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Intelligent Computing and robotics (ICICR), International Conference on

作者： Carrington Chun Tom Swift Mason Cox S M Tanvir Faysal Alam Chowdoury M. Hassan Tanveer David A. Guerra-Zubiaga Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta United States of America

ISBN: (数字)9798350372274

ISBN: (纸本)9798350372281

This research effort attempted to employ a low cost Kobuki mobile ground robot to generate low-fidelity planar simulations of potential trajectories for CanSats operating in lunar environments. Although this mobile robot was determined to lack the capability to simulate lunar accelerations, initial tests showed that simple planar trajectories could still be successfully programmed for the motion platform. By attaching the prototype CanSats to the top of the Autonomous Ground Vehicle (AGV), the CanSat could be driven along these preprogramed trajectories. Such motion profiles provided an adequate means for initial testing of prototype optical hardware for a lunar oriented CanSat lander. Notably, significant inconsistencies were observed in the internally computed heading for the AGV. In addition to the inaccurate localization, the lack of a closed loop control system further minimized the applicability of this study. However, due to the ubiquitousness of wheeled robotic ground vehicles and the ready availability of these devices from commercial sellers at an affordable cost, there are many possible avenues for future expansion of this work. Most significantly, as systems capable of simulating microgravity environments are often very costly and require special training to operate effectively, the proposed low-cost and low-fidelity approach could provide an interim testing solution for less technologically mature space-oriented research, such as CanSats.

关键词： Adaptation models Costs Robot kinematics Moon Prototypes Kinematics Land vehicles

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FaceEngine: A Tracking-Based Framework for Real-Time Face Recognition in Video Surveillance System

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SN Computer Science 2024年第5期5卷 1-20页

作者： Imran, Ahsan Ahmed, Riad Hasan, Md Mehedi Ahmed, M. Helal Uddin Azad, A.K.M. Alyami, Salem A. Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka 1000 Bangladesh Department of Computer Science and Engineering BRAC University Dhaka 1212 Bangladesh Department of Management Information Systems University of Dhaka Dhaka 1000 Bangladesh Department of Mathematics and Statistics College of Science Imam Mohammad Ibn Saud Islamic University (IMSIU) Riyadh 11432 Saudi Arabia

The escalating concern over worldwide security and criminal activities has led to the emergence and significance of closed-circuit television video surveillance systems as an essential tool for diverse security purposes. These systems are extensively implemented and serve a crucial function in the surveillance and upkeep of security. The predominant purpose of video surveillance systems is to gather data primarily for evidentiary purposes subsequent to the occurrence of a criminal incident. The demand for video surveillance systems capable of autonomously monitoring and promptly identifying criminals or intruders in real-time is steadily increasing. Nevertheless, the existing facial recognition methods pose difficulties in reliably identifying individuals who are in motion within a video frame. Moreover, conventional approaches necessitate a substantial quantity of photographs in order to achieve precise recognition following the acquisition of an individual’s facial pattern. In order to tackle these concerns, we developed the implementation of input optimisation algorithms alongside a novel framework for real-time face recognition in the context of video surveillance. The input optimization algorithms, integrated with adaptive thresholding techniques, effectively reduce the need for manual outlier removal by actively identifying outliers for each specific case. The application of this optimisation strategy has demonstrated a substantial enhancement in both the efficiency and precision of our system in comparison to alternative baseline methodologies. Through the use of a reduced set of input image, our system is capable of attaining a heightened degree of improvements. Specifically, employing tracking and temporal voting techniques enables our system to accomplish a real-time face recognition accuracy of 90.91%. The findings of this study suggest that our approach has the potential to be a valuable tool in various applications that necessitate rapid and precise fac

关键词： Computer vision Deep learning Face recognition Image processing Tracking Video surveillance

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Artificial Neural Networks for the Forward Kinematics of a SCARA Manipulator: A Comparative Study with Two Datasets

Artificial Neural Networks for the Forward Kinematics of a S...

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2024 ASU International Conference in Emerging Technologies for Sustainability and Intelligent Systems, ICETSIS 2024

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassène Tunis Borj Cedria1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India Le Belvédère Tunis1002 Tunisia

ISBN: (纸本)9798350372229

In the field of robotics and automation, the precise determination of manipulator positions is a fundamental aspect with widespread applications. Despite the significance of analytical methods, solving the Forward Kinematics (FK) for Selective Compliance Assembly Robot Arm (SCARA) manipulator robots can be complex and computationally intensive. Our research introduces a method to address the FK problem for the four degrees of freedom (4-DoF) SCARA manipulator through Artificial Neural Networks (ANNs). We utilize two different generated datasets, one with a fixed step size and another one based on a sinusoidal signal, for training the ANNs. This choice of datasets allows us to assess the ANN s' generalization capabilities across a range of operating conditions. Thereafter, the study is planned to investigate the ANN's performance while employing three distinct training algorithms: Levenberg-Marquardt (LM), Bayesian Regularization (BR), and Scaled Conjugate Gradient (SCG). Through a comprehensive comparison of the performance of different ANN models, different training algorithms, and the two adopted generated datasets, this study provides valuable insights into selecting the most optimal training configurations for the SCARA robot's FK solutions. We employ the Mean Squared Error (MSE) and the error histogram as two performance metrics to assess the accuracy of various ANNs. The results reveal that optimal MSE outcomes were obtained when utilizing a balanced architecture with three hidden layers in the analysis of the sinusoidal-signal-based datasets. © 2024 IEEE.

