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检索条件"机构=Mechatronics and Robotics Engineering"

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mechatronics Fundamentals and Locomotion Analysis of Hybrid Mobile Robot: Rocker-Bogie Wheeled System and SCARA Manipulator

Mechatronics Fundamentals and Locomotion Analysis of Hybrid ...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Juan Alva Renzo Meza Ricardo Palomares Jose Cornejo School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru Universidad Tecnologica el Peru Lima Peru

ISBN: (数字)9798350354423

ISBN: (纸本)9798350354430

Plastic on beaches and seas is a problem that affects the entire planet; more than 300 million metric tons of plastic are produced per year, in contrast to the 1.5 million metric tons recorded in 1950. In a world where the annual production of plastic is measured in hundreds of millions of tons, it is essential to critically address the collateral effects of this material on our environment, intending to propose innovative and sustainable solutions to mitigate its negative consequences. This study aims to solve the health problem caused by plastic bottles on beaches. The proposed collector robot aims to be a solution dedicated to cleaning stone beaches by having the capacity to collect plastic bottles from 0.5 to 2 liters. The collector robot comprises a ROVER-type mobile robot, and a SCARA-type manipulator robot with 3 degrees of freedom. The movement analysis of the ROVER mobile robot and the SCARA manipulator robot was carried out, generating rectangular and circular trajectories using Matlab's Simulink. A virtual environment was recreated, using CoppeliaSim software to guarantee correct operation through mobility and operation tests, achieving optimal results.

关键词： Legged locomotion Sea surface Software packages Virtual environments Manipulators Surface roughness Finite element analysis Trajectory Plastics Plastic products

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Mimicking Muscle Relaxation Through 3D Print Materials & Magnetic Systems

Mimicking Muscle Relaxation Through 3D Print Materials & Mag...

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International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Santana Roberts Razvan Cristian Voicu Amir Ali Amiri Moghadam Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

ISBN: (纸本)9781665461986

The purpose of this study is to examine the inter-action of a magnetic system with that of an elastic 3D print design to replicate a muscle in contraction expanding back to its original relaxed state. An electromagnetic system uses a design made of soft material to maintain a compression length when an electric current is applied. When the current is removed, the system expands back to its original length due to the geometry and elastic properties of the material. Preliminary experiments on differing magnets help establish a separation distance between the magnets within the design. Mathematical models then further detailed the design using the cross-sectional area, length, and angle between supports to estimate deflection. This design was then tested using nonlinear simulations to displace the component at a distance equivalent to the estimated distance given from the calculations. The reaction force was then compared to the force in the calculations to estimate the percent difference. Once decent results were obtained, a model was 3D printed and tested to verify the findings. The secondary goals of this endeavor are to utilize common materials, reduce the complexity of production, and limit the number of components within the system to reduce failure points along with an estimated lower cost for the overall apparatus.

关键词： Geometry Solid modeling Three-dimensional displays Costs Magnetic separation Magnetoelasticity Force

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Inpatient Monitoring System: Temperature, Oxygen Saturation, Blood Pressure, Heart Rate, and Infusion Automation Based on ESP 32, IoT, and Mobile Application

Inpatient Monitoring System: Temperature, Oxygen Saturation,...

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International Conference of Computer and Informatics engineering (IC2IE)

作者： Irvanda Joseph Patrick Anthony Winda Astuti Zener Sukra Lie Mahmud Iwan Solihin Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Department of Mechanical & Mechatronics Engineering UCSI University Kuala Lumpur Malaysia

ISBN: (数字)9798331505530

ISBN: (纸本)9798331505547

The implementation of a patient monitoring system and infusion automation which aims to ensure regular and periodic monitoring of inpatient conditions are applied in this system. This embedded system is applied in hospitals and addresses the uneven distribution of healthcare workers in Indonesia, particularly in remote areas. Currently, manual checks by nurses can lead to errors and reduced patient comfort. The improvement supervision is developed in this work. The system monitored body temperature, oxygen saturation, blood pressure, heart rate, and automated infusions. All the embedded systems are connected to Internet of Things (IoT) and a real-time database accessible through an application and web. This system allows doctors and hospital authorities to make decisions based on patient condition history. The testing phase of the system shows four data acquisition devices (temperature, oxygen saturation, blood pressure, and heart rate), an ESP 32, and Firebase as a database, have ability to capture and send real-time data every five seconds and can be accessed by doctors, patients, and hospital authorities.

