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8th IEEE International Conference on Energy Smart Systems, ESS 2022

作者： Dymerets, Andrii V. Gorodny, Alexey N. Yershov, Roman D. Revko, Anatoliy S. Stepenko, Serhii A. Chernihiv Polytechnic National University Electronics Automation Robotics and Mechatronics Department Chernihiv Ukraine Chernihiv Polytechnic National University Electrical Engineering Information and Measurement Technologies Department Chernihiv Ukraine

ISBN: (数字)9798350334418

ISBN: (纸本)9798350399202

The impact of resonant circuit parameters on static characteristics of a half-wave boost quasi-resonant converter is investigated. The dependences of the converter voltage maximum conversion ratio under variation of resonant circuit time constant and characteristic impedance with different load impedance values are obtained by dint of multi-factor numeric simulation. The dependences of the ratio between the transistor current peak value and input current rms value under variation of resonant circuit time constant and characteristic impedance with different load impedance values are also obtained. Approximated laws described above dependencies are fitted. Results allow determining the allowable values for resonant inductance and capacitance, as well as the load impedance to keep within a zero-current-switching mode. © 2022 IEEE.

关键词： Resonant circuits

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Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation

Improved Contact Stability for Admittance Control of Industr...

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

作者： Kangwagye Samuel Kevin Haninger Sami Haddadin Sehoon Oh Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University Munich Munich Germany Department of Mechanical and Production Engineering Kyambogo University Kampala Uganda Department of Automation Fraunhofer IPK Berlin Germany Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Industrial robots have increased payload, repeatability, and reach compared to collaborative robots, however, they have a fixed position controller and low intrinsic admittance. This makes realizing safe contact challenging due to large contact force overshoots in contact transitions and contact instability when the environment and robot dynamics are coupled. To improve safe contact on industrial robots, we propose an admittance controller with inverse model compensation, designed and implemented outside the position controller. By including both the inner loop and outer loop dynamics in its design, the proposed method achieves expanded admittance in terms of increasing both gain and cutoff frequency of the desired admittance. Results from theoretical analyses and experiments on a commercial industrial robot show that the proposed method improves rendering of the desired admittance while maintaining contact stability. We further validate this by conducting actual assembly tasks of plug insertion with fine positioning, switch insertion onto the rail, and colliding the robot end effector with random objects and surfaces, as seen at https://***/8XfkdHEdWDs.

关键词： Service robots Contacts Dynamics Cutoff frequency Observers Industrial robots Stability analysis Admittance Thermal stability Payloads

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An Advanced System for Automatically Segregating Bolts using Thread Detection and Dot Matrix Marking.

An Advanced System for Automatically Segregating Bolts using...

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Global Conference for Advancement in Technology (GCAT)

作者： S Ramkumar M Sridharan G Nareshbabu R Giri Kanagaraj Venusamy R Priyadharshini Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai India Department of Mechatronics Engineering Rajalakshmi Engineering College Thandalam Chennai India

Packaging is a crucial stage in the mass production of components, especially when it comes to threaded components fabrication. Currently, the process of segregating bolts based on their length and thread presence is done manually, leading to numerous errors during packaging. To address this issue and achieve greater accuracy and perfection, we propose a digital segregation method using an electronic control module. By placing this module along the assembly line, it can automatically divide bolts according to their lengths and the presence of threads, eliminating the need for manual intervention and reducing human errors. Implementing this mechatronics system allows for more precise and accurate punching of bolts based on their size, resulting in high-quality packaging that takes into account various segregation factors.

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Comparison of Facial Expression and Cerebral Blood Flow Sensors for Emotion Estimation Using Communication Robots 23

Comparison of Facial Expression and Cerebral Blood Flow Sens...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Hasegawa, Naoya Hirahara, Rin Kurokawa, Shohei Takahashi, Yoshihiko Kindai University Technical College Department of Comprehensive Engineering - Mechanical Systems Course 7-1 Kasugaoka Mie Nabari518-0459 Japan Kanagawa Institute of Technology Department of Robotics and Mechatronics 1030 Shimo-Ogino Kanagawa Atsugi243-0292 Japan

