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4th IEEE Bombay Section Signature Conference, IBSSC 2022

作者： Vairavasamy, Sasidharan Noel Innocent, J. Hamin, M.J. Ahmed, Syed Seenu, N. Mm Dean, Ramya Hindustan Institute of Technology and Science Department of Mechatronics Engineering Chennai India Centre for Automation and Robotics Department of Mechatronics Engineering Hindustan Institute of Technology and Science Chennai India Agurchand Manmull Jain College Chennai India

ISBN: (纸本)9781665492911

This paper focuses on developing a virtually controlled robot by integrating Virtual Reality (VR) and Robot Operating System (ROS). Robots can be used in certain environments where humans cannot be physically present to undertake a task. To increase the safety of humans, controlling a robot virtually is one of the best solutions. This paper shows how the VR-controlled manipulator will help in different fields like hazardous environments, underwater research, and the medical field for surgical operations. Unity 3D is used to develop the virtual environment, and ROS is used for communication with the physical robot. A Virtual environment would be developed where an exact robot (URDF) model can be designed. The interaction with the virtual environment is done with the help of VR headsets and controllers. ROS acts as the communication bridge between virtual and physical robots. A prototype has been developed to be controlled through virtual controllers that can interact through ROS. © 2022 IEEE.

关键词： Virtual reality

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Vlm-Nav: Mapless Uav-Navigation Using Monocular Vision Driven by Vision-Language Model

SSRN

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SSRN 2025年

作者： Sarker, Gobinda Chandra Azad, A.K.M. Rahman, Sejuti Hasan, Md. Mehedi Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka1000 Bangladesh Riyadh13318 Saudi Arabia

Autonomous vehicles, such as Unmanned Aerial Vehicles (UAVs), have the potential to completely reshape various industries such as parcel delivery, agriculture, surveillance, and search-and-rescue missions. Consequently, the demand for safe, cost-effective, and intelligent navigation systems is crucial to ensure reliable performance in complex and dynamic environments. In this study, we propose a novel vision-based UAV navigation method that integrates depthmap estimation with a Vision-Language Model (VLM) for efficient obstacle avoidance and path planning. The system processes RGB images captured by the UAV, transforming them into depth maps using DepthAnythingV2, a powerful zero-shot depth estimator. These depth maps are then analyzed by the VLM, which detects nearby obstacles and plans avoidance maneuvers. We have explored Gemini-flash and GPT-4o model as VLM in our study. A fully connected network integrates the VLM output with the UAV’s relative heading angle to predict the optimal course of action, enabling the UAV to dynamically navigate complex environments toward its target. The system’s effectiveness is validated through simulations in AirSim using Blocks and Downtown West environment. The UAV consistently reaches its destination, avoiding obstacles and achieving a near perfect task completion rate of 0.98. By eliminating the need for costly sensors such as LiDAR and operating without pre-existing maps, our solution provides a cost-efficient, and generalizable approach to real-time UAV navigation, especially in unfamiliar or dynamic settings and highlights emerging trends in autonomous systems research utilizing VLMs. The navigation demonstration and the source code are openly available at (https://***/vlmnav/) to encourage further research. © 2025, The Authors. All rights reserved.

关键词： Drones

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Enhancing Industrial Safety Helmets: Development and Evaluation of Epoxy-Based Glass and Basalt Fiber Composites 1

Enhancing Industrial Safety Helmets: Development and Evaluat...

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1st International Conference on Materials Innovation in engineering and Technology, ICMIET 2024

作者： Pandi, Raja R. Bihari, Bagesh Chokkalingam, P. Karthikeyan, R. Anand, R. Kalaiarasan, S. Sivalingam, A. Department of Robotics and Automation Rajalakshmi Engineering College Tamil Nadu India Department of Mechanical Engineering Ramgarh Engineering College Jharkhand India Department of Mechanical Engineering Erode Sengunthar Engineering College Tamil Nadu India Department of Automobile Engineering Rajalakshmi Engineering College Tamil Nadu India Department of Aeronautical Engineering Nehru Institute of Technology Tamil Nadu India Department of Chemistry Sona College of Technology Tamil Nadu India Department of Mechatronics Engineering Sona College of Technology Tamil Nadu India

Employing personal protective equipment, including helmets for safety, at industrial sites is the ultimate step in averting disasters, and such equipment is commonly recognized the disposable items. Industrial safety helmets employ Polypropylene Terephthalate (PET) or polypropylene (PP) resins is the primary material for shell to efFiciently absorb impacts. Additionally, they exhibit a commendable level of heat resistance. Nevertheless, there is currently a lack of active initiatives to develop novel materials using a straightforward fabrication approach. The objective of this work was to enhance safety behaviour of industrial helmets by using epoxy resin as the matrix to develop composite material consisting of glass Fiber and basalt Fiber in a direct cross-ply arrangement. Subsequently, the performance of this composite material was evaluated in relation to glass and basalt composites, and PET plastic. The samples are produced through compression molding method. The tensile strength (TS), Flexural strength (FS), impact strength (IS), and inter laminar shear strength (ILSS), and their heat resistance capabilities are assessed using thermo gravimetric analysis (TGA). The impact energy absorptions of BFRP, BF/GFRP, and GFRP were 6.3, 6.1, and 5.2 times higher than that of PET plastic correspondingly. Superior heat resistance was demonstrated by specimens built of Basalt Fiber Reinforced Polymer (BFRP) and Basalt Fiber/Glass Fiber Reinforced Polymer (BF/GFRP), as compared to the other scenarios. For instance, when compared to PET plastic, BFRP was 24.9 times stronger while BF/GFRP was 12.7 times stronger. The outcomes of this research work are showed that the basalt and glass Fiber reinforced composites (BF/GFRP) exhibit the superior impact energy absorption than PET plastic. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Impact strength