关键词： Heart rate Temperature sensors Temperature measurement Automation Hospitals Databases Blood pressure Real-time systems Biomedical monitoring Testing

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The Impact of Complex Periodic Structures on the Acoustic Performance of Architectural Materials: An Interdisciplinary Approach 1

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3rd International Conference on Innovation in engineering, ICIE 2024

作者： Benchea, Marcelin Bujoreanu, Carmen Şerbănoiu, Bogdan Chiriac, Elena Adelina Ianuş, Gelu Mechanical Engineering Faculty Mechatronics and Robotics Department "Gheorghe Asachi" Technical University of Iaşi 43 Prof. Dr. Doc. D. Mangeron Iaşi700050 Romania Architecture Faculty "Gheorghe Asachi" Technical University of Iaşi Iaşi Romania

ISBN: (数字)9783031626845

ISBN: (纸本)9783031626838

This study explores the use of minimal surfaces in enhancing the acoustic properties of architectural structures. It specifically focuses on analyzing the sound scattering coefficient to understand how these surfaces can improve the overall acoustic environment in buildings. The paper delves into the examination of complex periodic structures, which are noted for their geometric efficiency and aesthetic value, and assesses their capabilities in reducing unwanted sound reflections and enhancing sound quality in architectural spaces. The core of this research lies in evaluating the effectiveness of minimal surfaces in addressing acoustic challenges. To achieve this, experimental measurements were conducted to analyze the sound scattering properties of minimal surfaces and their subsequent impact on the acoustic environment. These measurements adhere to the ISO 10534-1:1998 and ISO 17497-1:2004 standards, which outline the methodologies for experimental procedures in determining sound absorption and scattering characteristics. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Acoustic properties

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Static Characteristics of Zero-Current-Switching Quasi-Resonant Boost Converter under Variation of Resonant Circuit and Load Parameters 8

Static Characteristics of Zero-Current-Switching Quasi-Reson...

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8th IEEE International Conference on Energy Smart Systems, ESS 2022

作者： Dymerets, Andrii V. Gorodny, Alexey N. Yershov, Roman D. Revko, Anatoliy S. Stepenko, Serhii A. Chernihiv Polytechnic National University Electronics Automation Robotics and Mechatronics Department Chernihiv Ukraine Chernihiv Polytechnic National University Electrical Engineering Information and Measurement Technologies Department Chernihiv Ukraine

ISBN: (数字)9798350334418

ISBN: (纸本)9798350399202

The impact of resonant circuit parameters on static characteristics of a half-wave boost quasi-resonant converter is investigated. The dependences of the converter voltage maximum conversion ratio under variation of resonant circuit time constant and characteristic impedance with different load impedance values are obtained by dint of multi-factor numeric simulation. The dependences of the ratio between the transistor current peak value and input current rms value under variation of resonant circuit time constant and characteristic impedance with different load impedance values are also obtained. Approximated laws described above dependencies are fitted. Results allow determining the allowable values for resonant inductance and capacitance, as well as the load impedance to keep within a zero-current-switching mode. © 2022 IEEE.

关键词： Resonant circuits

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Gain Scheduling Position Control for Fully-Actuated Morphing Multi-Rotor UAVs

Gain Scheduling Position Control for Fully-Actuated Morphing...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Youssef Aboudorra Aaron Saini Antonio Franchi Robotics and Mechatronics Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This work presents techniques for scheduling the position controller gains for a class of fully-actuated morphing multi-rotor UAVs that use synchronized tilting to change their actuation capabilities. The feasible set of forces and torques that can be produced by the platform changes with the tilting angle, thus the tracking and disturbance rejection capabilities also change. To exploit the platform limits, two methods are proposed for gain scheduling using a simplified example, then one method is tested in simulation with an omnidirectional morphing multi-rotor (OmniMorph). The simulation results show that the developed techniques achieve consistent position tracking performance along the range of tilting angles when rejecting step disturbance forces of values close to the maximum force capabilities. The proposed methods offer a trade-off between simplicity and accuracy, that could be potentially applied for any multi-rotor with synchronized tilting capabilities. A video summary can be found in: https://***/kH-rrO8gWeU

关键词： Accuracy Processor scheduling Attitude control Simulation Force Rotors Position control

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Terminal Sliding Modes-Based PLLs for Three-Phase Grid-Connected Inverters 49

Terminal Sliding Modes-Based PLLs for Three-Phase Grid-Conne...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Hosseinabadi, Pooyan Alinaghi Kermadi, Mostefa Pota, Hemanshu Mekhilef, Saad Abadi, Ali Soltani Sharif The School of Engineering and Information Technology The University of New South Wales CanberraACT Australia Kuala Lumpur Malaysia The School of Science Computing and Engineering Technologies Swinburne University of Technology HawthornVIC3122 Australia Institute of Automatic Control and Robotics Warsaw University of Technology Faculty of Mechatronics Warsaw Poland

