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Artificial Intelligence and Knowledge Discovery in Concurrent engineering (ICECONF), International Conference on

作者： Rajanish Kumar Kaushal V. Velmurugan S. Mahendran Arul Prakash M Balvender Singh Joshuva Arockia Dhanraj Department of Electrical Engineering Chandigarh University Mohali Punjab India Department of Electronics and Communication Engineering Vel Tech Rangarajan and Dr. Sagunthala R and D Institute of Science and Technology Chennai Tamil Nadu India Department of Electrical and Electronics Engineering Er. Perumal Manimekalai College of Engineering Hosur India Department of Mechanical Engineering Sri Sairam Engineering College Chennai Tamil Nadu India Department of Electrical Engineering Government Women Engineering College Ajmer Rajasthan India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai Tamil Nadu India

The heat from solar energy can be used to heat the air and use that heat for drying. Solar trackers are used to effectively track the solar collector to heat the air through a solar thermal collector. The drying hot air can be arranged as layer type trackers as per our requirement.A geo thermal heat pump uses geothermal energy to heat your home in winter and cool it in summer in a cost-effective and renewable way. A mini-split heat pump is the second best way to heat or cool your home or commercial space. In this paper an innovative machine learning model was proposed to enhance the tracking of solar panels. The main objective is to obtain the maximum energy of the solar thermal collector. A tracker uses many times more energy than a washing machine. So the efficiency of both can be improved by researching and selecting more energy efficient machines.A portable solar powered cooling unit uses a solar panel and inverter to provide relief from overheating by converting the DC power provided by the panel into 3-phase AC power. In a saturation point the proposed model achieved 87.20% of integrated tracking, 91.59% of distributed tracking, 90.20% of combined tracking, 89.11% of heat based tracking and 93.77% of high power solar tracking. The proposed model achieved higher level of energy optimization. This will possible because the proposed model monitor and generate the high level of energy because of the machine monitoring model.

关键词： Integrated optics Heat pumps Cogeneration Optical saturation Adaptive optics Solar panels Solar heating

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Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Parameter Uncertainty

arXiv

引用

arXiv 2023年

作者： Gabellieri, C. Tognon, M. Sanalitro, D. Franchi, A. Robotics and Mechatronics Group EEMCS Faculty University of Twente Enschede Netherlands Inria Univ Rennes CNRS IRISA Campus de Beaulieu Rennes35042 Cedex France LAAS-CNRS Université de Toulouse CNRS Toulouse France Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the impact of the uncertain knowledge of the model parameters available to an established communication-less force-based controller. First, we find the closed-loop equilibrium configurations in the presence of the aforementioned uncertainties, and then we study their stability. Hence, we show the fundamental role played in the robustness of the load attitude control by the internal force induced in the manipulated object by non-vertical cables. Furthermore, we formally study the sensitivity of the attitude error to such parametric variations, and we provide a method to act on the load position error in the presence of the uncertainties. Eventually, we validate the results through an extensive set of numerical tests in a realistic simulation environment including underactuated aerial vehicles and sagging-prone cables, and through hardware experiments. Copyright © 2023, The Authors. All rights reserved.

关键词： Cables

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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 intell...

引用

International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Luige Vladareanu Mihaiela Iliescu Hongbo Wang Feng Yongfei Victor Vladareanu Hongnian Yu Florentin Smarandache Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy Bucharest Romania Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Faculty of Electronics II University Politehnica of Bucharest Romania School of Design Engineering and Computing Bournemouth University Poole Dorset UK Department of Mathematics University of New Mexico USA

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.

关键词： Cancer Neoplasms Solid modeling Data models Bioinformatics Genomics Real-time systems

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Adaptive and Repetitive Controller for Robotic Manipulators with Slowly Updating Scheme Using B-Spline Shape Function

Adaptive and Repetitive Controller for Robotic Manipulators ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Pannatee Rakprayoon Peerayot Sanposh Nattapon Chayopitak Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Industrial Control and Automation Laboratory National Electronics and Computer Technology Center

ISBN: (纸本)9781457721366

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits.

