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8th International Conference on Networking, Systems and Security, NSysS 2021

作者： Arafat, Md. Tanvir Emon, Mehedi Hasan Sarker, Sujan Razzaque, Md. Abdur Rahman, Md. Mustafizur Department of Robotics and Mechatronics Engineering University of Dhaka Bangladesh Department of Computer Science and Engineering University of Dhaka Bangladesh

ISBN: (纸本)9781450387378

Leveraging the power of mobile crowdsensing (MCS) to achieve unparalleled coverage of tasks by utilizing the crucial spatiooral co-relation between the workers and tasks results in the distributed sensing system named spatiooral crowdsensing system (STCS). An STCS outsources sensing tasks to ubiquitous mobile computing devices to exploit their multi-modal sensing capabilities, collects the sensing results and process those to provide meaningful services. While realizing sustainable crowdsensing services, an STCS struggles with two conflicting objectives- maximizing the assignment quality and minimizing the recruitment cost. The first one requires assigning highly reputed workers in the spatiooral task blocks which results in higher recruitment costs. Thus a tradeoff between the aformentioned objectives is required. Existing works bring this tradeoff either by formulating a single objective as the linear weighted sum of both of the objectives or incorporating one of these as a constraint to another, yielding to an unfair and skewed tradeoff. In this work, we formulate the worker recruitment problem in STCS as a Nash game to attain fairness between the objectives while bringing this tradeoff. The performance of the proposed system is evaluated using MATLAB and results show its effectiveness compared to the state-of-the-art works in terms of fairness and per cost utility gain. © 2021 ACM.

关键词： nash bargaining mobile crowdsensing cost and quality fair trade-off

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A Top-View Hand Gesture Recognition System for IoT Applications

A Top-View Hand Gesture Recognition System for IoT Applicati...

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International Conference on Smart Systems and Inventive Technology (ICSSIT)

作者： William J. Wisener Jorge Diaz Rodriguez Ammy Ovando Christopher Woolford Kishan Patel Dept. of Robotics & Mechatronics Engineering Department of Physics Kennesaw State University Atlanta Georgia

Gesture recognition integrated into Internet of Things (IoT) systems is a growing field with opportunities for improvement. Identifying hand gestures from vertical angles with a cooperative network of cameras can enable a broader collection of control methods for controlling IoT devices within residential and commercial environments. Integrating this smart home framework with other IoT control methodologies also creates a more user-friendly experience. To generate a proof of concept of the effectiveness with this control framework, a convolutional neural network was created using the YOLOv7 deep learning architecture and Roboflow software. This image detection network was connected to a simulated IoT device via Home Assistant home automation software and communicates using the MQTT protocol. The gesture detection system was tested on different camera setups to evaluate the importance of camera position and data sharing within a smart-home device network.

关键词： Protocols Deep architecture Gesture recognition Smart homes Cooperative systems Cameras Software

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A Novel Design of Low Pass Filter in Disturbance Observer for Speed Tracking of Permanent Magnet Synchronous Motors

A Novel Design of Low Pass Filter in Disturbance Observer fo...

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International Conference on Power Electronics (ICPE)

作者： Kanat Suleimenov Ton Duc Do Department of Robotics and Mechatronics School of Engineering and Digital Sciences (SEDS) Nazarbayev University Astana Kazakhstan

This work proposes an approach to find an appropriate bandwidth of a first-order low pass filter (LPF) used in a DOBC. It is established that an observer in the DOBC can guarantee precise estimation if its bandwidth is set as high as possible in order to reject disturbances in a broad frequency range. On the other hand, there is an upper bandwidth limitation due to the system robustness and potential noises; hence, the bandwidth is required to set to be smaller than the limit. In this work, we propose a method of selecting proper bandwidth for the LPF in the DOBC. To show the effectiveness of the proposed method the experimental studies are carried out using the permanent magnet synchronous motor (PMSM)..