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Development of a Modular Robotic Finger for Gripping Various Shaped Objects

Development of a Modular Robotic Finger for Gripping Various...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jisu Kim Jinman Cho Yeon Kang Changwha Lee Dongwon Yun Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu South Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

With the introduction of the Fourth Industrial Revolution and the spread of smart factories, the demand for small-quantity batch production systems is rapidly increasing. As a result, the implementation of robotic gripper systems that can handle various objects is required. Until now, grippers have to be replaced or newly developed each time depending on the object to be gripped. In addition, conventional gripper systems require a picking system based on a sophisticated gripping plan to handle products with complex shapes. This requires the integration of vision and various sensor systems, which in turn increases the cost of the system and makes it challenging to apply it to real industrial sites. To solve this problem, we developed a robotic finger by applying the paired crossed flexure hinge (p-CFH) developed in our previous research. The p-CFH-based robotic finger is driven by an underactuated wire-driven method that can be controlled by a single motor and has compliance and shape adaptive features. It also has the advantage of being modularized, easy to install and replace, and easy to maintain. The proposed finger module has a tip force of about 0.58 kg and its impact absorption capacity has been experimentally verified. In addition, gripping experiments were conducted on a total of four objects with different characteristics, and successful gripping was confirmed.

关键词： Service robots Shape Absorption Fingers Force Robot sensing systems Sensor systems Grippers Robots Smart manufacturing

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Analysis of the Stability and postcritical Behavior of the Ziegler’s Pendulum in Simulink

Analysis of the Stability and postcritical Behavior of the Z...

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International Conference on Information Technologies in engineering Education (Inforino)

作者： Vladimir P. Radin Elena V. Poznyak Olga V. Novikova Valerian E. Tsoy Viktor P. Chirkov Sergey F. Kuznetsov Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Power Engineering Institute Moscow Russia

ISBN: (数字)9798350371369

ISBN: (纸本)9798350371376

The paper presents a nonlinear Simulink model of a double pendulum loaded with potential and follower forces. At first stability region of the initial equilibrium position was found using the dynamic method. Then time-depended displacements and phase portraits of the pendulum were obtained and investigated for various parameters of the loading: in the stable regions, at the intersection of the boundaries of flutter and divergence, in distant postcritical regions. In the simulation some features of phase trajectories of the nonlinear nonconservative system have been found and illustrated. The relevance of simulation for training future specialists in the field of dynamics and strength of machines is shown.

关键词： Training Software packages Simulation Loading Dynamics Stability analysis Trajectory

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On the Experience of Developing an engineering OOP Application by a Student Group

On the Experience of Developing an Engineering OOP Applicati...

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International Conference on Information Technologies in engineering Education (Inforino)

作者： Elena V. Poznyak Irina N. Medvedeva Julia Ju. Ivanova Valerian E. Tsoy Olga V. Novikova Tatjana E. Stenina Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Power Engineering Institute Moscow Russia

ISBN: (数字)9798350371369

ISBN: (纸本)9798350371376

The development of small applications for engineering calculations is a feasible, useful and interesting work for students of applied mechanics. In order to produce a workable application, it is necessary to have deep knowledge and competences in the field of mechanics, computational methods, information technologies. These knowledge and competences are improved if students are tasked not only to study the behavior of a mechanical system, e.g., a nonlinear dynamical system as described in this paper, but also to develop their own easy-to-use verified object-oriented tool.

关键词： Graphics Object oriented modeling Software Mathematical models Nonlinear dynamical systems Rubber Mechanical systems

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Rapid Maintenance based improved design for omnidirectional controlled wheels for VirtuSphere system 29

Rapid Maintenance based improved design for omnidirectional ...

