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

作者： Carrington Chun Uday Patel M. Hassan Tanveer Tom Swift Kevin Dallesasse Sumit Chakravarty Department of Robotics and Mechatronics Engineering Kennesaw State Univeristy Marietta Cobb Department of Electrical and Computer Engineering Kennesaw State Univeristy Marietta GA

This paper introduces a novel modular design paradigm for Scientific CanSats, offering a cost-effective platform for testing space-related hardware in near-space environments with reduced developmental timelines. By harnessing Commercial Off The Shelf (COTS) products alongside open-source technologies, this framework emphasizes quick integration of diverse scientific instruments and control systems. The core architectural elements comprise: (1) a unified power and communication bus, (2) standardized mechanical attachments and interfaces, and (3) distributed computing and data management. To validate the effectiveness and adaptability of this design, undergraduate students were engaged to design modules adhering to the established standards. This approach facilitated the creation of an adaptable ecosystem of Command and Sensor Modules, enabling swift assembly and reconfiguration of CanSats with diverse scientific potentials. Remarkably, students transitioned from conceptual design to tangible modules within a semester, while CanSat assembly and reconfiguration from existing modules took five and four minutes respectively.

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The Role of Compaction Roller in Defining the Layup Quality and Laminate Porosity in Robotic Fiber Placement 24

The Role of Compaction Roller in Defining the Layup Quality ...

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24th International Conference on mechatronics Technology, ICMT 2021

作者： Ammar, Mohamed M.A. Shirinzadeh, Bijan Monash University Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering ClaytonVIC3800 Australia

ISBN: (纸本)9781665424592

The automated fiber placement has been commonly used to fabricate composite structures with high performance. However, the automated manufacturing process is limited by the developed defects in the final composite components. The current study focuses on the effect of the compaction roller's configurations and stiffness on the manufactured thermoset com-posites. The robotic fiber placement process is applied to fabricate different composite specimens. Several unidirectional and multi-axes specimens have been manufactured using 4 different rollers. The attitude of the compaction roller is also adjusted to be normal and to ensure uniform distribution of the compaction pressure. The surface quality of the manufactured components has been evaluated through image processing and detecting the layup defects. The scanning electron microscopy is used to estimate the change in the material porosity. The samples manufactured using a compliant and perforated roller included defects such as blisters, wrinkles, overlaps, and distortions. Additionally, the material porosity has been significantly improved when using the solid steel roller. © 2021 IEEE.

关键词： Porosity

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Direct Biologically-Inspired Sliding-Mode Control of a Rotorcraft System 32

Direct Biologically-Inspired Sliding-Mode Control of a Rotor...

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32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Alvarez-Munoz, J.U. Escareno, J. Garcia Carrillo, L.R. Scola, I. Rubio Labbani-Igbida, O. Institut Polytechnique de Sciences Avancées Ivry-sur-Seine94200 France XLIM Research Institute UMR-CNRS University of Limoges Robotics and Mechatronics Department 87060 France Klipsch School of Electrical and Computer Engineering New Mexico State University Las CrucesNM88003 United States INTI CONICET and UNR Department of Industrial Products Engineering Rosario Argentina

ISBN: (纸本)9798350395440

In the context of nonlinearity and uncertainty in the control systems, this work presents a novel control strategy based on a biologically-inspired learning robust controller for the attitude stabilization of a Vertical-Take-Off and Landing (VTOL) rotorcraft. Initially, the attitude's VTOL model based on quaternion formalism is detailed to subsequently develop the corresponding control law. Such controller consists of a Brain Emotional Learning-Based Intelligent Control (BELBIC) mechanism, combined with a Super-Twisting Sliding-Mode Control (STSMC) law. By using this architecture, the nonlinear sliding-mode equivalent control term is estimated via the BELBIC model, which allows the controller not to be fully dependent on the system model. Furthermore, closed loop stability is verified through Lyapunov's theory. Finally, for validation and assessment purposes of the overall control strategy, an extensive numerical simulation stage is conducted. © 2024 IEEE.

