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6th International Conference on robotics and Automation in Industry, ICRAI 2024

作者： Sajid, Ali Sultan, Muhammad Noor Ishfaq, Muhammad Muaviz Raza, Ali University of Engineering and Technology Lahore Human Centered Robotics Lab of NCRA Department of Mechatronics and Control Engineering Lahore Pakistan

ISBN: (纸本)9798350355703

Constituting to the demographic age shift in many regions of the world, technological advancement in the care sector, to deliver quality services to the elders, is now in more demand than ever. One such advancement is the evolution of socially assistive and care robots that promise sustainable, reliable, and safe human-robot interaction to meet geriatric needs. This paper presents the design and development of Silver Companion: a geriatric care robot for the elderly. The target audience chosen for the research phase is the socially isolated elderly community of East Asia and Central Europe which make up about 45% of their total elderly population. Considering the human-centered design paradigm, the technical and psychological aspects of the robot have been devised. The form and functions of the robot have been based on the product design principles. The whole development journey has been subjected to the identified elderly needs and the robot has been tested under multiple use-case scenarios, ideated for possibly fulfilling those needs. The robot has been equipped with assistive and interactive features like voice interaction, complementing micro-gestures and robot expressions, seamless navigation, and robot perception enhanced by a tilt-pan mechanism, all contributing towards making the robot capable of uplifting the well-being and quality of life of seniors. © 2024 IEEE.

关键词： Care Robots Geriatric Care Human Centered Design Human-Robot Interaction Micro Gestures Navigation Robot Expressions Robot Field of View Socially Assistive Robots Voice Interaction

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Analysis of Kinematic Relationship of Superposition Cooperative Dual-Industrial Robot 2020

Analysis of Kinematic Relationship of Superposition Cooperat...

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2020 International Conference on Computers, Information Processing and Advanced Education, CIPAE 2020

作者： Kong, Minxiu Wang, Rundong Cheng, Yanchun Yang, Jubo School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781450372022

With the increasing complexity of manufacturing process, the ability of a single robot is not enough for the current diversified production environment and tasks, so the research on multi-robot technology is increasingly important. This article selects the most widely used superposition cooperative dual robot as the object, studies a base-based calibration algorithm based on the space common target coordinate system, and then establishes the trajectory constraint relationship of the dual robot on this basis, which provides theoretical basis for teaching work. Finally, the correctness of the algorithm is verified by simulation software. © 2020 ACM.

关键词： Industrial robots

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Direct current triboelectric nanogenerator nexus: Fundamentals to applications in self-powered systems

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Nano Energy 2025年 142卷

作者： Kaliyannan Manojkumar Mukilan Muthuramalingam Sugato Hajra Swati Panda Hoe Joon Kim Arunmetha Sundaramoorthy Hamideh Khanbareh Chris Bowen Venkateswaran Vivekananthan Center for Flexible Electronics Department of Electronics and Communication Engineering Koneru Lakshmaiah Education Foundation India Departement of Robotics and Mechatronics Engineering Daegu Gyenogbuk Institute of Science and Technology Daegu South Korea Department of Mechanical Engineering University of Bath Bath BA2 7AY UK

Direct Current Triboelectric Nanogenerators (DC-TENGs) have emerged as a promising technology for sustainable energy harvesting, enabling the direct conversion of mechanical energy into a stable DC output. Unlike traditional Alternating Current Triboelectric Nanogenerators (AC-TENGs), which require rectification, the output of DC-TENGs simplify system integration, thereby making them ideal for low-power devices such as wearable electronics, sensors, and Internet of Things (IoT) systems. This review highlights the recent progress in DC-TENGs, focusing on their fundamental working mechanisms, including those based on dual and electrostatic breakdown effects, material optimization, and structural enhancements. Key challenges in the field, which include material durability, efficiency of energy conversion, charge retention, and environmental sensitivity are explored in detail. In addition, future directions emphasize the development of advanced triboelectric materials, hybrid energy harvesting systems, scalable fabrication techniques, and the adaptation of DC-TENGs to a diverse range of environmental conditions. As a result of recent research and innovation, DC-TENG technology is well positioned to play a pivotal role in the next generation of energy harvesting solutions, providing a path toward decentralized, autonomous and self-sustaining power systems.

