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International Conference on Computer and Applications (ICCA)

作者： Zahy Y. Elgendy Mahmoud Magdy Mostafa Abdelaziz Mechatronics & Robotics Mechanical Engineering The British University in Egypt Cairo Egypt

ISBN: (数字)9798350367560

ISBN: (纸本)9798350367577

This paper investigates the implementation of trussed designs in modular tendon-driven continuum arms (CAs) to address stiffness and stability limitations while maintaining adaptability. Various truss configurations-Single-Level, Combined-Level, and Alternated trusses-were analyzed using Finite Element Analysis (FEA) to evaluate their impact on flexural and axial stiffness under realistic loading conditions. Results demonstrate that truss placement significantly influences performance, with bottom-level trusses improving flexural stiffness by up to 33 %, middle-level trusses enhancing axial stiffness by 43%. Further, Combined-Level configurations provide superior overall stiffness, with Middle-Bottom trusses achieving a 66.5% improvement in flexural stiffness and a 70.9% increase in axial stiffness, while fully trussed configurations maximize rigidity with an 87.8% increase in flexural stiffness and 98.5% in axial stiffness. Alternated configurations achieve anisotropic stiffness for directional control. Additionally, the proposed trussed wing approach enhances stiffness programmability with reduced complexity, eliminating the need for full segment disassembly or tendon re-routing. The proposed trussed CAs enable tailored stiffness and directional control in robotics, medical devices, and aerospace systems.

关键词： Medical devices Loading Anisotropic Soft robotics Manipulators Three-dimensional printing Stability analysis Finite element analysis Rigidity Tendons

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Its All About Context

Its All About Context

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IEEE Southeastcon

作者： Preston Brantley Yusun Chang Razvan Cristian Voicu Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

This paper presents an innovative approach to enhancing context understanding in Generative Pretrained Models (GPTs), a critical step towards achieving Artificial General Intelligence (AGI). While GPTs have significantly advanced natural language processing, their understanding of context remains predominantly limited to linguistic structure. To address this limitation, we introduce a novel layer in the transformer model architecture that computes context weights, integrating both immediate and temporally decaying influences of past tokens. This layer is strategically positioned after the self-attention and before the feed-forward layers, enabling a more nuanced interpretation of sequential language data. Our approach involves the formulation of a decaying temporal factor, which allows the model to consider not only the immediate relevance of tokens but also their historical context. This factor is dynamically adjustable, offering a sophisticated method of context weighting that considers both current and extended contexts. The integration of this context weight into the self-attention mechanism enhances the model's capacity for a deeper, more accurate understanding of language, pushing the boundaries of current AI capabilities towards a system that mirrors human-like intelligence. Our experimental results demonstrate the efficacy of this approach, showing its potential to significantly contribute to the development of AGI.

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Communication Interchange for Artificial Intelligence Systems

Communication Interchange for Artificial Intelligence System...

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International Conference on Computing, Networking and Communications (ICNC)

作者： Razvan Cristian Voicu Aarush Kaunteya Pande Muhammad Hassan Tanveer Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

ISBN: (数字)9798350370997

ISBN: (纸本)9798350371000

The rise and proliferation of Artificial Intelligence (AI) technologies are bringing transformative changes to various sectors, signaling a new era of innovation in fields as diverse as medicine, manufacturing, and even day-to-day social interactions. Notable advancements are not just confined to textual understanding, as seen in models like GPT, but also extend to visual cognition through image recognition and more. Beyond surface interactions and predictions, AI finds profound applications in life-saving domains such as medical diagnostics and becomes an integral part of daily life through chatbot- based customer interactions. However, as the horizon of AI expands, a crucial yet often overlooked aspect emerges- the underlying mission-critical infrastructure required to support and deploy these models effectively. The intricacies of efficient communication systems, foundational for real-time AI model operations, take center stage in ensuring the seamless functioning of AI -driven applications. This paper explores the quintessential changes needed in communication paradigms to keep pace with the evolving AI landscape. Specifically, we highlight the pivotal role of multipath communication in enhancing the responsiveness and efficiency of AI applications [1]. As a case in point, we investigate its impact on mission-critical operations in robotics. Through experimentation and analysis, the results elucidate the substantial benefits of this approach, revealing a significant improvement in delay metrics. This work underscores the imperative of aligning communication systems with the ever-growing demands of AI, ensuring that infrastructural capabilities do not lag in the race for innovation.

关键词： Adaptation models Technological innovation Visualization Biological system modeling Mission critical systems Real-time systems Reliability

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Optimizing Data Capture Through Object Recognition for Efficient Sensor and Camera Management with a Quadruped Robot

Optimizing Data Capture Through Object Recognition for Effic...

