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3rd IEEE International Conference on robotics, Automation, Artificial-Intelligence and Internet-of-Things, RAAICON 2024

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

ISBN: (纸本)9798331534400

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. © 2024 IEEE.

关键词： Convolutional neural networks

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On the Experience of Developing an engineering OOP Application by a Student Group 7

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

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7th International Conference on Information Technologies in engineering Education, Inforino 2024

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

ISBN: (纸本)9798350371369

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. © 2024 IEEE.

关键词： Verification

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Development of Small-Scale Pneumatic Pump Module for Hybrid Gripper with Jamming Module 23

Development of Small-Scale Pneumatic Pump Module for Hybrid ...

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

作者： Kim, Myeongjin Yoon, Jingon Kim, Donghyun Yun, Dongwon Dgist Department of Robotics and Mechatronics Engineering Daegu42988 Korea Republic of

ISBN: (纸本)9788993215274

Owing to an increase in diverse disaster incidents instigated by natural catastrophes and human error, extensive research on mobile robots, designed for disaster environment comprehension and human rescue operations, and has become more prevalent. Specifically, endeavors are being undertaken to equip mobile robots with grippers, enabling confined space navigation and life-saving activities within disastrous circumstances. Prominent among these are investigations into hybrid grippers and actuation systems, utilizing both hard and soft materials for obstacle removal. Nevertheless, for effective deployment of mobile robots within real disaster scenarios, the necessity for a compact hybrid gripper and drive system is indispensable. This paper elucidates the design and realization of a small-scale pneumatic pump module, developed to operate the jamming module of the previously compactly implemented hybrid gripper, also incorporating discussions on performance validation experiments. The verification experiments confirmed the capability of the proposed small-scale pneumatic pump to adequately operate the jamming module, thus reinforcing the hybrid gripper's grasping performance. © 2023 ICROS.

关键词： Grippers

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Human-Centered Design and Development of an Elderly Care Robot 6

Human-Centered Design and Development of an Elderly Care Rob...

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6th International Conference on robotics and Automation in Industry, ICRAI 2024

作者： Sajid, Ali Sultan, Muhammad Noor Ishfaq, Muhammad Muaviz Raza, Ali University of Engineering and Technology Lahore Human Centered Robotics Lab of NCRA Department of Mechatronics and Control Engineering Lahore Pakistan

ISBN: (纸本)9798350355703

Constituting to the demographic age shift in many regions of the world, technological advancement in the care sector, to deliver quality services to the elders, is now in more demand than ever. One such advancement is the evolution of socially assistive and care robots that promise sustainable, reliable, and safe human-robot interaction to meet geriatric needs. This paper presents the design and development of Silver Companion: a geriatric care robot for the elderly. The target audience chosen for the research phase is the socially isolated elderly community of East Asia and Central Europe which make up about 45% of their total elderly population. Considering the human-centered design paradigm, the technical and psychological aspects of the robot have been devised. The form and functions of the robot have been based on the product design principles. The whole development journey has been subjected to the identified elderly needs and the robot has been tested under multiple use-case scenarios, ideated for possibly fulfilling those needs. The robot has been equipped with assistive and interactive features like voice interaction, complementing micro-gestures and robot expressions, seamless navigation, and robot perception enhanced by a tilt-pan mechanism, all contributing towards making the robot capable of uplifting the well-being and quality of life of seniors. © 2024 IEEE.

关键词： Care Robots Geriatric Care Human Centered Design Human-Robot Interaction Micro Gestures Navigation Robot Expressions Robot Field of View Socially Assistive Robots Voice Interaction

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Reply to comment on “Ferroelectric composite-based piezoelectric energy harvester for self-powered detection of obstructive sleep” by A. Tkach and O. Okhay

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Journal of Materiomics 2024年第5期10卷 1160-1164页

作者： Swati Panda Hyoju Shin Sugato Hajra Yumi Oh Wonjeong Oh Jeonghyeon Lee P.M.Rajaitha Basanta Kumar Panigrahi Jyoti Shukla Alok Kumar Sahu Perumal Alagarsamy Hoe Joon Kim Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988South Korea Department of Electrical Engineering Siksha‘O’Anusandhan UniversityBhubaneswar 751030India Department of Electrical Engineering Poornima College of EngineeringJaipur 303903India Department of Physics Indian Institute of Technology-GuwahatiAssam 781039India Robotics and Mechatronics Research Center Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988South Korea

In this contribution,we reply to comments made by Tkach et *** our publication *** 2023;9:*** main interest of our work is to synthesize a lead-free material,SrTi_(2)O_(5)(STO),and then utilize it in the formation of composites and finally design the piezoelectric nanogenerator(PENG)for self-powered sensor *** authors have observed the presence of piezoelectric voltage and current output from the *** authors humbly indicate that the PENG devices were poled using a DC poling setup as conditions mentioned in *** 2023;9:609(Panda et al.,2023)[1].The doping of STO into the PDMS increased from 2% to 20%(in mass).In this process,the piezoelectric output of the PENG device was observed to be highest for 15%(in mass)STO-PDMS ***,we agree with the comment raised by Tkach et al.,and further we have addressed the issues in a step-by-step response as follows.

