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Use of Open-source Software in mechatronics and robotics engineering Education – Part I: Model Simulation and Analysis

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Computers in Education Journal 2021年第3期13卷

作者： Lotfi, Nima Auslander, Dave Rodriguez, Luis A. Mbanisi, Kenechukwu C. Berry, Carlotta A. Mechanical and Mechatronics Engineering Department Southern Illinois University Edwardsville EdwardsvilleIl United States Mechanical Engineering University of California Berkeley BerkeleyCA United States Mechanical Engineering Milwaukee School of Engineering MilwaukeeWI United States Robotics Engineering Worcester Polytechnic Institute WorcesterMA United States Electrical and Computer Engineering Rose-Hulman Institute of Technology Terre HauteIN United States

Open-source Software (OSS) provide attractive solutions for complementing mechatronics and robotics engineering (MRE) education due to their numerous advantages such as free access, customizability and wide community support, increased adoption and utilization in industry, etc. To provide a deeper insight on the current status, limitations, and potentials of the OSS, a summary of the results of an online survey, conducted among various community stakeholders, is included. Furthermore, the two parts of this contribution are intended to provide an exposure to the OSS which have the potential to be used in MRE education. To this end, two specific problems, namely, model simulation and analysis of a DC motor (Part I) and controller implementation for a 2-DOF robot manipulator (Part II), are solved using Python, Java, Modelica, GNU Octave, and Gazebo. The systems chosen for this work are some of the most-commonly encountered systems and the considered problems, i.e. model simulation, analysis, and control implementation, are fundamental problems in the context of MRE. Therefore, this work can help MRE instructors familiar with these OSS to easily integrate them into their respective courses. On the other hand, the students can also greatly benefit from this work as it provides an entry point into applying different OSS in MRE-related courses and projects. Exposure to various ways in which an MRE problem is translated into a software solution enables the students to generalize their problem-solving process across different computational tools. Students equipped with such a skillset would potentially have a flexible mindset and could make well-balanced and informed judgements when devising a solution to a real-world engineering problem. Full code scripts for each of the OSS introduced in this work, along with Matlab which is intended as a point of comparison, are included on the GitHub repository of the paper to provide free access to the community and to help with widespr

关键词： Open source software

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Low-Light Enhancement Visual SLAM via Deep Deformable Power Curve Estimation

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IEEE Sensors Journal 2025年第10期25卷 17404-17412页

作者： Liu, Yanjie Wu, Heng Zhang, Weiwu Wang, Chao Wei, Yanlong Ren, Meixuan Harbin Institute of Technology State Key Laboratory of Robotics and System Department of Mechatronics Engineering Harbin150001 China

The unevenness and darkness of lighting in real environments are one of the main issues that affect the practical application of visual simultaneous localization and mapping (SLAM). To address this issue, we propose a visual SLAM algorithm based on low-light enhancement networks. First, we designed a lightweight low-light enhancement network based on deformable power curves, DPCE-Net, to adjust the pixels’ dynamic range of a low-light image. The curve is derived from power function, which considers the range, monotonicity, and differentiability of pixel values, and has a high dynamic range. DPCE-Net is trained and evaluated without reference images, effectively expanding the application scenarios of low-light enhancement. Then, combine the DPCE-Net with ORB-SLAM2 to construct a low-light enhancement SLAM (DPCE-SLAM). In the low-light image enhancement experiment, we compared with the state-of-the-art method, Enlighten-GAN, and Zero-DEC, achieving the good performance in structural similarity (SSIM), mean square error (mse), peak signal to noise ratio (PSNR), and natural image quality evaluator (NIQE) indicators. In state estimation evaluation, DPCE-SLAM can effectively increase the number of correctly matched feature points in dark environments, while also improving the robustness of state estimation. © 2001-2012 IEEE.

关键词： Gallium nitride

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Mechanical Constraint Identification in Model-Mediated Teleoperation

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IEEE robotics and Automation Letters 2025年第6期10卷 5777-5782页

作者： Van Der Walt, Christophe Stramigioli, Stefano Dresscher, Douwe University of Twente Robotics and Mechatronics Group Faculty of Electrical Engineering Mathematics and Computer Science NB Enschede7522 Netherlands

Model-Mediated Teleoperation (MMT) is a form of teleoperation where a model is used to display operator commands to the environment and environmental feedback to the operator. This circumvents the performance-stability trade-off to which many other teleoperation methods are prone under high time delays. An aspect of MMT which has received little attention is the modelling of rigid-body constraints, which are important for many manipulation tasks. In this paper, we detail a description of rigid body constraints and highlight a specific type of contact: the Lower Pair, of which the contacts found in hinged doors and household drawers, for instance, are examples. We also present a method for estimating these Lower Pairs and test it in a real world scenario. Results show that it is robust to measurement noise, as well as small amounts of movement in the constrained directions. © 2016 IEEE.

