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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Tolba, Muhammad S. Fanni, Mohamed Nasser, Gamal A. Umezu, Shinjiro Fath El-Bab, Ahmed M. R. Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Helwan Univeristy Faculty of Engineering Mechanical Engineering Department Cairo Egypt Assuit University Mechatronics Engineering Assuit Egypt Waseda University School of Creative Science and Engineering Tokyo Japan

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

The incorporation of micro-heaters in medical analysis devices significantly aided in the miniaturization of such devices and shortened the processing time. Despite the fact that various micro-heater designs have been proposed, a high-speed heating rate for micro-heaters remain a challenge. The reduction of thermal mass allows for this high-speed to be accomplished. Furthermore, backside etching of the substrate is critical in increasing the rate of temperature change in thin-film micro heaters. This will speed up the thermal cycle, paving the way for high-speed, portable, and cost-effective medical devices like the polymerase chain reaction (PCR). The size of the backside opening, on the other hand, should be carefully chosen to ensure the heater's rigidity. The larger the backside opening, the faster the thermal change and the lower the stiffness of the chip. An accurate simulation investigation was performed in this study using the CoventorWare software tool to obtain the optimal back side design for the designed micro heater in which the temperature change process is accelerated while the chip's strength is maintained. This study allows us to achieve a high-strength, high-speed micro-heater with superior efficiency. The heater's dimensions are designed to warm up a chip of size 30x40 mm in accordance with Peltier's chip size. For the provided heater dimensions, a series of squares with side lengths of 2.5 mm per square and a distance of 1 mm between each square was found to be the best design for the backside etching. It raises the heating rate to 22 °C/s and allows the heater to withstand pressure up to 1.8 MPa. © 2022 IEEE.

关键词： Polymerase chain reaction

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Design, Fabrication, and Control of Micro-Heater Based on Joule Effect for Low-Cost Medical Device 48

Design, Fabrication, and Control of Micro-Heater Based on Jo...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Temperature control is vital in micro-heaters used in medical devices such as the polymerase chain reaction (PCR). The primary goal is to achieve tight control and a high rate of heating for a portable, low-cost medical device. Even though the fact that several designs for micro-heaters have been proposed, uniform temperature distribution and the high-speed heating rate remain challenging for micro-heaters. This high speed is achieved by the reduction of the thermal mass. The most common methods for reducing thermal mass or heating time in a device are to establish a highly desired structural design and to select a better heating mechanism with a robust controller. Increasing the thermal mass improves temperature distribution on the heater surface but slows heat transfer. On the other hand, removing the thermal mass makes the controller struggle to provide a high-temperature uniformity distribution on the micro-heater surface. In this study, we provide a design of a cost-effective, high-speed, thin-film micro-heater based on the Joule heating technique. The CoventorWare software tool is used to simulate the temperature distribution of the micro-heater. The heater provides a well-distributed temperature on the heated surface. When a DC voltage of 24 V was applied for 250 s, a maximum temperature of 272 °C was obtained. Besides, the heater's average heating rate is 15 °C/s. The heater is then fabricated with the micro-electromechanical systems (MEMS) technology on a silicon substrate. The transfer function of the heating system is computed. Two controllers are designed to control the temperature of the micro-heater and improve its response. The classical proportional-integral-derivative (PID) controller produces rise time (Tr) of 21.9 s, settling time (Ts) of 73.3 s, and a maximum overshoot (Mp) of 4.8 %. Then by applying a fractional-order proportional-integral-derivative (FOPID) controller, a great enhancement in the system performance is observed, the controller is

关键词： Thin films

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Development of a Throwbot with Shock Absorption Structure

Development of a Throwbot with Shock Absorption Structure

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

作者： Jaeyeong Keum Jaemin Kim Changgi Lee Seunghyun Lim Insung Ju Dongwon Yun Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu South Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this study, a throwing robot equipped with an shock absorbing structure, utilizing paired-Cross Flexural Hinge (p-CFH) and an airbag, was fabricated and validated to assess the effectiveness of its impact absorption mechanism. This robot was developed in anticipation of situations where direct human intervention for life rescue would be challenging. Throwing robots can be broadly categorized into ball type, wheel type, and hybrid type. The hybrid type combines the advantages of both: the ease of throwing from ball type, due to its low air resistance coefficient, and the versatile mobility of the wheel type in diverse environments. However, hybrid type throwing robots are more vulnerable to external impacts due to the complexity of their internal structure, resulting in a lower maximum drop height compared to wheel type *** address these challenges, this research proposes a the Throwbot that combines the easy throwing capability of ball type with the obstacle overcoming ability of the wheel type, while also addressing the low free fall height drawback inherent in hybrid types. To achieve this, we developed a Throwbot with a ball to wheel transform structure, p-CFH mechanism, and airbag based impact absorption system. Additionally, materials were selected based on simulation results to refine the Throw-bot. The performance of the proposed robot was evaluated through various assessments, including free fall experiments and obstacle overcoming tests. Through this research, the proposed Throwbot effectively addresses the shortcomings of existing throwing robots, establishing a novel approach to throwing robot design.