ISBN: (纸本)9788993215274

In this study, a communication system that quantifies human emotions and provides feedback control was fabricated for a communication robot. The robot can provide suggestions to users and relay transmissions during human-to-human communication. Based on the emotions of the listener;the speed, words, and tone of the speaker are selected. Furthermore, the sensor was adopted to estimate emotions using facial expressions. To investigate its reliability, the results were compared with those from cerebral blood flow sensors which have been reported in numerous studies. There are several methods for measuring cerebral blood flow;however near-infrared spectroscopy (NIRS) sensors are used by placing them on either side of the subject's forehead to determine the right and left brains activity based on the flow rate of hemoglobin in the blood. The right-brain is dominant in spatial cognition, including visual and auditory perception, whereas the left-brain is dominant in language comprehension, reasoning, and relating information to knowledge in memory. The experimental results of the face sensors and the NIRS sensors are determined when a soap bubble robot ejects bubbles at the subject. © 2023 ICROS.

关键词： Infrared devices

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Target Tracking Control of Space-Manipulators on Lie Groups

Target Tracking Control of Space-Manipulators on Lie Groups

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IEEE International Conference on Systems, Man and Cybernetics

作者： Borna Monazzah Moghaddam Robin Chhabra Mechanical and Aerospace Engineering Department Autonomous Space Robotics and Mechatronics Laboratory Carleton University Ottawa ON Canada

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity.

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Learning flatness-based controller using neural networks

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ASME Letters in Dynamic Systems and Control 2021年第2期1卷 021003页

作者： Ren, Hailin Qi, Jingyuan Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Department of Mechanical Engineering Virginia Tech BlacksburgVA24060 United States Department of Physics Virginia Tech BlacksburgVA24060 United States

This paper presents a method to imitate flatness-based controllers for mobile robots using neural networks. Sample case studies for a unicycle mobile robot and an unmanned aerial vehicle (UAV) quadcopter are presented. The goals of this paper are to (1) train a neural network to approximate a previously designed flatness-based controller, which takes in the desired trajectories previously planned in the flatness space and robot states in a general state space, and (2) present a dynamic training approach to learn models with high-dimensional inputs. It is shown that a simple feedforward neural network could adequately compute the highly nonlinear state variables transformation from general state space to flatness space and replace the complicated designed heuristic to avoid singularities in the control law. This paper also presents a new dynamic training method for models with high-dimensional independent inputs, serving as a reference for learning models with a multitude of inputs. Training procedures and simulations are presented to show both the effectiveness of this novel training approach and the performance of the welltrained neural network. Copyright © 2021 by ASME.

关键词： Machine learning

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Anthropomorphic robot hand using the principle of sweat and fingerprints of human hands

Anthropomorphic robot hand using the principle of sweat and ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Donghyun Kim Junmo Yang Dongwon Yun Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu South Korea

In our daily life, when a small amount of sweat or water forms on a person's hand, we can empirically feel that the friction force of the hand increases, and the objects are gripped well. However, if sweat or water forms heavily, we can feel the friction decrease when holding an object. In this study, we analyzed the degree to which fingerprints and sweat present on a person's hand can affect the friction force between the hand and the gripping object. We fabricated an anthropomorphic robot hand with a fingerprint structure to set up an environment similar to that of the human hand, and performed object-holding and friction-change experiments by changing the amount of sweat to verify that this phenomenon can be applied to a robot hand. Furthermore, we for the first time proposed and developed a variable friction system using fluids and microstructures to solve the difficulty of anthropomorphic robot hand force control. By applying the manufactured variable friction system and performing an active friction control performance test and an object grip test of the robot hand, we validated that the fingerprint and sweat of a human hand can affect the grip of an actual object.

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High-Speed Tissue Metabolism Measurement Using a Combination of Diffuse Speckle Contrast Analysis and Near-Infrared Spectroscopy

SSRN

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SSRN 2023年

作者： Yeo, Chaebeom Chang, Yeonhee Song, Cheol Daegu Gyeongbuk Institute of Science and Technology Department of Robotics and Mechatronics Engineering Daegu42988 Korea Republic of

