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Concept selection and Kinematic modeling of hand rehabilitation robotic device

IOP Conference Series: Materials Science and engineering 2021年第1期1132卷

作者： Sunil Meby Mathew A.P. Sudheer Mechatronics/Robotics Laboratory Department of Mechanical Engineering National Institute of Technology Calicut Kerala India

Rehabilitation using an exoskeleton is one of the widely accepted methods for the recovery of lost motor abilities. Most of the present research concentrates on either soft or rigid exoskeletons. In this paper, the design of a five-finger exoskeleton is discussed along with the advantage of soft and rigid bodied exoskeletons. Concept selection for the designs is done using the standard procedure of screening and scoring. Forward and inverse kinematic modeling of thumb and index finger is performed with Denavit-Hartenberg (DH) method.

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CSP and 'omics' technology apllied on versatile and intelligent portable platform for modeling complex bio-medical data

CSP and 'omics' technology apllied on versatile and intellig...

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2016 International Conference on Advanced Mechatronic Systems, ICAMechS 2016

作者： Vladareanu, Luige Iliescu, Mihaiela Wang, Hongbo Yongfei, Feng Vladareanu, Victor Yu, Hongnian Smarandache, Florentin Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy 010141 C-Tin Mille 15 Romania Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Oinhuangdao China Faculty of Electronics II University Politehnica of Bucharest 313 Splaiul Independentei Bucharest060042 Romania School of Design Engineering and Computing Bournemouth University Poole DorsetBH12 5BB United Kingdom Department of Mathematics University of New Mexico 705 Gurley Avenue GallupNM87301 United States

ISBN: (纸本)9781509053469

This paper presents relevant aspects of the idea of using the digital medicine in cancer, so that to shape a viable strategy for creating and implementing an interactive digital platform, NEO-VIP, that should be the basic support to design the strategy for integration of basic, clinical and environmental research on neoplasia progression to cancer. The two main components of the VIPRO Platform are represented by the workstation 'engineering Station' for CPS (Cyber Physical System) and 'omics' technology and by the 'Graphical Station' for the development of a virtual mechatronic system environment and virtual reality for system components' motion. The NEO-VIP Platform will consolidate the collaboration of specialized institutions in IT, medicine, health, life standards so that to enhance their capabilities to work as a consortium. The results lead to the possibility developing NEO-VIP Platform in the IT modelling field, applied on bio-medical data, as a new player alongside with the existing ones. So, new improved methodologies for investigating social implications of machines working with and for people will be applied. © 2016 IEEE.

关键词： Cyber Physical System

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The navigation mobile robot systems using Bayesian approach through the virtual projection method

The navigation mobile robot systems using Bayesian approach ...

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2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012

作者： Vladareanu, Luige Tont, Gabriela Vladareanu, Victor Smarandache, Florentin Capitanu, Lucian Institute of Solid Mechanics of the Romanian Academy Robotics and Mechatronics Department C-tin Mille 15 Bucharest 1 010141 Romania University of Oradea Faculty of Electrical Engineering and Information Technology Universitatii 1 Oradea 410087 Romania Politehnica University of Bucharest Faculty of Electronics II 313 Splaiul Independentei 060042 Bucharest Romania Mathematics Department University of New Mexico 705 Gurley Gallup NM 87301 United States Institute of Solid Mechanics of the Romanian Academy C-tin Mille 15 Bucharest 1 Romania

ISBN: (纸本)9780955529382

The paper presents the navigation mobile walking robot systems for movement in non-stationary and non-structured environments, using a Bayesian approach of Simultaneous Localization and Mapping (SLAM) for avoiding obstacles and dynamical stability control for motion on rough terrain. By processing inertial information of force, torque, tilting and wireless sensor networks (WSN) an intelligent high level algorithm is implementing using the virtual projection method. The control system architecture for the dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The rationality and validity of the proposed model are demonstrated via an example of quantitative assessment of states probabilities of an autonomous robot. The results show that the proposed new navigation strategy of the mobile robot using Bayesian approach walking robot control systems for going around obstacles has increased the robot's mobility and stability in workspace. © 2012 Intl Jrnal Advanced Mech.

