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An Improved Method for Identifying SSVEP Single-Channel Target Frequency for BCI Systems 3

An Improved Method for Identifying SSVEP Single-Channel Targ...

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3rd International Conference on Emerging Trends in Electrical, Control, and Telecommunication engineering, ETECTE 2024

作者： Wahab, Adeel Khan, Umar Shahbaz Nawaz, Tahir Akbar, Hassan Shah, Syed Tayyab Hussain Khan, Zulfiqar Hasan Department of Mechatronics Engg National University of Sciences and Technology IslamabadH-12 Pakistan National Centre of Robotics and Automation National University of Sciences and Technology IslamabadH-12 Pakistan Department of Basic Sciences and Humanities National University of Sciences and Technology IslamabadH-12 Pakistan Faculty of Electrical Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Topi Pakistan

ISBN: (纸本)9798331504861

Steady-state visual evoked potential (SSVEP) is a brain response to flickering visual stimuli in the occipital area. SSVEP detection methods usually utilize multichannel configurations, which can be intricate and uncomfortable. Conversely, single-channel configurations are simple and user-friendly, but attaining the necessary accuracy is difficult, requiring the development of a reliable and accurate single-channel technique. For this purpose, this study introduces a hybrid VMD-LGBM approach to single-channel SSVEP detection. The proposed technique utilizes VMD as a preprocessor that decomposes the SSVEP signal into harmonic, intrinsic mode functions (IMFs), and noisy IMFs. To separate harmonic IMFs from noisy IMFs, the crest factor of the cross-correlation function was introduced. Then the restored SSVEP signal is used to extract features using power spectral density analysis (Welch's approach), followed by classification using a Light Gradient Boosting Machine. Our proposed approach performs better than available techniques in terms of classification accuracy and information transfer rate. The proposed single-channel approach provides better efficiency and user-friendliness for practical applications. ©2024 IEEE.

关键词： Harmonic analysis

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3D Semantic Mapping based on RGB-D Camera and LiDAR Sensor in Beach Environment

3D Semantic Mapping based on RGB-D Camera and LiDAR Sensor i...

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robotics, engineering, Science, and Technology (RESTCON), International Conference on

作者： Chi Jie Tan Shintaro Ogawa Takamasa Hayashi Titan Janthori Ayumu Tominaga Eiji Hayashi Department of Creative Informatics Kyushu Institute of Technology Fukuoka Japan Department of Creative Engineering Robotics and Mechatronics National Institute of Technology Kitakyushu College Kitakyushu Japan

The increasing amount of sea garbage proving to be a huge problem not only for marine life but also causing a tremendous number of troubles to humans living along the coastlines. Especially Japan, that is surrounded by the ocean which has a long coastline that spans thousands of kilometers, and this provides ample opportunities for marine debris to accumulate. This paper proposes a 3D mapping system utilizing the semantic information from the RGBD sensor extracted from a specifically trained state-of-art deep learning neural network to merge with the spatial information from the LiDAR sensor using Max Fusion Technique. This paper also aims to contribute to the implementation of deep learning and autonomous driving in beach cleaning-related robots and spark interest and raise awareness of the public in beach clean-up activities. It is also shown that the proposed system can achieve a mean accuracy of 98% approximately with the uniquely trained deep learning model.

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3D-Printed Modified Pinch Valve for Controlling Pneumatic Artificial Muscles

3D-Printed Modified Pinch Valve for Controlling Pneumatic Ar...

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Automation, Control and robotics engineering (CACRE), International Conference on

作者： Mohamed Gaber David Branson Ian Ashcroft Khaled Goher Department of Mechanical Material and Manufacturing Engineering University of Nottingham Nottingham UK Mechatronics and Industrial Robotics Minia Egypt Mechanical and Industrial Engineering Sultan Qaboos University Oman

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

Soft robotics is a rapidly growing fields in the past decade. Despite its compliant nature and low weight, which is suitable for human interaction applications, still suffering from the low-speed actuation compared to the rigid actuators. In this paper, a 3D printed modified pinch valve is presented to control a pneumatic artificial muscle. This valve can provide high flow rate which can increase the pneumatic muscles actuation speed. 3D printed artificial muscle is used to validate the controllability of the valve. The muscle frequency increased from 0.1 Hz to reach 3.5 Hz. A chain of five muscles is controlled and reach 1.5 Hz.

关键词： Artificial muscles Three-dimensional displays Automation Wearable robots Muscles Soft robotics Valves

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Crafting CanSats: A Novel Modular Design Paradigm for Scientific CanSats

Crafting CanSats: A Novel Modular Design Paradigm for Scient...