关键词： Absorption Electric shock Simulation Wheels Transforms Reconnaissance Mobile robots Robots Intelligent robots Immune system

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GripFlexer: Development of hybrid gripper with a novel shape that can perform in narrow spaces

GripFlexer: Development of hybrid gripper with a novel shape...

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

作者： Donghyun Kim Sunghyun Choi Bongsub Song Jinhyeok Song Jingon Yoon Dongwon Yun Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu South Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In recent years, the role of robots across industries has become increasingly diverse, and they are now required to perform complex missions beyond simple repetitive tasks. However, robots used in confined spaces that humans cannot reach or in disaster field missions have challenges in performing various tasks due to their small size. In this study, we developed a compact hybrid gripper that fuses a multi-finger gripper and a jamming gripper to perform various tasks in a confined environment. Such a hybrid gripper can have both the strengths of a multi finger gripper that can perform various tasks and a jamming gripper that can effectively handle irregular small objects. In this study, we developed a hybrid gripper "GripFlexer" based on theoretical analysis and confirmed its performance through experiments by taking the task of turning a circular doorknob, which is one of the most difficult tasks in disaster sites, as the final target task. We also confirmed that the two grippers of GripFlexer can interact by showing performance improvement effects when two grippers are operated simultaneously.

关键词： Torque Service robots Shape Disasters Space missions Force Production Turning Grippers Jamming

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Optimization of Polymeric Microneedle Electrode for High-Quality EMG recording

Optimization of Polymeric Microneedle Electrode for High-Qua...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Jinwoong Jeong Yongwoo Kim Sanghoon Lee Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu Republic of Korea

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

This paper proposes the optimization of polyimide microneedle electrode using a 3D print double molding fabrication. Various shapes (circle, triangle, square, star, and hexagon) of microneedles are investigated by changing printing angles and double molding process. Aspect ratio, insertion force, and break point of the fabricated microneedles are investigated to maximize penetration capacity. Also, muscle signals were obtained using optimized microneedle electrodes to distinguish hand gesture.

关键词： Electrodes Fabrication Shape Force Stars Polyimides Muscles Three-dimensional printing Recording Optimization

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Estimation of Multi-state Dependent Disturbance by Using Multi-dimensional Gaussian Process

Estimation of Multi-state Dependent Disturbance by Using Mul...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Hoyeong Yeo Hanul Jung Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Robotics · Mobility Research Section Electronics and Telecommunications Research Institute (ETRI) Daegu Korea

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

High-precision linear motor stages have been widely used for their excellent positioning accuracy and speed. However, core-type linear motor stages have performance limitations because of various nonlinear factors including cogging force, friction, and geometrical imbalance. This paper analyzes disturbances in velocity and position domains and trains a Two-Input-Single-Output (TISO) nonlinear model using the Gaussian process for the disturbance. With this, two state-dependent disturbances are removed effectively. As a result, the control performance with a proposed controller is enhanced. Ultimately, this paper introduces three contribution points: 1) analysis of disturbances based on position/velocity, 2) design of TISO Gaussian process model, and 3) validation of estimation performance of proposed algorithm through simulation.

关键词： Industrial electronics Analytical models Forging Accuracy Friction Force Estimation

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Multi-dimensional Gaussian Process-based Control for Compensation of Multi-state Dependent Disturbance

Multi-dimensional Gaussian Process-based Control for Compens...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

High-precision linear motor stages have been widely used for their excellent positioning accuracy and speed. However, core-type linear motor stages have performance limitations because of various nonlinear factors including cogging force, friction, and geometrical imbalance. This paper analyzes disturbances in velocity and position domains and trains a Two-Input-Single-Output (TISO) nonlinear model using the Gaussian process for the disturbance. With this, two state-dependent disturbances are appropriately removed. As a result, the control performance with a proposed controller is enhanced. Ultimately, this paper introduces three contribution points: 1) analysis of disturbances based on position/velocity, 2) design of TISO Gaussian process model, and 3) validation of proposed controller performance through simulation.

关键词： Analytical models Forging mechatronics Accuracy Friction Force Process control

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Robust Position Estimation by Rao-Blackwellized Particle Filter without Integer Ambiguity Resolution in Urban Environments

Robust Position Estimation by Rao-Blackwellized Particle Fil...

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IEEE Symposium on Position Location and Navigation (PLANS)

作者： Daiki Niimi An Fujino Taro Suzuki Junichi Meguro Department of Mechatronics Engineering Graduate School of Meijo University Aichi Japan Department of Mechatronics Engineering Meijo University Aichi Japan Future Robotics Technology Center Chiba Institute of Technology Chiba Japan