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Adaptive manipulation of a Hybrid Mechanism Mobile Robot

Adaptive manipulation of a Hybrid Mechanism Mobile Robot

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2011 9th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2011

作者： Moubarak, Paul M. Ben-Tzvi, Pinhas Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering George Washington University Washington DC United States

ISBN: (纸本)9781457708190

This paper reports experimental and analytical results of a Hybrid Mechanism Mobile Robot (HMMR) designed for field and military applications. The HMMR presented in this paper constitutes the second generation of a mobile robot that combines locomotion with manipulation in a symmetric invertible platform. The experimental results highlight the ability of the robot to operate in an unstructured environment and overcome obstacles that are much taller than its folded structure. The analytical results on the other hand reflect the ability of the robot to adapt the arm's posture to the magnitude of the external load during manipulation in order to prevent tip-over instability. This adaptability is controlled by an optimization algorithm that updates the position of the mobile base with respect to the object, and accordingly, calculates a global arm configuration that minimizes the eccentricity of the external loading and maximizes the payload capacity of the arm. © 2011 IEEE.

关键词： Global optimization

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Motion control of an internally-actuated cubical robot balancing on its edge 2

Motion control of an internally-actuated cubical robot balan...

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2nd IEEE International Conference on Control, Measurement and Instrumentation, CMI 2021

作者： Patil, Saurabh Chatterjee, Sananda Bhaumik, Subhasis Indian Institute of Engineering Science and Technology School of Mechatronics and Robotics Shibpur Howrah West Bengal India

ISBN: (纸本)9781728193427

The Internally-Actuated robots have recently gained popularity due to their ability of achieving controlled mobility (via moving or spinning internal inertial elements) even in milli/ micro gravity environment. In this paper such an internally actuated robot, cubical in shape, is considered and the dynamical equation of the robot is obtained. Aiming to achieve features like controlled tumbling and balancing on the edges, which are necessary for such robots to effectively execute their popular applications such as exploration of smaller solar-system bodies and self assembly of group robots, a stabilizing controller is proposed. The performance and robustness results of the proposed controller are also presented. The comparison results obtained, indicate the superiority of the proposed controller over the ones available in the literature. © 2021 IEEE.

关键词： Controllers

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Autonomous cricothyroid membrane detection using neural networks for first-aid surgical airway management

Autonomous cricothyroid membrane detection using neural netw...

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ASME 2020 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Han, Xiaoxue Ren, Hailin Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Department of Mechanical Engineering Virginia Tech BlacksburgVA24060 United States

ISBN: (纸本)9780791883990

Airway management is one of the most important priorities when dealing with patients with severe injuries, but knowledge of the important anatomy and physiology is needed for providers to perform a successful surgery . This paper provides a solution for the precise cricothyroid membrane detection problem for real-time surgical airway management applications. With a commercial compact and portable cricothyrotomy kit, the proposed method will enable providers with general knowledge to perform successful first-aid airway management. In this paper, we propose a Hybrid Neural Network (HNNet), consisting of two parallel computing ensembles. The first ensemble takes as an input a low-resolution global image and outputs the Region-of-Interest (ROI) from the predefined grids. The high-resolution image is then cropped according to the ROI, and fed into the second ensemble to achieve precise keypoint detection. Global features and their spatial information from the first ensemble are also fed into the second ensemble to improve the precision. A dataset that consists of over 16,000 images from 13 subjects is built, and the location of the cricothyroid membrane in each image is precisely labeled by medical experts. The training results are presented to show both the efficiency and improved performance of our proposed method compared to existing ones. Copyright © 2020 ASME

关键词： Image segmentation

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Sequence design for direct-proportional length-based DNA computing using population-based ant colony optimization

Sequence design for direct-proportional length-based DNA com...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Kuurniawan, Tri Basuki Khalid, Noor Khafifah Ibrahim, Zuwairie Abidin, Mohammad Shukri Zainal Khalid, Marzuki Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Darul Takzim Malaysia

ISBN: (纸本)9784907764333

Generally, in DNA sequences used for the computation should be critically designed in order to reduce error that could occur during computation. In order to design a set DNA sequences for Direct-Proportional Length-Based DNA Computing (DPLB-DNAC), a Population-based Ant Colony Optimization (P-ACO) method is proposed. Previously, the DNA sequences for DPLB-DNAC are designed using graph method and Generate-and-Test approach, respectively. The both of methods are without the optimized objective functions process. The proposed method used four objective functions in their process to obtain the best solutions. The results obtained from the proposed method are compared with the sequences generated by graph and Generate-and-Test methods. The results show that P-ACO approach can generate relatively better DNA sequences in some objectives than others. It can be concluded that proposed algorithm can obtain relatively a better set of DNA sequences for DPLB-DNAC. © 2009 SICE.

