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Intelligent Cyber Physical Systems and Internet of Things (ICoICI), International Conference on

作者： Ramkumar S Saravanan R Kanagaraj Venusamy Rani Jabbar N. Jeevitha Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai India Department of Mechatronics Engineering Rajalakshmi Engineering College Chennai India EDICT Department Electrical Engineering Program Bahrain polytechnic Isa town Kingdom of Bahrain Department of Electrical and Electronics Engineering Roever Engineering College Perambalur India

ISBN: (数字)9798331540661

ISBN: (纸本)9798331540678

There are many problems faced by people who stand for hours at billing counter after shopping, even though crowds are avoided everywhere, shopping mall billing queue isn't reducing since ages. Since the world relies on automation today, everyone has to automate processes which consumes time, money and efforts wherever possible. The technique related with the use of Raspberry Pi, LCD display and Webcam helps the people to bill the groceries within the shopping cart. It reduces consumption of time and their energy can be conserved which can't happen when they stand in a queue for billing process. User have to scan the object in front of webcam and LCD display allows them to add purchased items along with their price and quantity. They can also remove the product fromthe cart and it will be automatically removed. At the end of process, payment can be made online using a QR code or UPI. The Bill will be generated to their respective mail or it will be sent as SMS. User have to register or Log in when they start shopping. Automatic detection is possible without any inspection behind. The model is much portable and does not face any problem in its operation. When compared with the existing methods the processor, display along with its webcam accuracy is much better, it does not require complete continuous guidance and maintenance upon its usage. The need to push the cart has been eliminated as the cart can move along/follow the user autonomously.

关键词： Deep learning Webcams QR codes Inspection Liquid crystal displays Registers Maintenance Internet of Things Faces Postal services

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Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots

Nonlinear Modes as a Tool for Comparing the Mathematical Str...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Pietro Pustina Davide Calzolari Alin Albu-Schäffer Alessandro De Luca Cosimo Della Santina Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Cognitive Robotics Delft University of Technology Delft Netherlands Institute of Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany Department of Informatics Technical University of Munich Garching Germany

Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduced-order models (ROMs), which employ as few DoFs as possible while still accurately capturing the core characteristics of the theoretically infinite-dimensional dynamics. However, there is no quantitative way to measure if the ROM of a soft robot has succeeded in this task. In other fields, like structural dynamics or flexible link robotics, linear normal modes are routinely used to this end. Yet, this theory is not applicable to soft robots due to their nonlinearities. In this work, we propose to use the recent nonlinear extension in modal theory -called eigenmanifolds- as a means to evaluate control-oriented models for soft robots and compare them. To achieve this, we propose three similarity metrics relying on the projection of the nonlinear modes of the system into a task space of interest. We use this approach to compare quantitatively, for the first time, ROMs of increasing order generated under the piecewise constant curvature (PCC) hypothesis with a high-dimensional finite element (FE)-like model of a soft arm. Results show that by increasing the order of the discretization, the eigenmanifolds of the PCC model converge to those of the FE model.

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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Dynamics of the Impact with Benson Friction Model 15th

Dynamics of the Impact with Benson Friction Model

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15th Conference on Acoustics and Vibration of Mechanical Structures, AVMS 2019

作者： Marghitu, Dan B. Cojocaru, Dorian Department of Mechanical Engineering Auburn University AuburnAL36349 United States Department of Mechatronics and Robotics University of Craiova Craiova Romania

ISBN: (纸本)9783030541354

An analytical model for the impact of a rigid link in planar pure rotation with a solid surface is developed. The free end of the link undergoes elastic and elasto-plastic deformations during the compression phase of the impact. The restitution is considered elastic with a permanent deformation. During the impact, a friction force based on Benson model is employed. The differential impact equations are solved for different initial impact incident angle and distinct values of the coefficient of kinetic friction. © 2021, Springer Nature Switzerland AG.

关键词： Deformation

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Real-Time Colonic Disease Diagnosis with DRL Low Latency Assistive Control

Real-Time Colonic Disease Diagnosis with DRL Low Latency Ass...