关键词： Sliding mode control

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Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation

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IFAC-PapersOnLine 2023年第2期56卷 11639-11644页

作者： Gianluca D'Antuono Kristin Y. Pettersen Luca R. Buonocore Jan Tommy Gravdahl Mario Di Castro Department of Engineering Cybernetics Norwegian University of Science and Technology (NTNU) Trondheim Norway Mechatronics Robotics & Operation Section European Organization for Nuclear Research (CERN) Meyrin Switzerland

Dynamic models are necessary when dealing with robotic applications where requirements of dexterity, manipulability, payload and compliance have to be satisfied at the same time. This work considers a particular design of tendon-actuated snake-like robots in which links are not coupled through mechanical joints but are free to roll between each other under the effect of cable tension forces. The state of the art in modeling these tendon-actuated rolling-joints systems is limited to kinematic and quasi-static models. In order to simultaneously guarantee modeling accuracy and suitability for model-based control, the Newton-Euler (NE) formulation has been adopted, by taking into account the forces and moments generated by cable tensions, links interactions, inertias, and friction between the rolling surfaces.

关键词： Modeling dynamic model tendon-actuated robots snake robots rolling-joints

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Design and Analysis of Knee Joint for Transfemoral Amputees

Design and Analysis of Knee Joint for Transfemoral Amputees

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2021 International Conference on Artificial Intelligence and mechatronics Systems, AIMS 2021

作者： Qadir, Muhammad Usman Khan, Muhammad Awais Hussain, Muzammal Ul Haq, Izhar Akhtar, Nizar Shah, Kmaran Advanced Robotics Automation Lab University of Engineering Technology Dept. of Mechatronics Engineering Peshawar Pakistan University of Engineering Technology Dept. of Mechatronics Engineering Peshawar Pakistan International Committee of Red Cross Sanaa Yemen

ISBN: (纸本)9781665424820

Lower limb amputation not only reduces mobility but also results in significant impairment in quality of life. Microprocessor based transfemoral knee joints have gained significant importance in the last decade to not only restore cosmetics but also provide functionality comparable to real limb. One of the key issues in such devices is selection of the suitable material for manufacturing of knee joint to minimize chances of failure under various loading conditions, while at the same time ensuring the weight of the knee is within acceptable limits. The purpose of this research is to design a microprocessor-based knee joint and perform various static structural analysis for different materials to optimize strength to weight ratio of the proposed design. Initially, a model for the proposed microprocessor-based knee was developed in SolidWorks followed by displacement study and computation of von-mises stresses in Ansys Workbench. Different materials used in the analysis include Plain Carbon Steel, Stainless Steel 304, Aluminum 6061. Based on the results Aluminum 6061 was identified as a suitable material for manufacturing knee joint as it not only reduces weight of the knee joint but also the deformation and stress values are within acceptable limits. The minimum and maximum Von Mises stress of Aluminum 6061 was 559.9 Pa and 71.37 MPa respectively with tensile strength of 313 MPa. © 2021 IEEE.

关键词： Manufacture

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Fuzzy Open Loop Speed Control of DC Motor Using Armature and Field Impedances

Fuzzy Open Loop Speed Control of DC Motor Using Armature and...

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IEEE Long Island Systems, Applications and Technology Conference (LISAT)

作者： M. A. Salam Ahmed ElSayed Navarun Gupta Uma Boda Shafiqul Islam Sanjib Das Electrical Engineering School of Engineering University of Bridgeport Bridgeport Connecticut USA Mechatronics & Robotics Xavier University New Orleans Louisiana USA Maitainance Excelence Moderna Norwood Massachusetts USA

ISBN: (数字)9798331506667

ISBN: (纸本)9798331506674

DC motors are used in a wide variety of applications. These applications include car seats, wipers, windshields, doors, power tools, etc. Although permanent magnet DC motors are mostly common types, the separately exited DC motors have more utilization in industrial applications, especially for speed control. In this paper, different variable impedance techniques are utilized to control the speed of the DC motors using open-loop control techniques. Furthermore, a fuzzy logic-based controller is used to automatically generate the required armature and field impedances required for the desired motor speed.

关键词： Fuzzy logic Resistance Velocity control DC motors Permanent magnets Impedance Automobiles Automotive components

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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Design and Development of an Anthropomorphic Robotic Hand Using TPU Material 2

Design and Development of an Anthropomorphic Robotic Hand Us...