关键词： Ant colony optimization

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Sensor based target tracking with application to autonomous docking and self-reconfigurability

Sensor based target tracking with application to autonomous ...

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ASME 2020 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Sohal, Shubhdildeep S. Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Mechanical Engineering Dept. Virginia Tech BlacksburgVA United States

ISBN: (纸本)9780791883990

This paper presents a target detection technique, which combines a supervised learning model with sensor data to eliminate false positives for a given input image frame. Such a technique aids with selective docking procedures where multiple robots are present in the environment. Hence the sensor data provides additional information for this decision making process. Senor accuracy plays a crucial role when the motion of the robot is defined by the use of data recorded by its sensors. The uncertainties in the sensory data can cause misalignments due to poor calibration of the sensor, which can result in poor positioning of the robot relative to its target. Such misalignments can play a significant role where certain accuracy is desired. Therefore, it is necessary to minimize such misalignments to achieve certainty for the robot interaction with its target. The work proposed in this paper allows achieving such accuracy using a vision-based approach by eliminating all false occurrences leading to selective interactions with the target. The proposed methodology is validated using a self-reconfigurable mobile robot capable of hybrid Wheeled-Tracked mobility, as an application towards autonomous docking of mobile robotic modules. Copyright © 2020 ASME

关键词： Target tracking

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An algorithm for control of prosthetic foot by gait characteristics

An algorithm for control of prosthetic foot by gait characte...

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2017 International Conference on Energy, Communication, Data Analytics and Soft Computing, ICECDS 2017

作者： Jacob, Thomas Saini, L.M. Bhaumick, Subhasis School of Biomedical Engineering NIT Kurukshetra India School of Mechatronics and Robotics IIEST Shibpur Howrah India

ISBN: (纸本)9781538618868

Out of the 5.4 million persons with disability, a majority has locomotor disability and the most common reason is amputation. A significant number of amputees are transtibial amputees (TTA). Traditional powered prosthesis depends on the myoelectric signal from the muscles in the stump of residual limb, which is already a weak source of signal. This study attempts to establish relation between the muscles of the thigh and the muscles of the lower limb and thus, predict intention for ankle movement using the muscles of thigh of the TTA making use of the cyclic nature of gait. The prediction is based on the detection of muscle activity, extracting a trigger signal and generating a suitable response based on the natural angular rotation of ankle in a non-amputee. EMG data was measured for ten healthy individuals along with the goniometer data for measuring the ankle rotation. The recorded data was processed to obtain trigger signals to drive a simulated virtual foot. The averaged ankle rotation per gait cycle is standardized and used as the effective movement of the simulated foot. With additional improvement in timing and speed adaptation, this method can prove to be a better solution for myoelectric prosthesis, especially in cases where the residual limb cannot generate usable myoelectric signals. © 2017 IEEE.

关键词： Forecasting

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Self Adjustable Intelligent Knee Mimicking the Real Human Gait-Cycle Using Machine Learning 2

Self Adjustable Intelligent Knee Mimicking the Real Human Ga...

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2nd International Conference on Electrical, Communication and Computer engineering, ICECCE 2020

作者： Saleem, Muhammad Ikhlas Qadir, Muhammad Usman Ul Haq, Izhar Akhtar, Nizar Afridi, Muhammad Tariq Shah, Kamran University of Engineering Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics Automation Lab University of Engineering Technology Department of Mechatronics Engineering Peshawar Pakistan Pakistan Institute of Prosthetics Orthotics Peshawar Pakistan

ISBN: (纸本)9781728171166

This research focuses on developing a novel control system technique for electronically controlled knee joints to help amputees achieve the actual human gait cycle without facing any difficulties. The proposed technique controls the movement of electronically controlled microprocessor knee intelligently by acquiring sensory data from the amputee's functional leg. As a result, amputee will be able to achieve a gait cycle like actual human gait cycle. This research will prove to be a revolution in the field of intelligent prosthesis as the patient will not be bound to limited modes of walking, running and jogging etc. rather he will be able to achieve any stance like walking slowly, or fast and running or jogging. Real-time sensory data is acquired from different points of the functional leg and then used to mimic the behavior of functional leg on to the prosthetic knee. The acquired sensory data includes angular movement, acceleration and the forces exerted on the ground. This sensory data is then passed to a machine learning algorithm for optimizing results and controlling prosthetic knee through beagle-bone microcontroller. The results are simulated in ROS software on a two degree of freedom leg with three links and three revolute joints. The results achieved are very promising, as the behavior of functional leg is efficiently mimicked up to 90%. © 2020 IEEE.

关键词： Machine learning

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