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IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Abdulrahman Soliman Elias Yaacoub Mohamed Mabrok Nikhil V. Navkar Momen Abayazid Amr Mohamed Department of Computer Science and Engineering Qatar University Qatar Department of Mathematics Statistics and Physics Qatar University Qatar Department of Surgery Hamad Medical Corporation Qatar Department of Robotics and Mechatronics University of Twente Netherlands

ISBN: (数字)9798350307993

ISBN: (纸本)9798350308006

In recent years, there has been a growing interest in endoscope automation and assisted control methods, with the primary objective of minimizing human error and associated stress. One critical challenge in the implementation of assistive control lies in addressing latency issues. Various control modalities, such as feet and eye-based approaches, have been proposed but have limitations such as sensitivity. This study proposes to use head orientation control through a wireless head-mounted display (HMD) with augmented reality (AR) for a robotic arm endoscope. To meet the low latency requirements, we integrate our adaptive deep reinforcement learning (DRL) region of interest (ROI) solution with a machine learning detection and identification model for diagnosing five common colonic diseases. Our implementation results demonstrate that the proposed system achieves responsive control with a latency of 15 ms, a 45 ms communication delay for the colonoscopy camera stream, and an accuracy of 94.2% for the trained diagnosis model. These findings signify a notable improvement in the endoscopy system, with improved control functionality and reduced latency in wireless colonoscopy.

关键词： Wireless communication Wireless sensor networks Sensitivity Endoscopes Colonoscopy Resists Control systems

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Enhancing UAV Safety: Accurate Distance Measurement with YOLOV8-based Measuring Application 8

Enhancing UAV Safety: Accurate Distance Measurement with YOL...

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8th International Conference for Man Machine Systems, ICoMMS 2023

作者： Jack Lee, L. Hazry, D. Muhammad Azizi, A. Abadal-Salam, T.H. Hassan, T.M. Faculty of Electrical Engineering and Technology Universiti Malaysia Perlis Perlis Arau02600 Malaysia Universiti Malaysia Perlis Block E Pusat Perniagaan Pengkalan Jaya Jalan Kangar - Alor Setar Perlis Kangar01000 Malaysia Department of Medical Equipment Technology Engineering College of Engineering Technology Al-Kitab University Kirkuk Iraq Department of Robotics and Mechatronics Engineering Kennesaw State University MariettaGA30067 United States

This article introduces a lightweight and efficient model for measuring applications, aimed at enhancing the current UAV monitoring system. The primary objective of this project is to develop a measuring application capable of determining and displaying the distance between the camera on the UAV and the facial model. The YOLOV8 framework is employed as a detection model to identify and interpret objects within the region of interest. Additionally, the algorithm incorporates the concept of focal length in lenses to calculate the distance between the facial expressions of a human face and the camera. To assess the algorithm's accuracy, facial models were placed at various distances from the camera during testing. The predicted distance values obtained through the algorithm were then compared to the actual measured distances using a measuring tape. The results demonstrated a maximum tolerance of ±0.9 cm, indicating the algorithm's reliable performance in predicting distance measurements. © Published under licence by IOP Publishing Ltd.

关键词： Cameras

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The directional antenna tracker for enhancing range communication between UAVs and Ground Control Station 8

The directional antenna tracker for enhancing range communic...

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8th International Conference for Man Machine Systems, ICoMMS 2023

作者： Aizat, I Muhammad Hazry, D. Azizi, A Muhammad Abadal-Salam, T.H. Hassan, T.M. Faculty of Electrical Engineering and Technology Universiti Malaysia Perlis Perlis Arau02600 Malaysia Universiti Malaysia Perlis Block E Pusat Perniagaan Pengkalan Jaya Jalan Kangar - Alor Setar Perlis Kangar01000 Malaysia Department of Medical Equipment Technology Engineering College of Engineering Technology Al-Kitab University Kirkuk Iraq Department of Robotics and Mechatronics Engineering Kennesaw State University MariettaGA30067 United States

This paper discusses the development of an antenna tracker project focused on evaluating a 2.4 GHz Yagi Uda directional antenna connected to an NRF24L01 transceiver. It employs a gear reduction system for precise yaw and pitch control using two servo motors. The tracker calculates rotation angles using the Haversine formula for coordinates and inverse tangent trigonometry for elevation. Experiments took place in an open area with a stationary Ground Control Station (GCS) and a moving Unmanned Aerial Vehicle (UAV) to assess performance. The experiments comprised three tests: first, GCS without the Yagi Uda antenna or tracker;second, GCS with the Yagi Uda antenna but without the tracker, positioned along a 30-degree angle away from the transmitter;and third, GCS with both the Yagi Uda antenna and the tracker. The UAV gradually moved away from the tracker in 5-meter intervals until data loss occurred. The test results are based on received coordinates, distance, temperature, humidity, and data loss. Among the three tests, Test 3 demonstrates the best outcome, where the Yagi Uda antenna successfully receives data up to 180 meters before experiencing data loss. © Published under licence by IOP Publishing Ltd.

