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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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Vision Based Leader-Follower Control of Wheeled Mobile Robots using Reinforcement Learning and Deep Learning

Vision Based Leader-Follower Control of Wheeled Mobile Robot...

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International Symposium on System and Software Reliability (ISSSR)

作者： Kayleb Garmon Ying Wang Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

Vision-based control of mobile robots often involves complex calculations to derive a control law. The reinforcement learning algorithm (Q-learning) offers a machine learning method to extrapolate a control law from an environment given discretized actions, without the need of complex calculations. In this paper, a vision-based controller is created using Q-Learning to enable tracking in a leader-follower configuration of two nonholonomic autonomous mobile robots. The follower robot gathers its desired trajectory values by using a deep learning SSD model to identify a distinguishing visual feature on the leader robot and uses a lidar to determine the distance between two robots. These parameters are utilized to select an optimal action of the follower robot through reinforcement learning. The emulated results in a ROS Gazebo environment show this method to be effective in enabling a wheeled mobile robot to follow another, while simultaneously avoiding obstacles.

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System

Comparative Study of Anti-Swing Controllers for a Triple Lin...

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IEEE International Conference on engineering Technologies and Applied Sciences (ICETAS)

作者： Zied Ben Hazem Zafer Bingül Department of Mechatronics Engineering College of Engineering (COE) University of Technology Bahrain Bahrain Department of Mechatronics Engineering Automation and Robotics Laboratory Kocaeli University Kocaeli Turkey

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination.

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Feedforward Backpropagation Artificial Neural Network for Modeling the Forward Kinematics of a Robotic Manipulator

Feedforward Backpropagation Artificial Neural Network for Mo...

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2023 International Conference on Innovation and Intelligence for Informatics, Computing, and Technologies, 3ICT 2023

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassene Higher Institute of Information and Communication Technologies Tunis1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Guwahati781039 India National Engineering School of Tunis Tunis1002 Tunisia

ISBN: (纸本)9798350307771

Determining an end-effector position and orientation, known as forward kinematics (FK), is a crucial aspect of robotic manipulation. This research addresses the FK problem using a Feedforward Backpropagation Artificial Neural Network (FFBP-ANN) and examines the network's performance with different hyperparameters. The input of the FFBP-ANN is primarily formed using three different datasets: fixed-step values, random values, and sinusoidal-signal based values, for a 2-DOF robotic manipulator. The output of the FFBP-ANN is evaluated using FK formulation of the robot manipulator. Thereafter, the FFBP-ANN is trained utilizing the input-output training dataset using The Neural Network Toolbox for MATLAB. The network's potential is investigated by varying the critical hyperparameters, including the number of hidden neurons and the number of hidden layers. Moreover, the effectiveness of the proposed FFBP-ANN is investigated with three different training optimizers including the utilization of Levenberg-Marquardt, Bayesian Regularization, and Scaled Conjugate Gradient optimization algorithms. During training, by adjusting the network's weights and biases iteratively, the backpropagation technique allows the network to effectively learn and comprehend the relationship between joint positions and Cartesian coordinates. The comparative results offer valuable insights into the strengths and limitations of different ANN architectures when applied to solving FK problems. In this way, this study focuses on exploring the application of the FFBP-ANN in resolving FK challenges and assisting in the identification of appropriate network types for path-planning tasks. © 2023 IEEE.

关键词： End effectors

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Volume reduction design of a surface-mounted permanent magnet synchronous motor for traction motor of an electric-powered wheelchair for the lower body disabled

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Journal of Institute of Control, robotics and Systems 2021年第10期27卷 762-768页

作者： Son, Ji-Chang Lim, Dong-Kuk Park, Jongwoo Seo, Hyeon-Uk Department of Electrical Electronic and Computer Engineering University of Ulsan Korea Republic of Department of Robotics & Mechatronics Korea Institute of Machinery Materials Korea Republic of

This article proposes a novel surface-mounted permanent magnet synchronous motor for independent activity support robots for the lower body disabled. An improved design through electromagnetic field analysis was conducted for the purpose of reducing the stacking length and the volume of the motor. Moreover, prototype motor was manufactured and tested to validate the proposed design. As a result of two rounds of design and manufacturing, optimal design with 37.5 % reduced stacking length and 23 % reduced volume could be obtained. © ICROS 2021.

关键词： Permanent magnets

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Electric field enhancement of coupled plasmonic nanostructures for optical amplification

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PhotoniX 2023年第1期4卷 579-591页

作者： Jun Hyun Kim Ja Yeon Lee Eung Soo Kim Myung Yung Jeong Department of Cogno-mechatronics Engineering Pusan National UniversityBusan 46241Korea ESPn Medic ESPn Medic cooperationBusan 46241Korea Department of Electronic&Robotics Engineering Busan University of Foreign StudiesBusan 46234Korea Department of Optics and Mechatronics Engineering Pusan National UniversityBusan 46241Korea

Plasmonic effects that enhance electric fields and amplify optical signals are crucial for improving the resolution of optical imaging systems. In this paper, a metal-based plasmonic nanostructure (MPN) is designed to increase the resolution of an optical imaging system by amplifying a specific signal while producing a plasmonic effect via a dipole nanoantenna (DN) and grating nanostructure (GN), which couple the electric field to be focused at the center of the unit cell. We confirmed that the MPN enhances electric fields 15 times more than the DN and GN, enabling the acquisition of finely resolved optical signals. The experiments confirmed that compared with the initial laser intensity, the MPN, which was fabricated by nanoimprint lithography, enhanced the optical signal of the laser by 2.24 times. Moreover, when the MPN was applied in two optical imaging systems, an indistinguishable signal that was similar to noise in original was distinguished by amplifying the optical signal as 106 times in functional near-infrared spectroscopy(fNIRS), and a specific wavelength was enhanced in fluorescence image. Thus, the incorporation of this nanostructure increased the utility of the collected data and could enhance optical signals in optics, bioimaging, and biology applications.