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International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Carrington Chun Uday Patel M. Hassan Tanveer Tom Swift Kevin Dallesasse Sumit Chakravarty Department of Robotics and Mechatronics Engineering Kennesaw State Univeristy Marietta Cobb Department of Electrical and Computer Engineering Kennesaw State Univeristy Marietta GA

This paper introduces a novel modular design paradigm for Scientific CanSats, offering a cost-effective platform for testing space-related hardware in near-space environments with reduced developmental timelines. By harnessing Commercial Off The Shelf (COTS) products alongside open-source technologies, this framework emphasizes quick integration of diverse scientific instruments and control systems. The core architectural elements comprise: (1) a unified power and communication bus, (2) standardized mechanical attachments and interfaces, and (3) distributed computing and data management. To validate the effectiveness and adaptability of this design, undergraduate students were engaged to design modules adhering to the established standards. This approach facilitated the creation of an adaptable ecosystem of Command and Sensor Modules, enabling swift assembly and reconfiguration of CanSats with diverse scientific potentials. Remarkably, students transitioned from conceptual design to tangible modules within a semester, while CanSat assembly and reconfiguration from existing modules took five and four minutes respectively.

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Action-Driven Tactile Object Exploration for Shape Reconstruction via Silver Nanowire Injected Sensors

Action-Driven Tactile Object Exploration for Shape Reconstru...

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IEEE/SICE International Symposium on System Integration

作者： Tleukhan Mussin Yermakhan Kassym Nurlan Kabdyshev Marat Kaikanov Zhanat Kappassov School Engineering and Digital Sciences Nazarbayev University Dept. of Robotics and Mechatronics Nazarbayev University Astana Kazakhstan Physics Department Nazarbayev University

We present an action-driven tactile exploration system using flexible touch sensors integrated into the fingertips of a robot hand. These sensors are made from foams injected with silver nanotubes that exhibit resistance changes under pressure to enable tactile perception. A microcontroller-based unit captures the resistance, with communication deployed using the Robot Operating System. Our approach is evaluated in tactile object exploration, where robotic finger movements estimate the coordinates of the points of contact upon collisions with an object. Through repeated grasps, a point cloud of the shape of an object is generated. Distinct finger movements, or affordances, are developed to collect new contact points to discriminate four different shapes, including cube, cylinder, pyramid, and sphere. We benchmark our approach on medium and large sets of objects.

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The Impact of Complex Periodic Structures on the Acoustic Performance of Architectural Materials: An Interdisciplinary Approach 1

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3rd International Conference on Innovation in engineering, ICIE 2024

作者： Benchea, Marcelin Bujoreanu, Carmen Şerbănoiu, Bogdan Chiriac, Elena Adelina Ianuş, Gelu Mechanical Engineering Faculty Mechatronics and Robotics Department "Gheorghe Asachi" Technical University of Iaşi 43 Prof. Dr. Doc. D. Mangeron Iaşi700050 Romania Architecture Faculty "Gheorghe Asachi" Technical University of Iaşi Iaşi Romania

ISBN: (数字)9783031626845

ISBN: (纸本)9783031626838

This study explores the use of minimal surfaces in enhancing the acoustic properties of architectural structures. It specifically focuses on analyzing the sound scattering coefficient to understand how these surfaces can improve the overall acoustic environment in buildings. The paper delves into the examination of complex periodic structures, which are noted for their geometric efficiency and aesthetic value, and assesses their capabilities in reducing unwanted sound reflections and enhancing sound quality in architectural spaces. The core of this research lies in evaluating the effectiveness of minimal surfaces in addressing acoustic challenges. To achieve this, experimental measurements were conducted to analyze the sound scattering properties of minimal surfaces and their subsequent impact on the acoustic environment. These measurements adhere to the ISO 10534-1:1998 and ISO 17497-1:2004 standards, which outline the methodologies for experimental procedures in determining sound absorption and scattering characteristics. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Acoustic properties

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Approximate Neural Network-based Nonlinear Model Predictive Control of Soft Continuum Robots

Approximate Neural Network-based Nonlinear Model Predictive ...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Hend Abdelaziz Abdullah Ahmed Haitham El-Hussieny Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology (E-JUST) New Burg El-Arab City Alexandria Egypt

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

This paper employs a deep learning approach to enhance the task space control of soft continuum robots. We built an approximate data-driven dynamics model of a soft robot using sampled Cartesian positions of the robot’s tip and its actuator tensions. We then incorporated this surrogate model into a Model Predictive Control (MPC) control scheme, enabling nonlinear control for task space trajectory tracking without relying on an exact analytical dynamics model of the robot or extensive computations. By involving constraints into the MPC, we addressed the robot’s workspace and actuation limits. The numerical results of the simulation experiment show that deep learning dynamic models can improve robotic control. This leads to accurate trajectory tracking and suggests that deep learning could be used more in robot system control, especially for real-time control applications.