关键词： shape functions Repetitive controllers Self tuning splines (mathematics) Scheme Robot Manipulator adaptive capacity memory requirements Control Architecture Manipulators Unknown parameter Linear Combination

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Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks

arXiv

引用

arXiv 2024年

作者： Shokry, Ahmed Gomaa, Walid Zaenker, Tobias Dawood, Murad Maged, Shady A. Awad, Mohammed I. Bennewitz, Maren Humanoid Robots Lab University of Bonn the Center for Robotics Bonn Germany Lamarr Institute for Machine Learning and Artificial Intelligence Bonn Germany Cyber Physical Systems Lab Egypt Japan University of Science and Technology Alexandria Egypt Faculty of Engineering Alexandria University Alexandria Egypt Mechatronics Department Ain Shams University Cairo Egypt

Peg-in-hole assembly in unknown environments is a challenging task due to onboard sensor errors, which result in uncertainty and variations in task parameters such as the hole position and orientation. Meta Reinforcement Learning (Meta RL) has been proposed to mitigate this problem as it learns how to quickly adapt to new tasks with different parameters. However, previous approaches either depend on a sample-inefficient procedure or human demonstrations to perform the task in the real world. Our work modifies the data used by the Meta RL agent and uses simple features that can be easily measured in the real world even with an uncalibrated camera. We further adapt the Meta RL agent to use data from a force/torque sensor, instead of the camera, to perform the assembly, using a small amount of training data. Finally, we propose a fine-tuning method that consistently and safely adapts to out-of-distribution tasks with parameters that differ by a factor of 10 from the training tasks. Our results demonstrate that the proposed data modification significantly enhances the training and adaptation efficiency and enables the agent to achieve 100% success in tasks with different hole positions and orientations. Experiments on a real robot confirm that both camera- and force/torque sensor-equipped agents achieve 100% success in tasks with unknown hole positions, matching their simulation performance and validating the approach’s robustness and applicability. Compared to the previous work with sample-inefficient adaptation, our proposed methods are 10 times more sample-efficient in the real-world tasks. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Possibilities for the Use of Heliothermal Plants for the Generation of Green Hydrogen via Desalinated Water

Possibilities for the Use of Heliothermal Plants for the Gen...

引用

International Conference on Science Technology engineering and Management (ICONSTEM)

作者： S.P. Kanniyappan Asmita Marathe B Kiran Kumar Sanjeev Kumar T. Sathish Joshuva Arockia Dhanraj Department of Civil Engineering R.M.K. Engineering College Kavaraipettai Tamil Nadu India Centre for Energy Studies School of Technology Savitribai Phule Pune University Pune Maharashtra India Department of Mechanical Engineering KoneruLakshmaiah Education Foundation Vaddeswaram Andhra Pradesh India Department of Civil Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India Department of Mechanical Engineering Saveetha School of Engineering SIMATS Chennai Tamil Nadu India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai Tamil Nadu India

ISBN: (数字)9798350365092

ISBN: (纸本)9798350365108

These days, the substance business utilizes hydrogen (H 2 ) principally to create methanol and smelling salts. However, hydrogen is expected to rapidly secure itself as a significant fuel that will fundamentally work on the nature of the climate. This study looks at the viability of involving sun powered energy in a one of a kind plan intended to deliver desalinated water and hydrogen at the same time while using illustrative box sun based gatherers (essential mover) in three sun oriented radiation draws near: low radiation, high light, and no radiation. This framework, expected for beach front districts, produces water that has been desalinated utilizing humidification and dehumidification procedures utilizing the waste intensity from the natural Rankine cycle that delivers the power. Hydrogen is produced using a low-temperature electrolyser powered by electricity and water, known as a proton exchange film electrolyser. The formation of hydrogen utilizing power and desalinated water acquired from before stages is one of the framework's principles. A parametric exploration in view of the impact of critical variables on creation rates and different efficiencies has been done fully intent on assessing the proficiency of this arrangement.

关键词： Water Storage management Water heating Solar energy Green hydrogen Waste heat Sun

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Editorial

引用

The International Journal of robotics Research 2012年第13期31卷 1529 - 1530页

作者： Sami Haddadin Paolo Robuffo Giordano Angelika Peer Robotics and Mechatronics Center German Aerospace Center (DLR) Münchner Straße 20 81377 Wessling Germany Max Planck Institute for Biological Cybernetics Dept. Bülthoff Spemannstraße 38 72076 Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Theresienstraße 90 80333 München Germany

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On the role of multimodal communication in telesurgery systems

On the role of multimodal communication in telesurgery syste...