关键词： Stochastic models

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Generalization of a sigmoid generated Fixed Point Transformation from SISO to MIMO systems

Generalization of a sigmoid generated Fixed Point Transforma...

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IEEE International Conference on Intelligent engineering Systems (INES)

作者： Adrienn Dinevay József K. Tarz Annamária Várkonyi-Kóczy Vincenzo Piurix Obudai Egyetem Budapest HU Antal Bejczy Center for Intelligent Robotics (ABC iRob) Budapest Hungary Institute of Mechatronics and Vehicle Engineering Óbuda University Budapest Hungary Department of Mathematics and Informatics J. Selye University Komarno Slovakia Universita degli Studi di Milano Milano Lombardia IT

Recently a systematic method was presented for the generation of whole families of “Fixed Point Transformations” that can be used in nonlinear adaptive control of “Single Input - Single Output (SISO)” systems as alternatives of Lyapunov's “direct method”. In the present paper further development of this alternative method is considered. It consists in the generalization of the method for “Multiple Input - Multiple Output (MIMO)” systems. The applicability of the novel method is demonstrated by the adaptive control of a 2 “Degree of Freedom (DoF)” system, a cart indirectly driven in the horizontal direction by a rotated pendulum. Results of numerical simulations illustrate and substantiate the usability of the suggested approach.

关键词： MIMO Adaptation models Convergence Robots Approximation methods Adaptive control Lyapunov methods

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Optimal Control of Automatic Manipulator for Elimination of Galvanic Line Load Oscillation

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2021年第2期65卷 91-105页

作者： Autsou, Siarhei Rassõlkin, Anton Vaimann, Toomas Demidova, Galina Saroka, Viktor Karpovich, Dzmitry Kallaste, Ants Department of Automation of Production Processes and Electrical Engineering Faculty of Chemical Technology and Technique Belarussian State Technological University 13a Sverdlova str. Minsk220006 Belarus Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology 5 Ehitajate street Tallinn19086 Estonia Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia

This paper provides an analysis of the current state-of-The-Art technologies in the field of auto-operators used in production during the electroplating process. General schemes of operations are presented, benefits and drawbacks of each scheme are discussed. The paper discusses an increase in the operating efficiency of the auto-operator in transient conditions (braking and acceleration) by reducing suspension oscillations and provides an example of a similar problem from other industries. In addition to the classification of the auto-operators, three main ways and control methods of the auto-operator of a galvanic line are presented. The main ways of eliminating oscillations during the movement of the auto-operator, as well as the rationale for the choice of adaptive (optimal) control, based on and comparing the basic control algorithms of the robot manipulator, are discussed. The comparative analysis of algorithms used to determine the optimal control has been carried out. Application field of each optimal control method described, moreover advantages and disadvantages as well as implementation methods described. Bellman dynamic programming method was chosen to eliminate oscillations of the suspension with details during the auto-operator transient conditions, the chosen method takes into account all necessary conditions to achieve the desired result. © 2021 Budapest University of Technology and Economics. All rights reserved.

关键词： Dynamic programming

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Virtual Reality Based Visualization and Training of a Quadcopter by using RC Remote Control Transmitter

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IOP Conference Series: Materials Science and engineering 2018年第5期444卷

作者： Komal SA Khuwaja B S Chowdhry K F Khuwaja V O Mihalca R C ţarcă Mechatronics Engineering Department University of Oradea Romania Electronics Engineering Department MUET Jamshoro Pakistan Biomedical Engineering Department MUET Jamshoro Pakistan Mechatronics and Robotics Department University of Oradea Romania