关键词： Remote control

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Generalized Dynamics of Non-Grounded Systems with Series Elastic Actuators and Effect of Actuator Base Fixation on Force Control Robustness

Generalized Dynamics of Non-Grounded Systems with Series Ela...

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2025 IEEE International Conference on mechatronics, ICM 2025

作者： Choi, Wonhyeok Oh, Sehoon DGIST Department of Robotics and Mechatronics Engineering Daegu Korea Republic of

ISBN: (纸本)9798331533892

This paper proposes a generalized dynamics model for a Non-Grounded System (NGS) mounted with a Reaction Force Sensing Series Elastic Actuator (RFSEA), focusing on scenarios where the actuator's base is unfixed and interacts with the ground. In RFSEA-based force control, the actuator base, which provides the necessary reaction force as dictated by Newton's third law, plays a critical role. This study examines how the interaction between the actuator base and the ground it is attached to influences the response of the series elasticity that generates force in the RFSEA. The investigation involves two steps. First, a generalized dynamics model that considers the dynamics between the actuator base and the ground is derived. Second, the Small Gain Theorem (SGT) is applied to evaluate the robustness of force control under load-side model uncertainties when a Force-based Disturbance Observer (FDOB), originally designed for GS, is adapted to NGS. The analysis reveals that force control utilizing FDOB can become unstable when the actuator base is unfixed, and simulations validate these findings. © 2025 IEEE.

关键词： Electric grounding

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Mechanism of material removal and chip formation of alumina dispersion strengthened copper in micro-milling

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Frontiers of Mechanical engineering 2025年第1期20卷 27-43页

作者： Chang LIU Chunya WU Xiguang LI Bo HOU Jiahao WU Ruijiang SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g

关键词： alumina dispersion-strengthened copper particle-reinforced metal matrix composites material removal mechanism micro-milling chip formation minimum uncut chip thickness

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An Integrated Setup for Sequential Hybrid Laser Beam Micromachining (LBMM) and Micro-EDM for Machining Micro-hole Arrays with Automated Tool Localization

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International Journal of Precision engineering and Manufacturing 2025年 1-18页

作者： Azhar, Wan Ahmad Bin Wan Saleh, Tanveer Autonomous Systems and Robotics Research Unit Department of Mechatronics Engineering International Islamic University Malaysia Jalan Gombak Kuala Lumpur53100 Malaysia

Micro holes array has significant applications in the field of aerospace and turbo machinery, industrial filtration, microfluidic devices, biomedical engineering, and so on. There are various ways to manufacture micro holes arrays. In order to have a cost-effective, yet precise and efficient process for the fabrication of micro holes array, an integrated setup has been introduced in this paper to combine Laser Beam Micro Machining (LBMM) and micro-EDM (μEDM). This approach uses LBMM for quick material removal and µEDM for precise finishing. However, one of the main challenges in hybrid LBMM-µEDM is the localization of LBMM micro holes for accurate positioning of μEDM electrode. In this present study, an integrated setup with automated hole localization has been presented to improve the hybrid LBMM-μEDM process in terms of alignment accuracy and machining rate. The microscope camera that is mounted on the μEDM stage scans and captures images of LBMM holes. Then, the images were stitched and processed using image processing techniques to get the center coordinate of the LBMM micro holes. Finally, the operator validated the coordinates and G-code was automatically generated for the µEDM process to perform the fine finishing. The result indicated that the alignment accuracy is within 15 μm. Furthermore, the newly developed automation strategies for the hybrid LBMM-μEDM process show significant improvement in machining time with 5 × faster than the pure μEDM process, and better performances in overcut, taper angle, and electrode wear. Furthermore, the hybrid process was found to be 1.6 × more energy efficient as compared to the pure µEDM process. Overall, the newly developed integrated system was found to be highly effective for producing micro holes array. © The Author(s), under exclusive licence to Korean Society for Precision engineering 2025.

关键词： Precision engineering

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Algorithm for Deriving Position Measurement Based on Automatically Saved Image Matching

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Transactions of the Korean Institute of Electrical Engineers 2025年第3期74卷 491-499页

作者： Hwang, Dong-Yun Seo, Kyeong-Wook Lee, Min-Ho Kim, Yong-Hun Song, Jin-Woo Dept. of Artificial Intelligence and Robotics Sejong University Korea Republic of Dept. of Intelligent Mechatronics Engineering Sejong University Korea Republic of

In this paper, we propose an algorithm that equips a drone with a monocular camera and a laser range finder to derive position measurements for smooth mission execution and return to the home position, even in situations where GNSS is not available. This algorithm stores images and create an orthoimage when GNSS is available, and from the time the GNSS signal is lost, it matches the current image with the database image based on image feature point matching to determine the drone's current location and to employ return to home mission. We validated the algorithm with data acquired from actual drone flights and confirmed that the proposed algorithm could be used practically and effectively with sufficient accuracy for return to home mission. © The Korean Institute of Electrical Engineers.