关键词： Ferroelectric Lead-free Piezoelectric Polycrystalline

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Ferroelectric composite-based piezoelectric energy harvester for selfpowered detection of obstructive sleep

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Journal of Materiomics 2023年第4期9卷 609-617页

作者： Swati Panda Hyoju Shin Sugato Hajra Yumi Oh Wonjeong Oh Jeonghyeon Lee P.M.Rajaitha Basanta Kumar Panigrahi Jyoti Shukla Alok Kumar Sahu Perumal Alagarsamy Hoe Joon Kim Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu42988South Korea Department of Electrical Engineering Siksha‘O’Anusandhan UniversityBhubaneswar751030India Department of Electrical Engineering Poornima College of EngineeringJaipur303903India Department of Physics Indian Institute of Technology-GuwahatiAssam781039India Robotics and Mechatronics Research Center Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu42988South Korea

Lead-free piezoelectric ceramic is a promising material for energy harvesters,as they have superior electromechanical,ferroelectric,and piezoelectric *** addition,piezoelectric ceramics can be blended with polymer to achieve high-flexibility polymer-ceramic composites,providing mechanical robustness and *** this context,a new lead-free ferroelectric material,having the chemical formula SrTi_(2)O_(5)(STO),was synthesized using a high-temperature solid-state *** analyses of the structural,morphological,and electrical properties of the synthesized material were *** crystallizes with orthorhombic symmetry and space group of *** frequency and temperature-dependent dielectric parameters were evaluated,and impedance spectroscopy shed light on the charge *** PDMS-STO composites at different mass fraction of the STO were prepared using a solvent casting route,and a corresponding piezoelectric nanogenerator(PENG)was *** electrical output of the different PENG by varying massfractions of STO in PDMS and varying force were *** 15%(in mass)PENG device delivered the highest peak-to-peak voltage,current,and power density of 25 V,92 nA,and 0.64 mW@500 MU,*** biomechanical energy harvesting using the PENG device by daily human motions,bending of the device,and attaching the device to laboratory equipment was *** the PENG device was attached to the human throat region,and snoring signals were recorded.A classification model was designed employing the convolutional neural network(CNN)*** have been laid to differentiate between normal and abnormal snores,which could help the patient with screening and early disease detection,contributing to self-powered healthcare applications.

关键词： Lead-free Ferroelectric Nanogenerator Sleepdisorder

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A Novel Solution to Transportation Safety 20

A Novel Solution to Transportation Safety

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20th IEEE International Conference on Smart Communities: Improving Quality of Life using AI, robotics and IoT, HONET 2023

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

ISBN: (纸本)9798350331110

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. © 2023 IEEE.

关键词： Convolutional neural networks

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System 8

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

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8th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2023

作者： Hazem, Zied Ben Bingul, Zafer University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey

ISBN: (纸本)9798350327090

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. © 2023 IEEE.

关键词： Controllers

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AN IMPROVED AND ENHANCED DEPTH MAP APPROACH FOR OBSTACLE DETECTION IN UNKNOWN ENVIRONMENTS FOR REACTIVE AUTONOMOUS MOBILE ROBOTS

AN IMPROVED AND ENHANCED DEPTH MAP APPROACH FOR OBSTACLE DET...

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ASME 2024 International Mechanical engineering Congress and Exposition, IMECE 2024

作者： Raju, Vomsheendhur Selekwa, Majura F. Mechatronics and Robotics Laboratory Department of Mechanical Engineering North Dakota State University FargoND United States

ISBN: (纸本)9780791888636

Interest in autonomous vehicles has attracted research into developing better navigation systems. Autonomous navigation systems guide unmanned vehicles to traverse any environment without human intervention;they require clear knowledge of the environment to make correct decisions. Information about the environment can be obtained from either ranging or vision sensors. Although ranging sensors such as LiDARs, radars, or sonars can detect the presence and location of obstacles, they don’t provide any information on whether the obstacles are traversable. On the other hand, vision sensors produce images similar to how human eyes perceive the environment, which can be processed to determine whether the sensed obstacle is traversable. Since vision sensors are light, less costly, and consume low power compared to LiDARs or Radars, there is an increasing interest in using them in autonomous navigation of unmanned ground vehicles. The main limitation of vision sensors for this purpose is their failure to directly identify the locations of the obstacles. Often, the location is determined by using a depth map, which is not always accurate and can be very computational. This paper proposes a new method of processing a depth map with improved accuracy. The depth of the closest objects to the stereo camera is extracted using the horizontal and vertical field of view of the sensor. It is further enhanced using morphological operations and the P-Tile segmentation technique to segment the obstacle(s) from its background and noise. This approach generates a denser map without any discontinuities, which leads to improved accuracy in locating close-by objects at less computational cost. Information from this depth map can be used as a low-cost alternative to ranging information in the navigation system for ground vehicles. Copyright © 2024 by ASME.

关键词： Stereo image processing

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Fully tunable Fabry-Pérot cavity based on MEMS Sagnac loop reflector with ultra-low static power consumption

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Microsystems & Nanoengineering 2024年第4期10卷 355-365页

作者： Young Jae Park Man Jae Her Youngjae Jeong Dong Ju Choi Dong Uk Kim Min Gi Lim Myung Seok Hong Hyug Su Kwon Kyoungsik Yu Sangyoon Han Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea School of Electrical Engineering Korea Advanced Institute of Science and Technology(KAIST)Daejeon 34141Republic of Korea Agency for Defense Development DaejeonRepublic of Korea

The Fabry-Pérot interferometer,a fundamental component in optoelectronic systems,offers interesting applications such as sensors,lasers,and *** this work,we show a tunable Fabry-Pérot cavity consisting of tunable Sagnac loop reflectors(SLRs)and phase shifters based on electrostatic microelectromechanical(MEMS)*** fabrication process of the device is compatible with the standard wafer-level silicon photonics fabrication *** electrostatic actuation mechanism provides well-balanced,scalable pathways for efficient tuning *** extinction ratio of the continuously tunable SLRs’reflectivity is larger than 20 *** 2πphase shifting is achieved,and response times of all the components are less than 25μ*** actuators have extremely low static power,measuring under 20 fW and the energy needed for tuning is both below 20 pJ.

关键词： tunable tuning interferometer

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