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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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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Nawaz, Yasir Qadir, Muhammad Usman Khan, Muhammad Awais Haq, Izhar Ul Shah, Kamran Khan, Tahir Advanced Robotics & Automation Lab Department of Mechatronics University of Engineering and Technology Peshawar Pakistan

ISBN: (纸本)9781665464727

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area. © 2023 IEEE.

关键词： Sliding mode control

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Ferroelectric composite-based piezoelectric energy harvester for selfpowered detection of obstructive sleep

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Journal of Materiomics 2023年第4期9卷 609-617页

作者： Swati Panda Hyoju Shin Sugato Hajra Yumi Oh Wonjeong Oh Jeonghyeon Lee P.M.Rajaitha Basanta Kumar Panigrahi Jyoti Shukla Alok Kumar Sahu Perumal Alagarsamy Hoe Joon Kim Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu42988South Korea Department of Electrical Engineering Siksha‘O’Anusandhan UniversityBhubaneswar751030India Department of Electrical Engineering Poornima College of EngineeringJaipur303903India Department of Physics Indian Institute of Technology-GuwahatiAssam781039India Robotics and Mechatronics Research Center Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu42988South Korea

Lead-free piezoelectric ceramic is a promising material for energy harvesters,as they have superior electromechanical,ferroelectric,and piezoelectric *** addition,piezoelectric ceramics can be blended with polymer to achieve high-flexibility polymer-ceramic composites,providing mechanical robustness and *** this context,a new lead-free ferroelectric material,having the chemical formula SrTi_(2)O_(5)(STO),was synthesized using a high-temperature solid-state *** analyses of the structural,morphological,and electrical properties of the synthesized material were *** crystallizes with orthorhombic symmetry and space group of *** frequency and temperature-dependent dielectric parameters were evaluated,and impedance spectroscopy shed light on the charge *** PDMS-STO composites at different mass fraction of the STO were prepared using a solvent casting route,and a corresponding piezoelectric nanogenerator(PENG)was *** electrical output of the different PENG by varying massfractions of STO in PDMS and varying force were *** 15%(in mass)PENG device delivered the highest peak-to-peak voltage,current,and power density of 25 V,92 nA,and 0.64 mW@500 MU,*** biomechanical energy harvesting using the PENG device by daily human motions,bending of the device,and attaching the device to laboratory equipment was *** the PENG device was attached to the human throat region,and snoring signals were recorded.A classification model was designed employing the convolutional neural network(CNN)*** have been laid to differentiate between normal and abnormal snores,which could help the patient with screening and early disease detection,contributing to self-powered healthcare applications.

关键词： Lead-free Ferroelectric Nanogenerator Sleepdisorder

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Using Sedentary Activity Classification Model to Illustrate an Adaptable Freelance Workspace∗ 7

Using Sedentary Activity Classification Model to Illustrate ...

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7th International Japan-Africa Conference on Electronics, Communications and Computations, JAC-ECC 2019

作者： Obasekore, Hammed Ajani, Oladayo S. University of Science and Technology Department of Mechatronics and Robotics Engineering Egypt - Japan Alexandria Egypt

ISBN: (纸本)9781728156170

Freelancing and remote-work is fast gaining acceptance in the global community, and thus resulting into sedentary behaviours that poses threat to healthy living. Recent studies have shown that several health hazards are related to sedentary behaviors. Specifically, too much sitting is adversely associated with health outcomes, of which includes cardio-metabolic risk biomarkers, type 2 diabetes and premature mortality. In this paper a one dimensional(1D) convolutional neural network based sedentary activity classification model is proposed for classification of sit, stand and sit-stand transitions using sensor data fusion collected with a tri-axial Inertial Measurement Unit (IMU) sensor. Specifically, normalized data from the IMU axes within a specific time window were considered to classify sedentary behaviors (sit, stand and sit-stand transition). The precision of the classification of the three studied sedentary behaviors exceeded 96.8% using IMU data fusion. The applicability of the proposed classification model is extended to a simulated condition of a typical freelancer by modeling an adaptable automated workspace. © 2019 IEEE.

关键词： Health hazards

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Locomotion Control of Snake-like Robot on Geometrically Smooth Surface

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IFAC-PapersOnLine 2015年第11 11期48卷 162-167页

作者： Yanagida, Takeru Kasahara, Makito Iwase, Masami Department of Robotics and Mechatronics Graduate School of Science and Engineering Tokyo Denki University 5 Senju-Asahi-cho Adachi Tokyo120-8551 Japan

A locomotion control of a snake-like robot on geometrically smooth surface is developed. To design the motion control, a mathematical model of the snake-like robot is derived by Projection Method (PJ method). Utilizing PJ method leads not only the mathematical model but also the constraints applied to the robot. The constraints give important information on the smooth surface. State-Dependent Riccati Equation (SDRE) control strategy taking the constraints into account realizes locomotion on the smooth surface for the snake-like robot. The effectiveness of the proposed method is verified through numerical simulations in which the snake-like robot is twining around and climbing a column. © 2015

关键词： Machine design Equations of state Models Numerical methods Riccati equations Robots constraint Control strategies Geometrically smooth Locomotion control Projection method Smooth surface Snake like robot State dependent Riccati equation

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Design of serial link manipulator with uncertainties using interval method

Design of serial link manipulator with uncertainties using i...