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Kinematic and Dynamic Analysis of a 3-■US Spatial Parallel Manipulator

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Chinese Journal of Mechanical engineering 2020年第1期33卷 114-130页

作者： Mervin Joe Thomas M.L.Joy A.P.Sudheer Mechatronics/Robotics Lab Department of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia

Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector *** are found in medical,assembly and manufacturing industries where accuracy is *** is often desired to have a compact and simple architecture for the robotic *** this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is *** kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive *** kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free *** analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system *** gravity and inertial forces of all links are considered in the mathematical *** analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.

关键词： Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis

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A Single Scale Doesn’t Fit All: Adaptive Motion Scaling for Efficient and Precise Teleoperation

arXiv

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arXiv 2025年

作者： Yoon, Jeonghyeon Park, Sanghyeok Park, Hyojae Kim, Cholin Park, Sihyeoung Hwang, Minho Department of Robotics and Mechatronics Engineering DGIST Daegu42988 Korea Republic of School of Undergraduate Studies DGIST Daegu42988 Korea Republic of

Teleoperation is increasingly employed in environments where direct human access is difficult, such as hazardous exploration or surgical field. However, if the motion scale factor(MSF) intended to compensate for workspace-size differences is set inappropriately, repeated clutching operations and reduced precision can significantly raise cognitive load. This paper presents a shared controller that dynamically applies the MSF based on the user’s intended motion scale. Inspired by human motor skills, the leader arm trajectory is divided into coarse(fast, large-range movements) and fine(precise, small-range movements), with three features extracted to train a fuzzy C-means(FCM) clustering model that probabilistically classifies the user’s motion scale. Scaling the robot’s motion accordingly reduces unnecessary repetition for large-scale movements and enables more precise control for fine operations. Incorporating recent trajectory data into model updates and offering user feedback for adjusting the MSF range and response speed allows mutual adaptation between user and system. In peg transfer experiments, compared to using a fixed single scale, the proposed approach demonstrated improved task efficiency(number of clutching and task completion time decreased 38.46% and 11.96% respectively), while NASA-TLX scores confirmed a meaningful reduction(58.01% decreased) in cognitive load. This outcome suggests that a user-intent-based motion scale adjustment can effectively enhance both efficiency and precision in teleoperation. Copyright © 2025, The Authors. All rights reserved.

关键词： NASA

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Applying Radio Frequency Attenuators to Reduce the Impact of U-NII-4 Interference on DSRC Channel 180

Applying Radio Frequency Attenuators to Reduce the Impact of...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Hatcher, Grayson Tello, Marco Kirkwood, Nathan Kihei, Billy Kennesaw State University Department of Electrical and Computer Engineering MariettaGA United States Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

In recent years, competition within Radio Frequency (RF) communication bands has led to an overlap between the U-NII-4 band used by low-cost consumer devices, and the Dedicated Short Communication Band (DSRC) used by the Georgia department of Transportation. Past research confirmed that this interference leads to drastic reduction in Packet Reception Rate (PRR) for Roadside Units (RSUs) and On-Board Units (OBUs) throughout the country, resulting in a reduction of stability between different components of the Intelligent Transportation System (ITS). Our research team set a goal to prove that a low-cost and simple modification can be made to RSUs currently in use that could increase PRR, by developing and testing RF technologies, primarily attenuators available on the market currently. These solutions could be easily adapted to infrastructure systems, and only require they run in-line with the stock antennas already in use. We were able to accomplish this goal, as well as made findings that may be beneficial within the world of RF communications for RSU devices. © 2025 IEEE.