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IEEE Southeastcon

作者： Roxie Reese Aiden Kovarovics Arielle Charles Charles Koduru M. Hassan Tanveer Razvan C. Voicu Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Georgia

This paper explores the integration of object recognition to advance autonomous mobile robotics, with a specific focus on employing sensor fusion in quadrupedal swarm units, exemplified by the Unitree GO1 robotic dog. The proposed system utilizes an RGB camera and the YOLOv8 machine learning module to enable the robotic dog to identify objects, subsequently triggering predefined actions or activating additional hyper-spectral sensors and cameras. This approach enhances the robot's environmental interaction, allowing it to optimize power efficiency by activating sensors selectively, resulting in a more focused dataset. The technology's applications span various domains, including threat detection in home defense, surveillance of civic structures, and monitoring industrial components. The paper delves into the customization potential through the creation of bespoke datasets and model training, incorporating techniques such as transfer learning and domain adaptation to tailor the system to user-specific requirements. Beyond its immediate applications, the implications of object recognition and AI-assisted robotics extend to diverse scientific communities, offering a versatile tool for a wide array of applications.

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The Development and Implementation of a Cost-Effective Educational Robotic Arm Using ROS-MoveIT

The Development and Implementation of a Cost-Effective Educa...

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IEEE Integrated STEM Education Conference (ISEC)

作者： Matthew Eaton M. Hassan Tanveer Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta GA

ISBN: (数字)9798350352801

ISBN: (纸本)9798350352818

This paper introduces a cost-effective robotic arm designed to match the performance of expensive counterparts, addressing the financial barriers hindering the widespread adoption of modern robotic arms in educational settings. The affordability of this robotic arm not only allows for greater student involvement, but its open-source nature fosters a deeper understanding of the robotics development process. This paper details the features and characteristics of the robotic arm design, as well as outlines the opportunities for mechatronics and robotics labs this design provides to students and educators through discussions ranging from the pros and cons of various stepper motor gearbox configurations, and structural material choices, to choices regarding various popular computational platforms. The overall initiative of the paper aims to create a more inclusive learning environment by reducing financial constraints, enabling broader student participation, and contributing to the advancement of robotics education.

关键词： Solid modeling Accuracy Three-dimensional displays Service robots Education Manipulators Control systems

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Geometric Programming for Nonlinear Satellite Buffer Networks With Time Delays under L_(1)-Gain Performance

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 554-556页

作者： Yukang Cui Yihui Huang Michael V.Basin Zongze Wu College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Shenzhen University Shenzhen 518060China Peng Cheng Laboratory Shenzhen 518060China Robotics Institute Ningbo University of TechnologyNingbo 315211China Autonomous University of Nuevo Leon Nuevo Leon 66455Mexico

Dear Editor,This letter concerns the parameter tuning problem for nonlinear satellite buffer networks with communication delays, aiming to optimize their stability properties under L_(1)-gain. We first model the satellite buffer networks by a nonlinear time-delay positive system and propose a novel characterization under which the nonlinear system is asymptotically stable with a prescribed L_(1)-induced performance.

关键词： nonlinear system prescribed

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Inherently integrated microfiber-based flexible proprioceptive sensor for feedback-controlled soft actuators

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npj Flexible Electronics 2024年第1期8卷 803-816页

作者： Hwajoong Kim Hyunbin Na Seungbeom Noh Shinwon Chang Jinho Kim Taejune Kong Gyowook Shin Chankyu Lee Seonggyu Lee Yong-Lae Park Sehoon Oh Jaehong Lee Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)333 Techno jungang-daeroHyeonpung-eupDalseong-gunDaeguRepublic of Korea Department of Mechanical Engineering Seoul National University1 Gwanak-roGwanak-guSeoulRepublic of Korea University of California BerkeleyCAUSA

For the accurate and continuous control of soft actuators in dynamic environments,the movements of the soft actuators must be monitored in *** this end,various soft actuators capable of selfmonitoring have been developed by separately integrating sensing devices into ***,integrating such heterogeneous sensing components into soft actuators results in structural complexity,high manufacturing costs,and poor interfacial ***,we report on intelligent pneumatic fiber-reinforced soft actuators with an inherent flexible proprioceptive sensor that uses only the essential components of typical fiber-reinforced soft *** inherent flexible proprioceptive sensor is achieved by leveraging two parallel conductive microfibers around an elastomeric chamber of the soft actuator,which simultaneously acts as both a capacitive bending sensor and radial expansion limiting fibers of typical fiber-reinforced soft *** proprioceptive soft actuator exhibits excellent mechanical actuation up to 240°bending motion and proprioceptive sensing performance with high sensitivity of 1.2 pF rad^(−1).Mathematical analysis and simulations of the soft actuator can effectively predict the bending actuation and capacitive responses against input *** that proprioceptive soft actuators can be used to construct a soft gripping system and prosthetic hand which express various hand gestures and perform dexterous manipulation with real-time proprioceptive sensing capability.