The idea of this research paper is to simulate the flight of a quadcopter-type UAV, which can help to train drone pilots before the actual flight. We designed the quadcopter's model to help improve the future pilot's accuracy up to the point of a stable control, because it is necessary to know how to control the parameters of the quadcopter prior to a real-world scenario. Our system is based on a MATLAB Simulink model. The remote sensing input is given by the RC remote control, based on virtual reality, in order to train the data and output in 3D visualization environment. It has been developed and used for the measurement of the simulated system behavior and its performance. The objective of this research paper is to create a training environment of the quadcopter's flight parameters for a newly trained pilot. The pilot will be able to follow the simulated model and receive visual feedback. Following the simulated model implies stabilizing the moment of input-output. A visual system with real-time human-computer interaction could provide the intended training experience using this model.

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Highly efficient photonic PCR system based on plasmonic heating of gold nanofilms

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Biosensors and Bioelectronics: X 2023年 14卷

作者： Nabuti, Joshua Fath Elbab, Ahmed Rashad Abdel-Mawgood, Ahmed Yoshihisa, Matsushita Shalaby, Hossam M.H. Department of Electronics and Communication Engineering Egypt-Japan University of Science and Technology Alexandria21934 Egypt Mechatronics and Robotics Department Egypt-Japan University of Science and Technology Alexandria21934 Egypt Basic & Applied Sciences Institute Egypt-Japan University of Science and Technology Alexandria21934 Egypt Egypt-Japan University of Science and Technology Alexandria21934 Egypt Electrical Engineering Department Alexandria University Alexandria21544 Egypt

The polymerase chain reaction (PCR) is a standard molecular method that has the potential to solve the need for accurate, viable, and immediate infectious pathogen detection at point-of-care (POC) centers in different fields such as pathogen identification, and forensics. In this work, we present a photonic PCR thermocycler that achieves strong optical absorption, more efficient gene amplification, and further improves the effect of temperature distribution through the PCR sample using two gold nanofilms (AuNFs) and a high-power light-emitting diode chip (LED). The photonic device achieved higher heating and cooling rates of 13.20 null°C/s and 7.92 null°C/s, respectively on average, with uniform and reliable temperature distribution throughout the sample with negligible deviations. During amplification cycles, maximum temperatures attained had variations less than 1 °C at 90 °C, less than 0.8 °C at 55 °C, and less than 0.5 °C at 72 °C, showing uniform heating which yielded more accurate and reliable results. Using the fabricated device, PCR amplification for a bacteria genomic DNA was performed in 7.5 minutes for 30 thermal cycles with a sample volume of 20 μL. Due to the device's simple configuration and increased heat transfer rates, this photonic platform will be a highly efficient choice for rapid POC applications in developing countries. © 2023 The Author(s)

关键词： Polymerase chain reaction

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Homography-based ground area detection for indoor mobile robot using binocular cameras

Homography-based ground area detection for indoor mobile rob...

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IEEE Conference on robotics, Automation and mechatronics

作者： Peiqi Ke Cai Meng Jihao Li Ying Liu Image Processing Center School of Astronautics Beihang University Beijing 100191 China Social Robotics Lab Interactive Digital Media Institute National University of Singapore 119613 Singapore Mechatronics Engineering Department School of Mechanical Engineering Beijing University of Science Technology 100083 China Industrial Robot & Production Automation Lab School of Mechanical Engineering University of Science & Technology Beijing 100083 China

Drivable area detection is an important issue for mobile robot to work in indoor and outdoor environments with safety and security with respect to itself and environment. In this paper, we propose an approach to detect the ground area for indoor mobile robots with binocular cameras. At first, the ground induced homography between onboard binocular cameras is calibrated. In ground area detection, the right eye image is warped to left eye by the homography and subtracted by the left eye image. From the difference image the rough non-ground regions can be detected. Then the closed contours on the difference image and the left eye image are searched to segment them into regions. These corresponding regions are compared to judge whether they belong to ground plane. The conducted experiments show that the proposed method is valid in detecting ground area.