关键词： Advanced driver assistance systems

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How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

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IEEE robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

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Igwo-Ss: Improved Grey Wolf Optimization Based on Synaptic Saliency for Fast Neural Architecture Search in Computer Vision

SSRN

引用

SSRN 2022年

作者： Arman, Shifat E. Deowan, Shamim Ahmed Department of Robotics and Mechatronics Engineering University of Dhaka Bangladesh

Neural Architecture Search (NAS) is the process of automating the design of neural network architectures for a given task. Although NAS provides an automatic way to find suitable neural network architectures for a specific task, the existing NAS algorithms are immensely time-consuming. The main bottleneck in NAS algorithms is the training time for each architecture. This study proposes an Improved Grey Wolf Optimization based on Synaptic Saliency (IGWO-SS), which is much faster than the existing NAS algorithms and provides better final performance. The IGWO-SS algorithm skips training the less promising architectures by creating a relative rank between the architectures based on synaptic saliency. The architectures that are lower in rank are considered less promising than the architectures that are higher in rank. Since the calculation of synaptic saliency is a very fast process, a significant amount of time is saved by skipping training of less promising architectures. We performed extensive experiments to determine the efficacy of synaptic saliency to improve NAS. Our experimental results suggest that the synaptic saliency of an untrained neural network positively correlates with its final accuracy. Hence, it can be used to identify untrained promising neural networks. The experimental results suggest that the IGWO-SS algorithm is almost 10x faster and achieves better final performance than five other bio-inspired algorithms. The IGWO-SS algorithm achieves higher mean accuracy than state-of-the-art NAS algorithms, including - REA, RS, RL, BOHB, DARTSV1, DARTSV2, GDAS, SETN, and ENAS. We hope that our work will make NAS more easily accessible and useful to researchers by reducing the time and resources required to perform NAS. © 2022, The Authors. All rights reserved.

关键词： Network architecture

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Design of a Multi-bending Flexible Manipulator for Gastrointestinal Surgery

Design of a Multi-bending Flexible Manipulator for Gastroint...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyojae Park Minho Hwang Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

Unlike the existing rigid surgical robots, flexible endoscopic robotic platforms have been actively researched owing to the advantages of high lesion accessibility and scar-free. However, there still exists difficult-to-access areas such as cardia and fundus in the gastrointestinal tract due to the limited Degrees of Freedom (DoFs) of the manipulator. In this study, we propose a multi-bending endoscopic manipulator to improve accessibility to the gastric region in any position and orientation. We perform mechanism design, kinematics, and cable-control analysis of the proposed manipulator. Finally, we verify the multi-bending motion in the simulated flexible pathway.

关键词： Medical robotics Automation Surgery Kinematics Manipulators Control systems Gastrointestinal tract

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Steady-State Analysis of the Constant Power Region in Distributed Maximum Power Point Tracking Architecture with Photovoltaic Applications

Steady-State Analysis of the Constant Power Region in Distri...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Guanying Chu Qinglei Bu Meilin Yang Department of Electrical Engineering Xi’an Jiaotong-Liverpool University Suzhou China Department of Mechatronics and Robotics Xi’an Jiaotong-Liverpool University Suzhou China

ISBN: (数字)9798350376067

ISBN: (纸本)9798350376074

This study analyzes the steady-state characteristics of distributed maximum power point tracking (DMPPT) architecture in photovoltaic systems, focusing on full power processing (FPP) with series-connected direct current power optimizers (DCPOs). The decentralization approach of the FPP structure utilizes the independent DCPO for each PV module to solve mismatch issues. However, each PV-to-DCPO unit is not truly independent, and it is necessary to connect the output terminals of DCPO in series or parallel to meet the grid-connected voltage of the string-level inverter. The research examines the constant power region (CPR) of DCPO outputs and string-level performance under various mismatch conditions for boost and buck converter topologies. Considering practical constraints like duty cycle limitations, the study reveals that the existence and optimal string-level CPR width depend on environmental conditions and converter type. Severe mismatches can eliminate the optimal CPR in boost-based systems, while buck-based DCPOs generally maintain a positive CPR width, though extreme shading can significantly impact performance. These findings provide crucial insights into FPP-based DMPPT architecture limitations and emphasize the importance of considering real-world constraints in system design and evaluation.

关键词： Maximum power point trackers Photovoltaic systems Buck converters Sensitivity Lighting Voltage Inverters Steady-state Topology System analysis and design

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