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2020 National Conference on Emerging Trends on Sustainable Technology and engineering Applications, NCETSTEA 2020

作者： Chaudhary, Saurabh Kumar, Virendra Sen, Soumen School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Howrah India Robotics and Automation Central Mechanical Engineering Research Institute Durgapur India

ISBN: (纸本)9781728143620

This article proposes a performance-measure based design of a serial link robot manipulator, addressing the effects of dimensional uncertainties on the performance so that a specific task can be accomplished. The design problem is formulated as a constrained optimization problem, where the design variables and constraints are defined in intervals. The objective function being optimized, incorporates some chosen manipulator performance measures (obtained from literature) which include global manipulability, global conditioning index and dynamic manipulability, such that both geometric and inertial properties are covered and the solution will provide not only nominal values of the design parameters, but also a kind of tolerance, ensuring the values of the design variables lying within a range. This co-design of nominal values and its tolerance is obtained by casting the whole problem using interval techniques. The design problem is solved in the twostep process. Firstly, link lengths are determined through maximizing global manipulability and global conditioning index and secondly, inertial properties, in terms of crosssectional geometry are determined through maximizing global dynamic manipulability. To show the effectiveness of the proposed method an exemplar problem of the design of twolink two degrees-of-freedom planar manipulator under gravity and with payload is considered. © 2020 IEEE.

关键词： Constrained optimization

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A reduced-order observer based piezoelectric control of flexible cartesian (SCARA) robot manipulator

A reduced-order observer based piezoelectric control of flex...

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作者： Liu, Zeyu Jalili, Nader Dadfarnia, Mohsen Dawson, Darren M. Department of Electrical and Computer Engineering Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634 United States Department of Mechanical Engineering Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634 United States

ISBN: (纸本)0791836290

An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the flexible arm to apply a controlled moment for vibration suppression requirement. Utilizing three measurable quantities (i.e., the base displacement, arm tip deflection and the strain at the root end of the arm), a reduced-order observer is designed to estimate the velocity related variables, which are not measurable. A simple PD controller is selected for the moving base regulation control, while a Lyapunov function candidate based on a very simple energy relationship is utilized for the PZT input voltage to make the closed-loop system energy dissipative and hence stable. In this paper, the PZT input voltage control uses the velocity related signals estimated by the reduced-order observer, which makes the control structure simpler. The feasibility of the controller is validated by the numerical simulations and experimental results. Copyright © 2002 by ASME.

关键词： Lyapunov functions

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Optimal impedance modulation and intention angle of elbow assistive robots: Based on human musculoskeletal model 15

Optimal impedance modulation and intention angle of elbow as...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Alizadeh, Tohid Fard, Behnam Miripour Mosadeghzad, Mohamad Department of Robotics and Mechatronics Nazarbayev University Astana010000 Kazakhstan Robotics Engineering Department Hamedan University of Technology Hamedan Iran

ISBN: (纸本)9781538660720

The assistive rehabilitation devices have been studied for over half-century. However;Assistive as needed (AAN) devices are emergent robots to aid the patients based on their muscle capability. Exposure of the patients to these devices demands more understanding of the human impedance and torque modulation. This paper investigates the impedance modulation of human's elbow joint based on optimal control and Computed Muscle Control (CMC) of the human forearm musculoskeletal systems. The human elbow is modeled as a single degree-of-freedom (DOF) system with an intrinsic passive stiffness and damping. The OpenSim program is exploited to derive the muscle activation and generate the resultant torque of the effective muscles around the elbow joint. Forearm tracks a sinusoidal pattern in the simulation. The consequent torque interpreted by the optimal control solution of the system which opens a new horizon in the assimilation of the human intention angle and elbow impedance in a trade-off for accurate tracking and energy consumption. © 2018 IEEE.

关键词： Muscle

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Model-Driven Robot-Software Design using integrated Models and Co-Simulation

Model-Driven Robot-Software Design using integrated Models a...

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International Conference on Embedded Computer Systems - Architectures, Modeling and Simulation (IC-SAMOS)

作者： Broenink, Jan F. Ni, Yunyun Robotics and Mechatronics group CTIT institute faculty of Electrical Engineering Mathematics and Computer Science University of Twente The Netherlands

ISBN: (纸本)9781467322973

The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equations for the control software part. To compute (simulate) such combined models, co-simulation of these models is used. The design work can be done as a stepwise refinement process, whereby each step is verified via co-simulation. This in general yields a shorter design time, and a better quality product. The tools pass model-specific information between each other via parametrized tokens in the generated, high-level code to get a better separation of design steps. This allows for better quality of the models and more reuse, thus enhancing the efficiency of model-driven design for the (industrial) end user. The method is illustrated with a case study using the tools, some of which are at the prototype level. Especially the structuring of the models and regularly doing simulations (of which some can be 'repeated' as real experiments), is beneficial, shortening the development time and producing better models. Future work is to test the method on more complex cases, and to extend the method by detailing out the electronics and mechanics sub design flows.

关键词： Robot hard real-time machine IO Robot software computer software Software design computer programs MACHINE TOOL CONTROL Robot System Microelectromechanical devices Equation discrete-time

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NEURAL-NETWORK-BASED INSPECTION OF SOLDER JOINTS USING A CIRCULAR ILLUMINATION

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IMAGE AND VISION COMPUTING 1995年第6期13卷 479-490页

作者： KIM, JH CHO, HS Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 Korea

In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of three tiered circular colour lamps and one colour camera, gives good visual cues to infer 3D shape of the solder joint surface. A general aspect of this inspection is that the shape of the solder joint tends to greatly vary according to soldering conditions. Due to this, a neural network classifier based on a supervised version of Kohonen learning vector quantization (LVQ) is proposed to automatically and efficiently make classification criteria of the solder joint shapes according to their quality. The practical feasibility of the proposed approach is demonstrated by building a prototype inspection machine and testing its performance.

关键词： SOLDER JOINT INSPECTION CIRCULAR ILLUMINATION TECHNIQUE LEARNING VECTOR QUANTIZATION ADAPTIVE LEARNING MECHANISM

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