关键词： prop integrating sensor

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Investigating the Failure Mechanisms During the Epoxy-Coated Bearing Steel–Steel and Uncoated Bearing Steel–Steel Interactions (Crack Formation, Surface Tears, Schallamach-like Waves) and Their Corrosion Resistance in NaCl Environment

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-21页

作者： Alavanthar, Amirthalakshmi Bhaumik, Shubrajit Paleu, Viorel Department of Science and Humanities Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics and Robotics Department Mechanical Engineering Faculty "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania

The anti-wear properties of coatings are important to enhance the life of the steel surfaces. Thus, understanding the wear mechanisms of any coating matrix is important while designing and choosing a new coating matrix on steel surfaces. The present work investigated the thermal, mechanical, anti-wear, and anti-corrosion performance of semi-liquid epoxy-coated EN8 steel surfaces under reciprocating motion. The semi-liquid LY556 epoxy mixed with HY951 hardener was used to coat EN8 surfaces. The tribo-tests were conducted at different loads (5 N, 10 N, 15 N, and 20 N), spindle frequencies (1 Hz, 2 Hz, 3 Hz, and 4 Hz), and temperatures (40 °C, 60 °C, 80 °C, and 100 °C), maintaining a stroke length of 15 mm. The differential scanning calorimeter readings indicated the glass transition temperature of the cured epoxy to be 80 °C with the endothermic peak at 119 °C. The thermal degradation of the cured epoxy was found to be 330 °C using a thermal gravimetric analyzer. Artificial neural network models indicated that the frictional coefficient of the coated EN 8 samples increased with an increase in load, frequency, and temperature with the minimum frictional coefficient at 40 °C (0.0767 ± 0.014). The coating peel-off was observed from 80 °C. The optical microscope and scanning electron microscope images of the coating wear scar exhibited cracks and Schallamach-like material waves. Additionally, the corrosion studies indicated a significant corrosion resistance of the coated bars even after 120 h as compared to non-coated bars. Thus, the present work will be highly beneficial in developing new anti-wear and anti-corrosive coatings for steel surfaces. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Cracks

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DeepCat: A Deep Learning Approach to Understand Your Cat's Body Language 11

DeepCat: A Deep Learning Approach to Understand Your Cat's B...

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11th International Japan-Africa Conference on Electronics, Communications, and Computations, JAC-ECC 2023

作者： Fawzy, Arwa Hassan, Ahmed Gad, Ahmed Zaky, Ahmed B. El-Hussieny, Haitham Alexandria Egypt program Alexandria Egypt Benha University Faculty of Engineering at Shoubra Electrical Engineering Department Egypt Egypt-Japan University of Science and Technology Department of Mechatronics and Robotics Engineering Alexandria Egypt

ISBN: (纸本)9798350369328

Pet owners experience difficulty in understanding their pets' body language and its implications for animal welfare, given that animals cannot utilize human speech to communicate their emotions and health conditions. However, previous experiments for analyzing cat behavior have demonstrated that cats are precisely expressive. DeepCat, a deep-learning approach developed in this study, translates cats' body language signals, enabling owners to discern their feline companions' intended messages and emotional states. Our DeepCat model was trained on a dataset comprising 10,000 cat images, implementing automatic labeling to track key features, including the tail, eyes, and mouth. Presented as a Flutter application, DeepCat can function everywhere, allowing owners to easily monitor their cats and make informed decisions in situations that require caution. This paper discusses the potential benefits and limitations of DeepCat and provides suggestions for future research in this domain. © 2023 IEEE.

关键词： Emotion Recognition

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On Designing Control Systems for Electron-Beam Processing Plants

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Russian Electrical engineering 2024年第7期95卷 579-584页

作者： Kozhechenko, A.S. Sliva, A.P. Maslov, A.N. Shcherbakov, A.V. Goncharov, A.L. Rodyakina, R.V. Dragunov, V.K. Department of Power Supply of Industrial Enterprises and Electric Technologies National Research University "Moscow Power Engineering Institute" Moscow111250 Russia Department of Metal Technologies National Research University "Moscow Power Engineering Institute" Moscow111250 Russia Department of Robotics Mechatronics Dynamics and Machine Strength National Research University "Moscow Power Engineering Institute" Moscow111250 Russia

This study shows the need for a common structured approach to designing control systems for electron-beam welding, surfacing, and additive shaping plants. The main controlled parameters of the process are highlighted. The three-level hierarchical structure of the control system is described. The control processes are differentiated taking into account the process requirements for electron-beam treatment processes and the features of the vacuum system, the electron gun, and the positioning system, as well as the system of taking images of the treated area according to the signal of backscattered electrons. The types and quantitative characteristics of the parameters of the signals necessary for running the system are given. It is shown that it is effective to divide the control processes in three groups, depending on the requirements on the rapid response of the actuators, as well as on the need for synchronizing some processes with others over time. The presented differentiation is used to propose a method for selecting technical facilities for each of the mentioned groups. An example is provided of constructing a control system for an electron-beam process plant using hardware components available for purchase. © Allerton Press, Inc. 2024.

关键词： Numerical control systems

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