关键词： Deep learning Trajectory tracking Computational modeling Predictive models Aerospace electronics Soft robotics Control systems Numerical models Continuum robots Predictive control

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Investigations on the Design and Simulation of Smart Irrigation Robot for Nurseries

Investigations on the Design and Simulation of Smart Irrigat...

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Advances in Computing, Communication, Embedded and Secure Systems (ACCESS), International Conference on

作者： B. Abhiram Swati Jha Y. Yogendra Sai Prasad Joshuva Arockia Dhanraj V. Ramkumar Department of Mechatronics Engineering Centre for Automation & Robotics Hindustan Institute of Technology and Science Chennai Tamil Nadu India

The irrigation systems in nurseries can be the cause of various water supply errors- ranging from lack of sufficient water supply to over-watering and imbalance in the water pH levels. Based on the statistics recorded by the department of agriculture and farmers welfare, we have conducted we concluded that the water supply management and plant life maintenance are the major problems. Considering all these real-time errors, we have designed a smart irrigation robot functioning on the inputs from a group of soil moisture sensors which helps eliminate the monotonous task of monitoring and keeping records of the change in soil moisture.

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Design and Analysis of Extensible Cable-Driven Continuum Robot with Variable Stiffness

Design and Analysis of Extensible Cable-Driven Continuum Rob...

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IEEE International Conference on robotics and Biomimetics

作者： Ibrahim A. Seleem Mohamed A. Naeem Hiroyuki Ishii Department of Modern Mechanical Engineering Waseda University Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Egypt Department of Mechatronics Engineering School of Mechanical and Electrical Engineering Harbin Institute of Technology Department of Mechatronics and Robotics Engineering Faculty of Engineering South Valley University

Extensible Soft Robots (ESRs) have increasingly attracted attention, especially in tight and complex environments, owing to their dexterity, and wide reachable workspaces relative to their volume. The existing actuation methods of ESR still suffer from challenges including large dimensions, expensive, complex modeling and control, and limited payload capacity. In this paper, we introduce a novel design for a lightweight, extensible and variable stiffness soft robot-based cable-driven actuation without backbone. The design composes of one section with three segments based on semi-octagon honeycomb structure, wherein the middle segment acts like a soft spring to provide extension feature. Additionally, the top and bottom segments have identical structure with two honeycomb patterns embedded within each other to improve the stiffness of the design. A design analysis is conducted to optimize the proposed structure with respect to stress and displacement. Additionally, a shape estimation approach is utilized to get accurate inference of the prototype’s shape based on data acquired from a low-cost Inertial Measurement Unit (IMU) and Motion Capture System (MCS), and constant curvature assumption. A series of experiments including workspace reach-ability, repeatability, shape approximation and payload analysis are carried out to validate the proposed design. The results show that the prototype exhibits good compression/extension ratio up to 42% and 50% relative to its normal length, respectively. Moreover, its payload capability reaches to 565 grams.

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Mimicking Muscle Relaxation Through 3D Print Materials & Magnetic Systems

Mimicking Muscle Relaxation Through 3D Print Materials & Mag...

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International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Santana Roberts Razvan Cristian Voicu Amir Ali Amiri Moghadam Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

ISBN: (纸本)9781665461986

The purpose of this study is to examine the inter-action of a magnetic system with that of an elastic 3D print design to replicate a muscle in contraction expanding back to its original relaxed state. An electromagnetic system uses a design made of soft material to maintain a compression length when an electric current is applied. When the current is removed, the system expands back to its original length due to the geometry and elastic properties of the material. Preliminary experiments on differing magnets help establish a separation distance between the magnets within the design. Mathematical models then further detailed the design using the cross-sectional area, length, and angle between supports to estimate deflection. This design was then tested using nonlinear simulations to displace the component at a distance equivalent to the estimated distance given from the calculations. The reaction force was then compared to the force in the calculations to estimate the percent difference. Once decent results were obtained, a model was 3D printed and tested to verify the findings. The secondary goals of this endeavor are to utilize common materials, reduce the complexity of production, and limit the number of components within the system to reduce failure points along with an estimated lower cost for the overall apparatus.

关键词： Geometry Solid modeling Three-dimensional displays Costs Magnetic separation Magnetoelasticity Force

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