ISBN: (数字)9798331523176

ISBN: (纸本)9798331523183

This study proposes a centimeter-accurate positioning method that utilizes a Rao-Blackwellized particle filter (RBPF) without requiring integer ambiguity resolution in global navigation satellite system (GNSS) carrier phase measurements. The conventional positioning method employing a particle filter (PF) eliminates the necessity for ambiguity resolution by calculating the likelihood from the residuals of the carrier phase based on the particle position. However, this method encounters challenges, particularly in urban environments characterized by non-line-of-sight (NLOS) multipath errors. In such scenarios, PF tracking may fail due to the degradation of velocity estimation accuracy used for state transitions, thereby complicating subsequent position estimation. To address this issue, we apply Rao-Blackwellization to the conventional PF framework, treating position and velocity as distinct states and employing the Kalman filter for velocity estimation. This approach enhances the accuracy of velocity estimation and, consequently, the precision of position estimation. Moreover, the proposed method rejects NLOS multipath signals based on the pseudorange residuals at each particle position during the velocity estimation step. This process not only enhances velocity accuracy, but also preserves particle diversity by allowing particles to transition to unique states with varying velocities. Consequently, particles are more likely to cluster around the true position, thereby enabling more accurate position estimation. Vehicular experiments in urban environments demonstrated the effectiveness of proposed method in achieving a higher positioning accuracy than conventional PF-based and conventional GNSS positioning methods.

关键词： Global navigation satellite system Maximum likelihood detection Accuracy Satellites Phase measurement Urban areas Estimation Nonlinear filters Rendering (computer graphics) Particle filters

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SYSTEMS AND APPLICATION MANAGEMENT IN HYBRID CLOUD INFRASTRUCTURES

International Journal of Mechatronics and Applied Mechanics

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International Journal of mechatronics and Applied Mechanics 2025年第19期1卷 92-99页

作者： Țîțu, Aurel Mihail Toderici, Marius Stanciu, Andreea Lucian Blaga" University of Sibiu Faculty of Engineering Industrial Engineering and Management Department 10 Victoriei Street Sibiu550024 Romania National University of Science and Technology POLITEHNICA Bucharest Faculty of Industrial Engineering and Robotics Splaiul Independentei no. 313 6th District Bucharest Romania National Institute of Research and Development in Mechatronics and Measurement Technique – INCDMTM Șos. Pantelimon Nr. 6-8 Sector 2 Bucharest21358 Romania

Hardware resource management in a hybrid IT infrastructure combines the management of public cloud resources with the management of private cloud resources that are most often owned in the organization's on-premises infrastructure. According to the IBM Transformation Index, approximately 77% of organizations have adopted a hybrid IT infrastructure in the cloud. Hybrid cloud infrastructure combines the 3 types of IT infrastructures, namely: the organization's on-premises IT infrastructure, the IT infrastructure that forms the organization's private cloud, and the public cloud that is made available by cloud service providers. This combination of IT infrastructures comes with different challenges in terms of security, hardware and software compatibility, connectivity, and interoperability, all of which are managed by the IT team. Public cloud is easier to manage than private cloud because cloud service providers take care of the maintenance of the hardware infrastructure and provide services through which users can manage the infrastructure at the level of processing, storage, memory, etc. resources. but offers less control on the security side. The management of the hardware resources to which an organization has access is important in view of the fact that this environment can accommodate different services and applications that quickly circulate data between on-premises systems and the public or private cloud and that make different services of the organization available to internal and external users. Hybrid infrastructure management has become a challenge for many organizations from both a technical, economic and human point of view. © 2025 The Author(s). Published by Cefin Publishing House – Bucharest.

关键词： Cloud platforms

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Methodology of Low Orbit Satellites Signal Processing in the Electromagnetically Noisy Environment 10

Methodology of Low Orbit Satellites Signal Processing in the...

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10th IEEE Open Conference of Electrical, Electronic and Information Sciences, eStream 2023

作者： Masalskyi, Viktor Bučinskas, Vytautas Dzedzickis, Andrius Tyshchenko, Aramais Masalskyi, Oleksandr Robotics and Digital Manufacturing Vilnius Gediminas Technical University Dept. of Mechatronics Vilnius Lithuania University of Warwick Department of Engineering Coventry United Kingdom Vilnius Gediminas Technical University Department of Physics Vilnius Lithuania

ISBN: (纸本)9798350303834

This paper dedicated to the problematics of low orbit satellite data acquisition and processing. Efforts to improve the quality and reliability of receiving these signals in a noisy electromagnetic environment presented here as theoretical and practical solution. Paper defines the requirements for equipment, provides definition of required parameters and delivers experimental tests methodology and obtained results. The experimental results deliver a hope for reliable reception;there are necessary to use a receiver with a dynamic range of at least 70 dB. Test environment was performed on the campus of the university, where located near antennas of high power FM transmitters, digital television and other communication services. Solutions for signal acquisition in the mentioned environment described as means to improve the quality and reliability of reception. Here provided number of technological improvements performed in configuration of the receiving station: implemented high precision angle sensors, a low-noise amplifier, a high-gain antenna and RF filters. Proposed to use a complex filtering stage consisting of three filters: band pass, notch and high-pass filter. To compensate for receiver noise and losses in the antenna-feeder path, a low-noise amplifier installed nearby the antenna. The obtained test results confirmed efficiency of the receiving station upgrade. Finally, paper delivers some conclusions. © 2023 IEEE.

关键词： Satellites

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