关键词： Plasmonic effect Nanostructure Nanoimprint lithography Field enhancement Amplifying optical intensity Selective deposition fabrication

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A Novel Approach for Efficient Gaussian Mixture Model using Dynamics-motivated Optimal Excitation

A Novel Approach for Efficient Gaussian Mixture Model using ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Taehoon Kim Juwon Jeong Taejune Kong Hyunwook Lee Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST (Daegu Gyeongbuk Institute of Science and Technology) Daegu Republic of Korea School of Mechatronics Engineering Gyeongsang National University Jinju Republic of Korea

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

EffiDynaMix, a novel, efficient, gray-box, nonparametric dynamics modeling method, integrates mathematical dynamics with Gaussian Mixture Model (GMM) for simplified training data creation and improved generalization. It outperforms traditional methods like conv-GMM, GP, and LSTM in training efficiency and accuracy with new data. By leveraging dynamic equations, EffiDynaMix enhances learning efficiency and adaptability, offering advancements in robotic system precision and computational efficiency, leading to faster and more responsive robots.

关键词： Training Industrial electronics Adaptation models Service robots Computational modeling Training data Mathematical models

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Potentiodynamic study and microstructural evaluation of the corrosion behavior of mill scale and alumina reinforced aluminium metal matrix composites

Potentiodynamic study and microstructural evaluation of the ...

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2024 International Conference on Science, engineering and Business for Driving Sustainable Development Goals, SEB4SDG 2024

作者： Adediran, Adeolu A. Mosadomi, Oreofeoluwa A. Ikubanni, Peter P. Nana, Achile Ikumapayi, Omolayo Nwaeju, Cynthia C. Ojji, Immanuel O. Afolalu, Sunday A. Landmark University Department of Mechanical Engineering Kwara State Omu-Aran Nigeria Science University of Johannesburg Mechanical Engineering South Africa CSIR-National Metallurgical Laboratory Jamshedpur831007 India Afe Babalola University Department of Mechanical Engineering Ado-Ekiti Nigeria Nigeria Maritime University Department of Mechanical Engineering Delta State Okerenkoko Nigeria Demontfort University Department of Mechatronics and Robotics Leicester United Kingdom

ISBN: (纸本)9798350358155

The current study reports the corrosion behavior of aluminium metal matrix composites (AMMCs) reinforced with mill scale (MS) and alumina (Al2O3) in a simulated marine environment (3.5 % NaCl solution). Electrochemical technique and optical microscopy were used to evaluate the corrosion behavior of the composites developed at varying weight ratios of MS (0, 2, 4, 6, 8) and Al2O3 (0, 2, 4, 6, 8) respectively. From the results obtained, the average grain size of the composites after exposure to the marine environment varies significantly. Sample A showed an average grain size of 55.02 μm, B - 26.85 μm, C - 28.12 μm, D - 27.03 μm, E - 32.31 μm and F (control) - 37.02 μm. The contributory influence of the reinforcing materials is evident in the variation noted in the average grain sizes. Their presence acts as active sites for corrosion initiation. The oxidation of metal ions causes severe pitting with sample C having the optimum corrosion rate of 0.9532 mm/yr and sample D showing the least corrosion rate of 0.6188 mm/yr. The morphology of the corroded surfaces confirms the presence of pitting corrosion on the composites developed. © 2024 IEEE.

关键词： Pitting

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Exploring Neural Networks for Forward Kinematics of the Robotic Arm with Different Length Configurations: A Comparative Analysis 2

Exploring Neural Networks for Forward Kinematics of the Robo...

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2nd IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation, IATMSI 2024

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

ISBN: (纸本)9798350360523

Our work investigates the utilization of Artificial Neural Networks (ANNs) to address the complexities associated with Forward Kinematics (FK) problems within the field of robotics. We undertake an extensive comparative analysis to assess how ANNs perform under different circumstances with robotic arms of varying lengths and impact the overall system's functionality. The training, testing, and validation of ANNs are carried out using MATLAB for a simulated 2-DoF serial robotic arm involving three distinct datasets: fixed step size, random step size, and sinusoidal step size. Three training optimizers, namely Levenberg Marquardt (LM), Bayesian Regularization (BR), and Stochastic Conjugate Gradient (SCG), are considered within the ANN architecture. Based on Mean Square Error (MSE) values, the numerical findings reveal the potential of ANN in estimating forward kinematic solutions of complex robotic manipulators with different arm lengths and reducing computational complexity. © 2024 IEEE.

关键词： Robotic arms

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Workspace Analysis of a 3 RRR Planar Mechanism 25th

Workspace Analysis of a 3 RRR Planar Mechanism

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25th International Symposium on Measurement and Control in robotics, ISMCR 2023

作者： Buium, Florentin Doroftei, Ioan Mechanical Engineering Mechatronics and Robotics Department "Gheorghe Asachi" Technical University of Iasi 43 Blvd. D. Mangeron Iasi700050 Romania Technical Sciences Academy of Romania 26 Dacia Blvd. Bucharest030167 Romania

ISBN: (纸本)9783031510847

The paper intends to outline workspace of a planar parallel mechanism taking into account both: first type and second type of singularities. These questions influence in an important mode, inverse and direct kinematics of this mechanisms. The chosen mechanism for this purpose is of 3 RRR type, used as mechanical structure for a robot manipulator. Some results of this study can be useful in technical education or mechanism design. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Manipulators

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