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29th IEEE International Symposium for Design and Technology in Electronic Packaging, SIITME 2023

作者： Bazavan, Lidia Cristina Roibu, Horatiu Coman, Daniela Cismaru, Stefan Irinel Petrisor, Anca Bizdoaca, Nicu George University of Craiova Faculty of Automation Computers and Electronics Mechatronics and Robotics Department Craiova Romania University of Craiova Faculty of Mechanics Engineering and Management of the Technological Systems Department Craiova Romania University of Craiova Faculty of Electrical Engineering Electrical Energy and Aerospace Engineering Department Craiova Romania

ISBN: (纸本)9798350344110

Designing for rapid maintenance requires an approach whereby the replacement of rapidly wearing sub-assemblies can be easily replaced while ensuring that the degree of wear can be tracked in real-time if possible. The redesign of the movement system of the Virtusfera platform by the authors previously led to an omnidirectional platform with increased integration facilities in virtual environments. The article presents two solutions for redesigning some subsystems that make up the new experimentally validated solution, presenting at the same time the study based on which the subsystems with the lowest reliability were identified and a proposal for a real-time tracking solution for those subsystems. Numerical simulations of the two solutions are presented, and conclusions and directions are formulated regarding the practical implementation of these subsystems based on the concept of design based on rapid maintenance. © 2023 IEEE.

关键词： Maintenance

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i-Glove: An Intelligent Glove System Based on Deep Learning to Support Deaf-blind Individuals in Recognizing Banknotes

i-Glove: An Intelligent Glove System Based on Deep Learning ...

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robotics, Automation, Artificial-intelligence and Internet-of-Things (RAAICON), 2019 IEEE International Conference on

作者： Fahad Mohammad Hossain Rafit Alavi Yeamin Safat Gobinda Chandra Sarker Nafisa Noor Ekram Hossain Department of Computer Science and Engineering Mymensingh Engineering College Mymensingh Bangladesh Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh

ISBN: (数字)9798331534400

ISBN: (纸本)9798331534417

The deaf-blind community faces significant challenges in identifying banknotes due to simultaneous hearing and vision impairments, which complicate their ability to conduct daily financial transactions. Recent advances in Artificial Intelligence (AI)-based assistive technologies offer promising potential to address these challenges. This study presents the "i-Glove," a wearable device specifically developed to assist the deaf-blind community in Bangladesh with accurate banknote identification. The i-Glove is designed to recognize nine common Bangladeshi banknotes (e.g., BDT 20, 50, 100) through a camera module integrated on the palmar side of the glove, which captures real-time images of the banknotes. These images are then processed by a convolutional neural network (CNN) model to accurately classify each banknote. Identified notes are translated into unique vibration patterns that are delivered to the user through a shaftless vibration motor embedded in the glove, providing intuitive, non-visual communication. Compared to previous approaches, our model demonstrates superior performance even with a compact dataset, achieving an overall F1-score accuracy of 96.55%, with class-specific precision, recall, and F1-score metrics ranging from 90% to 100%. Additionally, a dedicated application is developed which supports real-time banknote detection and interfaces seamlessly with the glove. The proposed system represents a significant step forward in assistive technology for the deaf-blind community, empowering the users with greater autonomy in financial transactions.

关键词： Vibrations Visualization Accuracy Image recognition Tactile sensors Assistive technologies Motors Real-time systems Convolutional neural networks Wearable devices

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A Novel Solution to Transportation Safety

A Novel Solution to Transportation Safety

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

作者： Jorge Diaz Rodriguez Steven Steele Ammy Ovando Gopi Debnath Muhammad Hassan Tanveer Razvan Cristian Voicu Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

As the popularity of autonomous cars increases, a significant number of semi-autonomous vehicles have been sold, highlighting the technology's imperfections through associated crashes. These incidents can render motor vehicle operators in-capacitated, hindering their ability to request assistance. Consequently, the Intelligence Autonomous Monitoring (IAM) concept emerged. IAM is an intelligent monitoring system developed using a Raspberry Pi 4B, an Intel Real Sense D-455 camera, and the Convolutional Neural Network Yolov7, trained on car crash images. Convolutional Neural Networks have proven in-valuable for object detection, encompassing various applications, including identifying vehicles and individuals. This review aims to aid future researchers in enhancing the device's detection and prevention capabilities.

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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing 12

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

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12th RSI International Conference on robotics and mechatronics, ICRoM 2024

作者： Etaati, Sepideh Javaherat, Fatemeh Delrobaei, Mehdi K. N. Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Tehran Iran K. N. Toosi University of Technology Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Ahstract- This study focuses on developing a gait asymmetry index and applying image processing techniques to cyclogram analysis. We evaluated gait asymmetry under different walking conditions, specifically examining the effects of wearing a knee brace and holding a weight in hand. Using inertial measurement units (IMUs), we collected gait data to analyze knee, hip, and ankle angles in the sagittal plane. The joint kinematics data were assessed using our proposed asymmetry index, which combines image processing techniques and linear regression models. The proposed asymmetry index incorporates cyclogram area, trend symmetry, and the longest length of the cyclogram shape, effectively capturing variations in symmetry and providing a comprehensive measure. The results demonstrate that the proposed asymmetry index can effectively distinguish between different gait conditions. The findings potentially offer insights for researchers and clinicians in human biomechanics, aiding in the planning of interventions and the assessment of motion patterns, as well as for developers of bipedal walking robots in the field of robotic locomotion, enhancing their ability to design hardware and evaluate motion patterns. © 2024 IEEE.

关键词： Robot programming

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