关键词： Drones

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ChildACT: Child Action Recognition Dataset in RGB Data 20

ChildACT: Child Action Recognition Dataset in RGB Data

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20th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2025

作者： Sandygulova, Anara Yershov, Andrey Zhanatkyzy, Aida Telisheva, Zhansaule School of Engineering and Digital Sciences Nazarbayev University Department of Robotics and Mechatronics Astana Kazakhstan

ISBN: (纸本)9798350378931

Human action recognition is concerned with analysing, understanding and synthesizing kinematic and kinetic data. Data-driven computer vision solutions have advanced the progress in the field of action recognition while it would not be possible without large and publicly available datasets. While there are numerous datasets available for adult action recognition, child-centered action recognition efforts are still scarce. This paper presents a dataset that consists of video recordings of 200 children of different age and gender groups performing seven actions (boxing, waving, clapping, running, jogging, walking towards the camera, and walking from side to side). Two camera perspectives are provided, with a top view and a frontal view in RGB format. The dataset provides an opportunity for kinematic analysis of children motion while it also aims to bridge the performance gap between activity recognition systems for adults and children. © 2025 IEEE.

关键词： Pattern recognition systems

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Neurotechnology in Gaming: A Systematic Review of Visual Evoked Potential-Based Brain-Computer Interfaces

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IEEE Access 2025年 13卷 74940-74962页

作者： Keutayeva, Aigerim Jesse Nwachukwu, China Alaran, Muslim Otarbay, Zhenis Abibullaev, Berdakh Astana010000 Kazakhstan Nazarbayev University Department of Biomedical Engineering Astana010000 Kazakhstan Nazarbayev University Department of Robotics and Mechatronics Astana010000 Kazakhstan

Brain-computer interfaces (BCIs) have received considerable attention in gaming, enabling innovative interactions with digital environments. Visual Evoked Potentials (VEPs)—robust, noninvasive neural responses to visual stimuli—offer high information transfer rates, making them particularly promising. This systematic review, guided by the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) framework, examines VEP-based BCIs in gaming. We searched the Web of Science and Google Scholar, identifying 16 347 studies from the past decade, with 46 selected for in-depth analysis after rigorous screening. The review explores VEP response modeling, electroencephalography (EEG) signal acquisition and processing, stimulation paradigms, and their gaming applications. These systems enhance accessibility for players with physical or cognitive impairments, support adaptive difficulty scaling, personalize gameplay, aid neurorehabilitation, and enable multiplayer interactions. However, challenges remain, including technical limitations, complex data interpretation, user adaptability, and ergonomic issues. Advances in signal processing, personalized calibration, and hybrid multimodal approaches could improve usability. Future research should focus on integrating VEP-based BCIs with emerging technologies, optimizing user comfort, and developing adaptive interaction models to enhance immersion and accessibility. By addressing these challenges and utilizing neuroscience and computational advancements, VEP-based BCIs promise to transform gaming into a more inclusive and immersive experience for diverse users. © 2013 IEEE.

关键词： Augmented reality

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AI-Driven 3D Printing: Generative Gcode for Quality and Efficiency

AI-Driven 3D Printing: Generative Gcode for Quality and Effi...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Haque, Sean Tanveer, Muhammad Hassan Voicu, Razvan Cristian Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

Artificial Intelligence (AI) is transforming the landscape of three-dimensional (3D) printing by enabling generative approaches that extend beyond conventional, parameter-tuning strategies. Rather than merely adjusting nozzle temperatures or speeds, modern AI models can create or refine Gcode paths themselves, seeking to balance objectives such as print strength, dimensional accuracy, and defect minimization. This paper introduces a holistic AI-driven workflow for automated Gcode generation. We demonstrate that generative Large Language Models (LLMs) can parse, synthesize, and optimize printing instructions, thus offering an alternative to human-engineered slicing parameters. Our approach incorporates a continuous feedback loop in which a predictive model evaluates each generated Gcode script for potential print outcomes. Experimental results illustrate strong correlations between the number of lines in generated Gcode and key performance metrics (tensile strength, defect rate, and dimensional accuracy). Notably, some scripts with fewer lines reduced material defects yet slightly degraded dimensional accuracy, while more complex scripts improved measurement fidelity but also introduced minor flaws. These findings illuminate the trade-offs in AI-driven 3D printing and highlight the method's capacity for ongoing improvement. By exploring future expansions, such as continuous-function printing trajectories and multi-material prints, this study shows that AI-based Gcode generation can significantly advance 3D printing quality and customization across diverse applications. © 2025 IEEE.

关键词： Model predictive control

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