关键词： Artificial Neural Network Fixed-step- and sinusoidal-signal-based datasets Forward kinematics SCARA manipulator robot Training optimizers

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A Gaze-Speech System in Mixed Reality for Human-Robot Interaction

A Gaze-Speech System in Mixed Reality for Human-Robot Intera...

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IEEE International Conference on robotics and Automation (ICRA)

作者： John David Prieto Prada Myung Ho Lee Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea

Human-robot interaction (HRI) demands efficient time performance along the tasks. However, some interaction approaches may extend the time to complete such tasks. Thus, the time performance in HRI must be enhanced. This work presents an effective way to enhance the time performance in HRI tasks with a mixed reality (MR) method based on a gaze-speech system. In this paper, we design an MR world for pick-and-place tasks. The hardware system includes an MR headset, the Baxter robot, a table, and six cubes. In addition, the holographic MR scenario offers two modes of interaction: gesture mode (GM) and gaze-speech mode (GSM). The input actions during the GM and GSM methods are based on the pinch gesture and gaze with speech commands, respectively. The proposed GSM approach can improve the time performance in pick-and-place scenarios. The GSM system is 21.33 % faster than the traditional system, GM. Also, we evaluated the target- to-target time performance against a reference based on Fitts' law. Our findings show a promising method for time reduction in HRI tasks through MR environments.

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Data-driven System Decoupling Algorithm with Transfer Function Decoupling Matrix

Data-driven System Decoupling Algorithm with Transfer Functi...

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Annual Conference of Industrial Electronics Society

作者： Jegwon Yoon Taejune Kong Hanul Jung Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea

A Multi-Input-Multi-Output (MIMO) system has complex interactions between inputs and outputs, resulting in a coupling effect that can lead to undesired motions. To effectively control MIMO systems, decoupling is necessary. This paper introduces a decoupling method that uses a transformation matrix modeled as a transfer function using Frequency Response Function (FRF). Unlike the conventional decoupling method uses constant transformation matrix obtained through Canonical Polyadic Decomposition (CPD) and shows performance degradation in certain frequency bands, the proposed method creates transformation matrix as a transfer function and demonstrates better decoupling performance across the entire frequency band. The performance of the proposed method is validated through simulations on a hybrid dual-drive gantry stage.

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A Sensorless Speed Control of High-Speed BLDC Motor Using Variable Slope SMO

A Sensorless Speed Control of High-Speed BLDC Motor Using Va...

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作者： Ok, Sangjae Xu, Zhenyao Lee, Dong-Hee Department of Mechatronics Engineering Kyungsung University Busan48434 Korea Republic of State Key Laboratory of Robotics Shenyang Institute of Automation The Chinese Academy of Sciences Shenyang110016 China

Low-power and high-speed BLDC(Brushless DC) motor is widely used in vacuum cleaners. This paper presents a sensorless speed control scheme for a high-speed BLDC motor of a hand-stick vacuum cleaner using a variable slope sliding mode observer(SMO). The SMO using the signum function is very effective for the sensorless estimation of the BLDC motor. However, the chattering effect on the slide surface from the signum function decreases the sensorless performance in the wide speed range. The sigmoid function instead of the signum function can reduce the chattering effect. However, the convergence is inversely proportional to the reduced chattering effect. In order to reduce the chattering effect and keep the proper convergence performance, the proposed method uses a variable acceleration slope of the sigmoid function. In the low-speed range, the acceleration slope of SMO is decreased to reduce the chattering. And, it is increased to improve the convergence in the high-speed region. The acceleration slope of the sigmoid function is designed as a function of the estimated speed to keep the constant convergence with reduced chattering in the sensorless speed and position estimation. In order to verify the proposed sensorless control scheme, 115 krpm speed 540W BLDC motor for a vacuum cleaner is tested with various SMO methods. In the experimental results, the proposed method shows better sensorless speed control performance in the wide speed range. © 2023 IEEE.

关键词： Sensorless control

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Comparison of Object Detection Technique for Applications in ETAT Automation Training Set 7

Comparison of Object Detection Technique for Applications in...