ISBN: (纸本)9798350331820

This paper proposes and experimentally implements new phase-locked loop algorithms using non-adaptive and adaptive terminal sliding modes for the three-phase grid-connected inverters. The proposed algorithms aim to extract the grid voltage phase and frequency and provide them for the inverter controller. The proposed sliding mode-based PLL algorithms provide faster, more robust, and more accurate detection of the grid voltage information compared to the conventional PI-PLL. This leads to better current controller performance and subsequently, improves the quality of the injected currents into the grid. The finite-time stability notion is incorporated with robust sliding modes to ensure a fast convergence rate. An adaptive law is proposed to determine a proper value for the switching gain which leads to a better overall performance of the PLL compared with a non-adaptive one. The Lyapunov stability theory is used to obtain the stability proofs of the closed-loop systems under both designed sliding modes-based PLLs. The proposed PLL algorithms are validated by simulation and experimental results for the three-phase grid-connected inverter under normal and various abnormal grid conditions. © 2023 IEEE.

关键词： Phase locked loops

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Design and Development of IoT Based Weather and Air Quality Monitoring Station

Design and Development of IoT Based Weather and Air Quality ...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Haris Bilal Ubaid Uzma Bibi Ameer Said Syed Najm us Saqib Shahbaz Khan Muhammad Tufail Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Institute of Manufacturing Engineering Management University of Engineering and Applied Sciences Swat Swat Pakistan

This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototype is made up of an outdoor unit that consistently monitors numerous climatic variables such as temperature, humidity, barometric pressure, wind speed, wind direction, rainfall, and air quality using sensors with high accuracy. The air quality index(AQI) is also calculated using the sensors values which tell us whether the atmosphere is safe or polluted. ESP32(Microcontroller) which has a WiFi module is used to gather and send the sensor data through the Internet of things (IoT) to a ThingSpeak channel (IoT cloud), an internet platform where the data is saved, analyzed and read the data remotely. The weather station makes use of photovoltaic power and a rechargeable lead-acid battery to sustain the system. This paper also discusses the obvious strengths and shortcomings of the system and suggests plausible upgrades to assist the system in obtaining higher and long-term performance.

关键词： Temperature sensors Cloud computing Wind speed Transportation Air quality Sensors Internet of Things

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Robust Control of a DC Motor and Load Using Quantitative Feedback Theory

Robust Control of a DC Motor and Load Using Quantitative Fee...

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International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Amir Ali Amiri Moghadam Razvan Cristian Voicu Kishan Patel Ying Wang Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

ISBN: (纸本)9781665461986

This paper reports on robust position control of a DC motor and gear system attached to a mechanical load. The dynamics of the system will be identified using the sine wave inputs and least square method. It has been found out that a single linear time invariant (LTI) model cannot perfectly predicts the behavior of the system for a range of different frequencies. So, we are using a family of LTI systems instead with parameter uncertainty. Next a robust controller will be designed using Quantitative Feedback Theory (QFT) to provide consistent robust performance for the system. The performance of the QFT controller will be validated through both simulations and experimental data and will be compared with a PID controller. It has been shown that the QFT controller has a superior performance over the PID controller in terms of tracking error.

关键词： Linear systems Uncertain systems Time-frequency analysis Smart cities Predictive models DC motors Data models

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High-Precision 3-DOF Compliant Positioning Stage for Large Range Micro-Manipulation Applications

High-Precision 3-DOF Compliant Positioning Stage for Large R...

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IEEE International Conference of Intelligent Robotic and Control engineering (IRCE)

作者： Ashenafi Abrham Kassa Bijan Shirinzadeh Julian Smith Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory (RMRL) Monash University Melbourne Australia Department of Surgery Monash University Melbourne Australia

ISBN: (数字)9798350352399

ISBN: (纸本)9798350352405

This paper introduces a novel high-precision compliant mechanism-based 3-degree-of-freedom (3-DOF) positioning stage with a large range and planar layout. The design incorporates a cartwheel revolute flexure and compound basic parallelogram (CBP) prismatic flexure modules arranged in series to establish a PPR-kinematic chain. Three such kinematic chains are symmetrically arranged at 120° to each other around the output platform. This design ensures large deformation and high dynamic performance while minimizing cross-coupling and parasitic motion. The compliance matrix method (CMM) is utilized to establish the stiffness model of the designed mechanism. Computational analysis is performed to validate the developed analytical model. Moreover, the reachable workspace, inverse kinematics, and dynamic performance of the proposed stage are investigated. A workspace of 4.6 mm × 5.1 mm × 83 mrad is achieved while maintaining a high natural frequency of 58 Hz. From the analysis, the proposed stage can be adopted in micro-manipulation applications that require high-precision motion over an extended range.

关键词： Transmission line matrix methods Symmetric matrices 3-DOF Dynamics Layout Kinematics Fasteners Manufacturing Motion control Robots

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