关键词： Mobile robots Cameras Conferences Automation Image segmentation Robot vision systems

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CAD-Informed Uncertainty-Aware Sequence and Motion Planning for Robotic Assembly

CAD-Informed Uncertainty-Aware Sequence and Motion Planning ...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Takuya Kiyokawa Ismael Rodriguez Korbinian Nottensteiner Peter Lehner Thomas Eiband Maximo A. Roa Kensuke Harada Department of Systems Innovation Graduate School of Engineering Science Osaka University Osaka Japan Institute of Robotics and Mechatronics German Aerospace Center (DLR) Oberpfaffenhofen Weßling Germany Industrial Cyber-Physical Systems Research Center The National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

This study addresses a multi-objective optimization problem in the planning of an uncertainty-aware sequence and motion for mechanical products with intricate structures and numerous contact areas. To generate an optimized sequence and motion that satisfies multiple conditions under mandatory requirements, we use a multi-objective optimization algorithm inspired by Non-Dominated Sorting Genetic Algorithm III, along with contact-rich robotic assembly-oriented constraints and objective functions. The proposed pipeline takes as input the CAD models of robot hardware, workspace, and assembled parts, conducts 3D geometrical and physical simulations of assembly motions, and then optimizes the assembly plan, including parts order, object placement pose, state transition, grasp, and trajectory for the real robot to execute. To obtain the uncertainty-aware sequence and motion, we incorporated a Contingent Contact-Exploring Rapidly-exploring Random Trees (ConCERRT)-based state transition planner and an objective function to evaluate the uncertainty in the multi-objective optimization algorithm. Our experiments on assembly planning for a chainsaw product demonstrated that the proposed method can generate constraint-satisfied assembly plans with a success rate of 99.2% while lowering the uncertainty in the simulations.

关键词： Robotic assembly Solid modeling Uncertainty Linear programming Planning Trajectory Mechanical products Robots Optimization Assembly

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New multi-injection commutation topology for circuit breakers of HVDC transmission lines

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Scientific Reports 2024年第1期14卷 1-14页

作者： Wadie, Fady Elsisi, Mahmoud Eliyan, Tamer Mechatronics and Robotics Engineering Department Faculty of Engineering Egyptian Russian University Badr City 11829 Egypt Department of Electrical Engineering National Kaohsiung University of Science and Technology Kaohsiung City 807618 Taiwan Department of Electrical Engineering Faculty of Engineering at Shoubra Benha University Cairo 11629 Egypt Department of Electrical Power and Machines Engineering The Higher Institute of Engineering at El-Shorouk City Alshorouk Academy Cairo 11837 Egypt

Power-sharing between countries has an essential effect on increasing the power system’s reliability and allowing a resilient energy market. High voltage direct current (HVDC) transmission systems are preferable for long-distance transmission to decrease power losses. However, HVDC transmission lines have many protection challenges including the differentiability between various types of HVDC circuit breakers (HVDC-CB). Although mechanical HVDC-CBs suffered from long response time, they superseded their solid-state counterparts in terms of price and power losses. In this paper, a multi-injection commutation system MICS-HVDC-CB is developed to provide economic and fast response HVDC-CB. The proposed breaker doesn’t add external elements to avoid any price increase but instead modifies the existing topology. The MICS consists of multiple L–C commutation circuits inserted sequentially following the receiving of the tripping signal. The proposed MICS-HVDC-CB was tested upon a real transmission line using ATP simulation software. The results emphasize that the developed MICS-HVDC-CB decreased the arcing time to 38.5% and 20% compared to passive and active DC-CBs. The impact of cooling power, arcing time constant, and fault resistance was also investigated. The results showed the effectiveness of the proposed MICS topology in reducing the arcing time while keeping a simple and economic breaker structure. © The Author(s) 2024.

关键词： Circuit breakers Commutation system Protection systems Transmission lines

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