引用

IEEE Workshop on Multimedia Signal Processing

作者： Robert Bauernschmitt Eva U. Braun Martin Buss Florian Frohlich Sandra Hirche Gerhard Hirzinger Julius Kammerl Alois Knoll Rainer Konietschke Bernhard Kubler Rudiger Lange Hermann Mayer Markus Rank Gerhard Schillhuber Christoph Staub Eckehard Steinbach Andreas Tobergte Heinz Ulbrich Iason Vittorias Chen Zhao Clinic of Cardiovascular Surgery German Heart Center Munich Munich Germany Institute of Automatic Control Engineering Technische Universität München Munich Germany German Aerospace Center Institute of Robotics and Mechatronics Oberpfaffenhofen Germany Institute of Media Technology Technische Universität München Munich Germany Institute of Robotics and Embedded Systems Technische Universität München Munich Germany Institute of Applied Mechanics Technische Universität München Munich Germany

Telesurgery systems integrate multimodal communication and robotic technologies to enable surgical procedures to be performed from remote locations. They allow human surgeons to intuitively control laparoscopic instruments and to navigate within the human body. In this paper, we present selected topics on multimodal interaction in the context of telesurgery applications. These are results from the collaborative research project SFB 453 on ldquoHigh-Fidelity Telepresence and Teleactionrdquo which is funded by the German Research Foundation in the larger Munich area. The focus in this paper is on multimodal information processing and communication including simulation of surgical targets in the human body. Furthermore, we present an overview of our advanced multimodal telesurgery demonstrators that provide a comprehensive platform for our collaborative telepresence research.

关键词： Surgery Humans Collaboration Robots Communications technology Communication system control Laparoscopes Instruments Navigation Context

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Twisted String Actuator Mechanism with Adjustable Offset of Strings for Continuous Variable Transmission System

SSRN

引用

SSRN 2024年

作者： Shin, Dongcheol Kang, Brian Byunghyun Kim, Wansoo Department of Interdisciplinary Robot Engineering Systems Hanyang University 55 Hanyangdaehak-ro Sangnok-gu Gyeonggi-do Ansan15588 Korea Republic of Department of Intelligent Mechatronics Engineering Sejong University 209 Neungdong-ro Gwangjin-gu Seoul05006 Korea Republic of Robotics Department Hanyang University ERICA 55 Hanyangdaehak-ro Sangnok-gu Gyeonggi-do Ansan15588 Korea Republic of

This paper presents a novel TSA mechanism with an adjustable offset between strings, which enables a variable transmission system. TSA is designed to be used in a variety of applications, including exoskeletons, and robotics. The fixed contraction range of TSAs limits their ability to provide comprehensive support. The proposed mechanism overcomes this limitation by adjusting the offset between strings. The mechanism consists of six parts with two motors. Each motor in the mechanism operates to adjust offset with only one motor and operates simultaneously to twist the strings. This enables the contraction range of TSA to be varied over a wide range. Furthermore, an analytical model is also introduced for controlling the contraction range of TSA. In the experiment, the proposed mechanism shows the contraction range of TSA to be increased by up to 17%. Additionally, it showed that it is possible to vary the maximum force of TSA by up to 42%. Moreover, the analytical model has a low error. These findings suggest the promising potential for the developed TSA mechanism in a variety of applications. © 2024, The Authors. All rights reserved.

关键词： Actuators

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Towards Hand Grip Force Assessment by Using Emg Estimators

SSRN

引用

SSRN 2022年

作者： Barański, Robert Wojnicz, Wiktoria Zagrodny, Bartlomiej Ludwicki, Michal Sobierajska-Rek, Agnieszka AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics 30 Mickiewicza Avenue Kraków30-059 Poland Gdansk University of Technology Faculty of Mechanical Engineering and Ship Technology Gdańsk Poland Lódź University of Technology Faculty of Mechanical Engineering Department of Automation Biomechanics and Mechatronics Lódź Poland Medical University of Gdańsk Faculty of Health Sciences Institute of Maritime and Tropical Medicine Gdańsk Poland

The purpose of the study was to design a method that can be used to set personal statistical relationships between isometric grip force and surface electromyography data measured on the chosen muscles involved in grip force production. The proposed method was tested by assessing dispersity (coefficients of variation) and coefficients of determination treated as metrics of the fitted relationship between the electromyography estimator and grip force. EMG estimators were assessed by using ten signal processing approaches. Relationships between grip isometric force and EMG estimators were set by using five regression fittings. Moreover, dispersity analysis was applied to assess the dispersity of tested EMG estimators and grip forces. On the base of obtained results it was defined the variation coefficients of EMG estimators with the lowest dispersity and the best regression curve between tested electromyography estimator and grip force. © 2022, The Authors. All rights reserved.

关键词： Signal processing

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