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2nd International Conference on Innovation in engineering and Technology, ICIET 2019

作者： Nihal, Ragib Amin Broti, Nawara Mahmood Deowan, Shamim Ahmed Rahman, Sejuti University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh

ISBN: (纸本)9781728163093

The paper presented here approaches to solve the complexity of an anthropomorphic robotic hand. robotics is now the most advancing field and there has always been an intention of mimicking human-like actuation and behavior. An anthropomorphic hand is one of the approaches to imitate human-like operations. In this paper, the idea of developing an anthropomorphic hand with 15 degrees of freedom and 5 actuators has been elaborated as well as the mechanical design, control system, composition, and peculiarities of the robotic hand have been discussed. The hand has an anthropomorphic appearance and also can perform human-like functionalities, for example, gripping and hand gestures representation. The results reveal that the hand is designed as one part and does not need any kind of assembly and it exhibits an excellent weight lifting capacity, since it is made of flexible thermoplastic polyurethane (TPU) material, and its elasticity also ensures that the hand is safe for interacting with humans as well. This hand may be used in a humanoid robot as well as a prosthetic hand. The limited number of actuators makes the control simpler and the hand lighter. © 2019 IEEE.

关键词： 3D printers

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Robust Cryptosystem Identification Under Various Operation Modes Using Deep Recurrent Neural Networks

Robust Cryptosystem Identification Under Various Operation M...

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Electronic Communications, Internet of Things and Big Data (ICEIB), International Conference on

作者： Ongee Jeong Antoinette Deborah Martin Ezat Ahamadzadeh Inkyu Moon Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science & Technology (DGIST) Daegu Republic of Korea Keimyung University Dongsan Hospital Daegu Republic of Korea

ISBN: (数字)9798350360721

ISBN: (纸本)9798350360738

In the Ciphertext Only Attack (COA), an attacker can access and use only ciphertexts, identifying the type of cryptosystem is critical for further attack. The attacker can analyze patterns in the ciphertexts that have different forms according to the cryptosystem and recognize the type of cryptosystem. We propose deep learning-based cryptosystem identification by investigating eight cryptosystems, DES, S-DES, AES, S-AES, Blowfish, RC2, SPECK, and RSA. The Recurrent Neural Network (RNN)-based deep learning model with Long Short-Term Memory (LSTM) and Gated Recurrent Unit (GRU) is utilized to identify cryptosystems. The proposed method is used to classify ciphertext in each operation mode such as CBC, CFB, OFB, and CTR, into the corresponding cipher system. The performance of the proposed method was evaluated with recall, precision, classification accuracy, and F1 score. To verify effectiveness and superiority, we compared the proposed method with different machine learning-based and deep learning-based classifiers such as Support Vector Machine (SVM), K-Nearest Neighbor (KNN), and BERT, a Large Language Model (LLM). Moreover, the previous methods in cryptosystem identification were also compared with the proposed method, and the results showed that eight cryptosystems were successfully recognized under various operation modes. The proposed method outperformed the other machine learning-based, and its deep learning-based classifiers were superior in cryptosystem identification. Furthermore, the proposed method showed a classification accuracy of 97.3 and 96.2 % in CBC and CFB, respectively, while the highest accuracy in the previous methods was 20% in CBC and 85.5% in CFB.

关键词： Support vector machines Deep learning Accuracy Recurrent neural networks Large language models Nearest neighbor methods Logic gates

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Cloud-Integrated Navigation System for Scalable Autonomous Ground Robots

Cloud-Integrated Navigation System for Scalable Autonomous G...

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International Conference on mechatronics and Machine Vision in Practice (M2VIP)

作者： Ulan Sharipov Sultan Kasenov Muslim Alaran Almira Askhatova Yessimkhan Orynbay Prashant Jamwal Elect. and Comp Engineering Nazarbayev University Astana Kazakhstan Computer Science Nazarbayev University Astana Kazakhstan Robotics and Mechatronics Nazarbayev University Astana Kazakhstan

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

In the rapidly evolving domain of mobile robots, ensuring both efficient and scalable navigation is of the greatest importance. To effectively address the challenges of real-time navigation this paper presents an innovative approach that includes the synergistic integration of cloud computing and navigation algorithms within a complex framework. The methodology presented in this paper integrates the Dynamic Window Approach (DWA) for real-time obstacle avoidance and the A* algorithm for global planning in indoor environments. The proposed system in conjunction with cloud computing is capable of processing and analyzing vast amounts of environmental data, providing robust and scalable navigation capabilities. Our solution ensures that autonomous delivery robots can navigate complex, dynamic, and socially dense urban environments with unprecedented efficiency and safety.

关键词： Cloud computing Navigation Heuristic algorithms Urban areas Wheels Motors Real-time systems Planning Mobile robots Autonomous robots

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