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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Chinmay Samak Tanmay Samak Venkat Krovi Department of Automotive Engineering Automation Robotics and Mechatronics Laboratory (ARMLab) Clemson University International Center for Automotive Research (CU-ICAR) Greenville USA

Modern-day autonomous vehicles are increasingly becoming complex multidisciplinary systems composed of mechanical, electrical, electronic, computing and information subsystems. Furthermore, the individual constituent technologies employed for developing autonomous vehicles have started maturing up to a point, where it seems beneficial to start looking at the synergistic integration of these components into sub-systems, systems, and potentially, system-of-systems. Hence, this work applies the principles of mechatronics approach of system design, verification and validation for the development of autonomous vehicles. Particularly, we discuss leveraging multidisciplinary co-design practices along with virtual, hybrid and physical prototyping and testing within a concurrent engineering framework to develop and validate a scaled autonomous vehicle using the AutoDRIVE Ecosystem. We also describe a case-study of autonomous parking application using a modular probabilistic framework to illustrate the benefits of the proposed approach.

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Quantized Periodic Event-triggered Control for LTI Systems with 1-bit Data Transmission

Quantized Periodic Event-triggered Control for LTI Systems w...

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European Control Conference (ECC)

作者： Mahmoud Abdelrahim Dhafer Almakhles Abdalla Swikir Renewable Energy Laboratory College of Engineering Prince Sultan University Riyadh Saudi Arabia Department of Mechatronics Engineering Assiut University Assiut Egypt Munich Institute of Robotics and Machine Intelligence München Germany

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper presents a novel framework for periodic event-triggered control (PETC) coupled with dynamic quantization for linear systems. Unlike traditional time-driven control methods, our approach leverages event-based mechanisms to judiciously update control actions, thus minimizing computational load and network traffic. We introduce a two-level dynamic quantizer for encoding feedback information with a single bit, thereby enhancing resource efficiency. The proposed PETC mechanism decides the transmission instants based on the quantized output samples. The resulting system is modeled as a hybrid dynamical system to capture both continuous and discrete dynamics. Sufficient conditions for ensuring the stability of the closed-loop system are presented in the form of a linear matrix inequality. Through numerical simulations, we demonstrate that our approach captures the initial output within a finite time and significantly reduces data transmissions compared to traditional methods. This paper makes key contributions in the integration of dynamic quantization with PETC, leading to resource-efficient and stable control systems.

关键词： Linear systems Sufficient conditions Quantization (signal) Telecommunication traffic Dynamic scheduling Stability analysis Numerical models

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Case Study of Supplementary PMSM for Low-Speed Wind Turbine 18

Case Study of Supplementary PMSM for Low-Speed Wind Turbine

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18th International Scientific Technical Conference Alternating Current Electric Drives, ACED 2021

作者： Poliakov, Nikolai Vorobev, Konstantin Demidova, Galina Rassolkin, Anton Ramensky, Dmitry Faculty of Control System and Robotics ITMO University Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia Zubax Robotics Tallinn Estonia

ISBN: (纸本)9781665412483

In the last decades, the renewables market is focused on distributed grids and solutions suitable for private use in households. A low-speed wind turbine based on the Magnus effect is one of the promising technologies in that area. By its construction, for the power management, Magnus effect-based wind turbine requires additional motors to control the rotational speed of the blades. An integrated motor-drive system for Unmanned Autonomous Vehicles (UAVs) matching the requirements in terms of weight, size, rotational speed, and controllability. In this case study, an application of the permanent magnet synchronous motor (PMSM) designed for UAVs in a Magnus effect-based wind turbine prototype is presented. The control system design methodology is presented, and the performance of the system is experimentally evaluated. © 2021 IEEE.

关键词： Wind turbines

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Quantifying Joint Movement Variability in Healthy and Hemiplegic Gait using OpenSim

Quantifying Joint Movement Variability in Healthy and Hemipl...

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Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI), IEEE Conference on

作者： Tabassum Rafiq Sadia Younis Jyotindra Narayan Department of Biotechnology Institute of Information Management and Technology Aligarh Uttar Pradesh India Department of Biomedical Engineering Government College of Engineering and Technology Ganderbal Jammu and Kashmir India Department of Mechanical Engineering Mechatronics and Robotics Laboratory Indian Institute of Technology Guwahati Guwahati Assam India

This study delves into the scaling capabilities of OpenSim, a biomechanical modeling tool, to scrutinize musculoskeletal alterations accompanying the hemiplegic condition compared to a healthy model. Contralateral hemiplegia (CH), characterized by unilateral paralysis, induces profound changes in bone size and significantly influences an individual’s gait. Motivated by understanding the biomechanical repercussions of CH on human movement, we conducted a comprehensive investigation involving ten patients with CH, with a median age of 46 years (range: 39 to 52.0 years and height: 1.75 0.6 m). Ten healthy controls with similar body attributes were±also recruited. We assessed musculoskeletal changes post-CH using bone length data from MRI reports obtained from a hospital. Inverse kinematics in OpenSim are facilitated for a detailed comparison of joint angles between unhealthy and healthy individuals. The gait data is visualized and analyzed using statistical metrics such as mean absolute deviation, box plots, and a two-sample t-test. The results revealed significant differences in hip and ankle joint angles between healthy and hemiplegic individuals, underscored by low p-values. Interestingly, no significant difference was observed in knee joint angles (p-value = 0.9126). These findings contribute to a valuable understanding of hemiplegia-related musculoskeletal changes, offering potential avenues for tailored interventions to improve mobility and quality of life.