关键词： Rock mechanics

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Computational Intelligence Router of Machine and Artificial Intelligence Learning for the Expansion of Agriculture's Manufacturing Sector 3

Computational Intelligence Router of Machine and Artificial ...

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3rd International Conference on Advance Computing and Innovative Technologies in engineering, ICACITE 2023

作者： Raman, Ramakrishnan Alanya-Beltran, Joel Akram, Shaik Vaseem Shah, Heli Sanjay, P.C. Ponnusamy, R. Symbiosis Institute of Business Management Pune Maharashtra Pune India Universidad Tecnológica Del Perú Peru Uttaranchal University Uttaranchal Institute of Technology India Parul University Mechatronics & Robotics Pit India India Chennai Institute of Technology Department of Computer Science & Engineering India

ISBN: (纸本)9798350399264

The economic sector includes agriculture as a major player. Around the world, the primary issue and hot topic is agriculture automation. As a result of the population boom, there is a huge increase in the need for both jobs and food. Farmers employed traditional techniques, which included insufficient to meet these needs. This led to the introduction of new automated techniques. These innovative techniques supplied the world's food needs while giving billions of people access to jobs. An agricultural revolution has been sparked by artificial intelligence. With the use of this technology, crop yields are now more resistant to many conditions like population increase, climate change, job troubles, and food security concerns. The primary goal of this study is to evaluate the numerous ways artificial intelligence is being used in agriculture, including the use of sensors and other tools built into drones and robots for weeding, spraying, and irrigation. The excessive use of pesticides, herbicides, water, and other resources is reduced by these technologies, and the soil fertility is maintained. They also aid in the effective use of labor, which raises productivity and quality. In order to provide a concise summary of the current state of agricultural automation, including the use of drones and robots for weeding, this study analyses the research of several researchers. Along with two automated weeding strategies, the various ways of soil water sensing are described. This study discusses the use of drones as well as the numerous spraying and crop monitoring techniques that may be utilized with them. © 2023 IEEE.

关键词： Drones

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CNN-based Methods for Object Recognition with High-Resolution Tactile Sensors

arXiv

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arXiv 2023年

作者： Gandarias, Juan M. García-Cerezo, Alfonso J. Gómez-De-Gabriel, Jesús M. Robotics and Mechatronics Group Systems Engineering and Automation Department University of Málaga Escuela de Ingenierías Industriales Málaga Spain

Novel high-resolution pressure-sensor arrays allow treating pressure readings as standard images. Computer vision algorithms and methods such as Convolutional Neural Networks (CNN) can be used to identify contact objects. In this paper, a high-resolution tactile sensor has been attached to a robotic end-effector to identify contacted objects. Two CNN-based approaches have been employed to classify pressure images. These methods include a transfer learning approach using a pre-trained CNN on an RGB-images dataset and a custom-made CNN (TactNet) trained from scratch with tactile information. The transfer learning approach can be carried out by retraining the classification layers of the network or replacing these layers with an SVM. Overall, 11 configurations based on these methods have been tested: 8 transfer learning-based, and 3 TactNet-based. Moreover, a study of the performance of the methods and a comparative discussion with the current state-of-the-art on tactile object recognition is presented. Copyright © 2023, The Authors. All rights reserved.

关键词： Object recognition

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Graphene Oxide Integrated Surface Acoustic Wave Humidity Sensor with Simultaneous Multi-Frequency Operation

Graphene Oxide Integrated Surface Acoustic Wave Humidity Sen...

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： Il Ryu Jang Soon In Jung Chaehyun Ryu Jeonhyung Park Aneeta Padhan Jaesok Yu Hohyun Keum Hoe Joon Kim Department of Robotics and Mechatronics Engineering DGIST Korea Digital Health Care R&D Department Korea Institute of Industrial Technology (KITECH) Korea

Humidity is crucial in agriculture, electronic device fabrication, and climate change. In particular, as the coronavirus outbreak globally spreads, airborne water moisture has been considered the carrier of airborne viruses. Therefore, there is much need to develop accurate and precise humidity sensors to predict and prevent coronavirus transmission. This paper presents the multi-frequency surface acoustic wave (SAW) platform with graphene oxide (GO) decoration for humidity sensing. The novel claims include (1) the localized integration of GO with ng-resolution using an electrospray deposition (ESD) system, (2) highly sensitive and stable sensing performances by selecting proper operating resonant frequency depending on relative humidity (RH) levels, and (3) use of the developed sensor for face mask inspection. Our findings suggest that the multi-frequency SAW ensures high measurement sensitivity over a large RH range, further improving the current state of the resonator-based humidity sensors.

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