations investigate the method and confirm the effectiveness in ideal conditions.

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Cooperative localization between robots using vision and path planning algorithm

Cooperative localization between robots using vision and pat...

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作者： Charles Koduru M.Hassan Tanveer Robotics and Mechatronics Engineering Kennesaw State University

The aim of this article is to provide a solution for obstacle avoidance in order to navigate a robot from an initial point to a final *** considered robots are i) NAO Humanoid robot,and ii) Rosbot 2.0 a wheeled *** main focus of this article is to understand the collaboration between robots to reduce positioning *** integrating Inverse Perspective Mapping techniques（IPM） and the A-Star algorithm the image processing robot（NAO） would be able to instruct the wheeled bot（Rosbot） to navigate around obstacles more *** method shows the capability to advance the collaboration between robots in order to diagnose different collisions and develop different path following *** though odometry is a widely used technique for calculating the position of robots,it has certain drawbacks in the long *** combat this,we addressed solutions to these drawbacks by using Inverse Perspective Mapping and the A-Star *** IPM is applied,calculating the position of the obstacles relative to the wheeled robot makes the path network more ***,by applying the A-Star algorithm the path network can be analyzed to find the most direct *** attractiveness of this methodology simplifies the navigation process by analyzing the data at a birds-eye view and computing decisions that will instruct the wheeled robot to take the shortest *** performances of the proposed approach are analyzed by means of a series of experiments performed in a static environment.

关键词： Static Environment Humanoid Robot Inverse Perspective mapping Path planning obstacle avoidance

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