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7th International Conference on Information Technology, InCIT 2023

作者： Kosiyanurak, Karin Singsri, Pongpat Seangsri, Soontaree Promput, Sommart Rajamangala University of Technology Tawan-ok School of Engineering and Innovation Department of Mechatronics and Robotics Engineering Chonburi Thailand Rajamangala University of Technology Tawan-ok Faculty of Science and Technology Department of Information and Communication Technology Chonburi Thailand

ISBN: (纸本)9798350358698

Object detection is a type of artificial intelligence (AI) that is currently being developed and used widely. It can classify and detect objects in images or videos. This research aims to investigate object detection that is suitable and accurate for detecting the color of the workpieces in the training set. This study will experiment comparison of three object detection models: 1. OpenCV Python code via the Thonny software. Using the BGR color separation principle, the range of color values must be specified so that the model can separate different colors. 2. V4-tiny and 3. V7-tiny are models that use model training principles in the CiRA-CORE Platform. In this study, 1,271 images of workpieces processed with the Augmentation Technique were utilized to train the model. and 240 images for testing the model. To analyze of find a suitable and accurate model for detecting the color of workpieces Because light is important in visual or object detection in real-time this study divided the experiment into two conditions: LED Lighting and without LED Lighting. The results showed that V7-tiny is an object detection model that can detect the color of the target in both lighting conditions. The V7-tiny model has an accuracy of 97.92%. © 2023 IEEE.

关键词： Object detection

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Imperceptive and reusable dermal surface EMG for lower extremity neuro-prosthetic control and clinical assessment

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npj Flexible Electronics 2023年第1期7卷 48-58页

作者： Jaeu Park Jinwoong Jeong Minseok Kang Nagwade Pritish Youngjun Cho Jeongdae Ha Junwoo Yea Kyung-In Jang Hyojin Kim Jumin Hwang Byungchae Kim Sungjoon Min Hoijun Kim Soonchul Kwon ChangSik John Pak HyunSuk Peter Suh Joon Pio Hong Sanghoon Lee Department of Robotics and Mechatronics Engineering DGISTDaegu 42899Republic of Korea Department of Plastic and Reconstructive Surgery Asan Medical CenterSeoul 05505Republic of Korea Hugo Dynamics HUGOHwaseong-siGyeonggi-do 18468Republic of Korea Department of Smart Convergence Kwangwoon UniversitySeoul 01897Republic of Korea

Surface electromyography(sEMG)sensors play a critical role in diagnosing muscle conditions and enabling prosthetic device control,especially for lower extremity robotic ***,challenges arise when utilizing such sensors on residual limbs within a silicon liner worn by amputees,where dynamic pressure,narrow space,and perspiration can negatively affect sensor *** commercial sEMG sensors and newly developed sensors are unsuitable due to size and thickness,or susceptible to damage in this *** this paper,our sEMG sensors are tailored for amputees wearing sockets,prioritizing breathability,durability,and reliable recording *** employing porous PDMS and Silbione substrates,our design achieves exceptional permeability and adhesive *** serpentine electrode pattern and design are optimized to improve stretchability,durability,and effective contact area,resulting in a higher signal-to-noise ratio(SNR)than conventional ***,our proposed sensors wirelessly enable to control of a robotic leg for amputees,demonstrating its practical feasibility and expecting to drive forward neuro-prosthetic control in the clinical research field near future.

关键词： durability utilizing exceptional

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Design and development an Agriculture robot for Seed sowing, Water spray and Fertigation 1

Design and development an Agriculture robot for Seed sowing,...

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1st International Conference on Computational Intelligence and Sustainable engineering Solution, CISES 2022

作者： Fadhaeel, Taha Patel, H.C. Al Ahdal, Ahmed Rakhra, Manik Singh, Dalwinder LovelyProfessional University Department of Mechatronics Robotics Engineering Phagwara India Lovely Professional University School of CSE Phagwara India

ISBN: (数字)9781665480048

ISBN: (纸本)9781665480048

Agriculture is one of the oldest activities practiced by man. Due to its importance in our daily life and reliance on it, many technologists try to update a new development based on agricultural robots that perform well in a strict, efficient, and timely manner due to the tremendous development in the field of robotics, the solution to the main problems faced by the agricultural field those problems such as random sowing which cost more seeds that is costly, consumption more water and quantity of *** paper develop a robot that can solve such problem measure the distance between seeds that lead to save wastage of water, determined the plants needs of fertilization by using soil PH sensor. The motion of the robot controlled by Android Bluetooth connected to HC-05 Bluetooth module and raspberry pi 3 B+ for video streaming and detected the object. © 2022 IEEE.

关键词： Robots

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Dynamic Analysis of Systems with a Nonlinear Elastomeric Isolator in Simulink 6

Dynamic Analysis of Systems with a Nonlinear Elastomeric Iso...

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6th International Conference on Information Technologies in engineering Education, Inforino 2022

作者： Poznyak, Elena V. Radin, Vladimir P. Novikova, Olga V. Chirkov, Victor P. Babin, Oleg A. Kuznetsov, Sergey F. National Research University Moscow Power Engineering Institute Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Russia

ISBN: (纸本)9781665405775

The paper presents Simulink models of nonlinear elastomeric isolator (EI) widely used in mechanical engineering and construction for vibration protection of structures. Models with a hysteretic bilinear deformation diagram and, for comparison, with a bilinear diagram without hysteresis are considered. Step and frequency responses are obtained and investigated;conclusions are given. The elements of the study will be helpful for the development of the professional skills and competencies of young engineers in the field of applied problems of vibration and shock protection;it can be a basis for the development of more complex multidimensional systems. © 2022 IEEE.

关键词： Vibrations Isolators Multidimensional systems Software packages Numerical analysis Electric shock Mathematical models

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