Background: Although several optical systems have been developed for monitoring the tissue metabolic rate of oxygen consumption (tMRO2) measurement, there are some limitations in terms of system design, image acquisition speed, and clinical application. In this study, we present and validate a multimodal optical system combining diffuse speckle contrast analysis (DSCA) and near-infrared spectroscopy (NIRS) with a unique system design for high-speed tMRO2 ***: The optical system for simultaneous multiple-wavelength illumination and detection by a single camera, is constructed using dichroic mirrors without an external trigger device so that it achieves fast image-acquisition speed. To validate system performance, flow and liquid phantom experiments and an in-vivo arterial occlusion tests are conducted by varying the camera exposure time from 0.5 to 10 ms. We analyze and compare the results according to the exposure time to acquire the optimal tMRO2 signal by dual-exposure time ***: From the flow phantom experiment, the blood flow index (BFI) changes measured by DSCA modality and results showed that the highest linearity and sensitivity were confirmed at the shortest exposure time. From liquid phantom experiments, NIRS modality confirmed high sensitivity and measurement range consistent of tissue oxygenation index (TOI) at the longest exposure time. From the in-vivo experiment, it was confirmed that BFI and TOI signals from the two modalities had a trade-off with the exposure time. We obtained the optimal tMRO2 using dual-exposure time ***: We conclude that the proposed DSCA/NIRS provides real-time tMRO2 assessment, which can provide biomarkers for diagnosing vascular diseases. © 2023, The Authors. All rights reserved.

关键词： Tissue

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Biologically Inspired Networking (BIN): Leveraging Neurobiological Principles for Adaptive, Scalable, and Efficient Communication

Biologically Inspired Networking (BIN): Leveraging Neurobiol...

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International Conference on Computing, Networking and Communications (ICNC)

作者： Razvan Cristian Voicu Amanda Frischmann Muhammad Hassan Tanveer Amir Ali Amiri Moghadam Yannique Tello Gabriela Oprea-Ilies Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia Windship Cancer Institute Emory University School of Medicine Atlanta Georgia

ISBN: (数字)9798331520960

ISBN: (纸本)9798331520977

The surge in interconnected applications, particularly in AI, IoT, and intelligent infrastructure, imposes new demands on communication networks, requiring them to handle high data volumes, support real-time exchanges, and dynamically adapt to fluctuating conditions. Traditional networking models, reliant on centralized processing and static protocols, are insufficient to meet these evolving needs, resulting in inefficiencies, latency, and scalability issues. This paper introduces a biologically inspired networking paradigm that mimics neurobiological principles such as event-driven communication, distributed intelligence, and adaptive resource management. By conceptualizing data types as analogous to neurotransmitters and infrastructure learning as synaptic plasticity, the framework provides a dynamic, scalable solution that enhances efficiency and resilience. The proposed model is particularly suited for resource-constrained environments, dynamically optimizing resource allocation and communication pathways in real time. Simulations demonstrate significant improvements in latency, resource utilization, scalability, and reliability, proving its potential as a foundation for next-generation networks.

关键词： Adaptation models Adaptive systems Biological system modeling Scalability Real-time systems Resource management Internet of Things Artificial intelligence Surges Resilience

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High-Precision 3-DOF Compliant Positioning Stage for Large Range Micro-Manipulation Applications

High-Precision 3-DOF Compliant Positioning Stage for Large R...

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IEEE International Conference of Intelligent Robotic and Control engineering (IRCE)

作者： Ashenafi Abrham Kassa Bijan Shirinzadeh Julian Smith Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory (RMRL) Monash University Melbourne Australia Department of Surgery Monash University Melbourne Australia

ISBN: (数字)9798350352399

ISBN: (纸本)9798350352405

This paper introduces a novel high-precision compliant mechanism-based 3-degree-of-freedom (3-DOF) positioning stage with a large range and planar layout. The design incorporates a cartwheel revolute flexure and compound basic parallelogram (CBP) prismatic flexure modules arranged in series to establish a PPR-kinematic chain. Three such kinematic chains are symmetrically arranged at 120° to each other around the output platform. This design ensures large deformation and high dynamic performance while minimizing cross-coupling and parasitic motion. The compliance matrix method (CMM) is utilized to establish the stiffness model of the designed mechanism. Computational analysis is performed to validate the developed analytical model. Moreover, the reachable workspace, inverse kinematics, and dynamic performance of the proposed stage are investigated. A workspace of 4.6 mm × 5.1 mm × 83 mrad is achieved while maintaining a high natural frequency of 58 Hz. From the analysis, the proposed stage can be adopted in micro-manipulation applications that require high-precision motion over an extended range.

关键词： Transmission line matrix methods Symmetric matrices 3-DOF Dynamics Layout Kinematics Fasteners Manufacturing Motion control Robots

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