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A preclinical system for enhancing the efficiency of microwave breast cancer hyperthermia therapy using dielectric matched layer and convex lenses

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Progress In Electromagnetics Research C 2021年 109卷 153-168页

作者： Abdel-Haleem, Maha R. Abouelnaga, Tamer Ahmed, Sabah M. Abo-Zahhad, Mohammed Department of Electronics and Communications Engineering Egypt-Japan University of Science and Technology Alexandria21934 Egypt Department of Microstrip Circuits Electronics Research Institute Giza Cairo12622 Egypt Department of Electronics and Communication Engineering Higher Institute of Engineering and Technology Kafrelsheikh Egypt Department of Mechatronics and Robotics Engineering E-JUST-Alexandria 21934 Egypt Department of Electronics and Electrical Engineering Faculty of Engineering Assiut University Assiut Egypt

—Convex lenses can be used in adjuvant with microwave sources to produce appropriate focus spots for breast cancer hyperthermia therapy. A preclinical system was assessed using a horn antenna together with a convex lens. The horn antenna was built to accommodate the lens size so as to minimize wave spillover. Here, a modified hyperthermia system was tested on a hemisphere phantom of scattered fibro glandular breast tissue with cancer stages I & II. The focus spots were at different locations and depths (up to 2.7 cm) under the skin layer. Transmission and reflection coefficients at the air-breast phantom interface were calculated to determine the best operating frequency (2.45 GHz) for efficient power absorption. Based on these computations, an external dielectric matched layer was added onto the skin of the breast phantom to decrease reflection that would occur between water and skin. This arrangement increased wave transmission inside the breast without increasing applicator input feed. The system could heat regions of tumor at various locations independently using only one applicator. The whole system was fabricated, and measurements were taken to validate the simulated and analytical results. © 2021, Electromagnetics Academy. All rights reserved.

关键词： Hyperthermia therapy

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Non-Intrusive LiDAR Protection Module Emulating Bio-Inspired Wiping Motion for Outdoor Unmanned Vehicles

Non-Intrusive LiDAR Protection Module Emulating Bio-Inspired...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Youngrae Kim Seunghyun Lim Lee Hanmin Seokchan Kim Ji-Chul Kim Dongwon Yun Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu South Korea Department of Smart Industrial Machine Technologies Korea Institute of Machinery and Materials (KIMM) Daejeon South Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper, we have developed a protection module for Light Detection and Ranging (LiDAR) sensors used in outdoor unmanned vehicles. Bio-inspired wiping motion was figured to have more efficient and excellent wiping performance than conventional cleaning methods for LiDAR sensors. An water wiping experiment confirmed that the finger wiping motion removed 35% more water than the translational wiping motion. Also, the theoretical analysis for the existence of an optimal rotational speed at maximum wiping performance was verified to be consistent with the experiment. The LiDAR distortion experiment results demonstrated no data distortion, showing an average error of up to 0.40% for detecting obstacles even when the acrylic cover rotates. Finally, a contamination protection experiment was conducted for water, powder, soil, and mud. As a result, although there was a change in the number of pointcloud and a decrease in the intensity of the sensor data after contamination, it was validated that the number of pointclouds and average intensity of data could be restored to at least 97% and 67% after being cleaned.

关键词： Laser radar Fingers Soil Distortion Cleaning Water pollution Sensors

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The Impact of Robots’ Facial Emotional Expressions on Light Physical Exercises

arXiv

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arXiv 2023年

作者： Abdulazeem, Nourhan Hu, Yue Active & Interactive Robotics Lab Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L3G1 Canada

To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the cognitive and physical well-being of older adults. Previous studies have shown that facial expressions can increase engagement when interacting with robots. This study aims to investigate how older adults perceive and interact with a robot capable of displaying facial emotions while performing a physical exercise task together. We employed a collaborative robotic arm with a flat panel screen to encourage physical exercise across three different facial emotion conditions. We ran the experiment with older adults aged between 66 and 88. Our findings suggest that individuals perceive robots exhibiting facial expressions as less competent than those without such expressions. Additionally, the presence of facial expressions does not appear to significantly impact participants’ levels of engagement, unlike other state-of-the-art studies. This observation is likely linked to our study’s emphasis on collaborative physical human-robot interaction (pHRI) applications, as opposed to socially oriented pHRI applications. Additionally, we foresee a requirement for more suitable non-verbal social behavior to effectively enhance participants’ engagement levels. Copyright © 2023, The Authors. All rights reserved.

关键词： Robotic arms

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Financial Forecasting Through Hybrid Algorithms of Machine Learning & Deep Learning 3

Financial Forecasting Through Hybrid Algorithms of Machine L...

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

作者： Raman, Ramakrishnan Kafila Gehlot, Anita Shah, Heli Sanjay, C.P. Ponnusamy, R. Institute of Business Management Maharashtra Pune India SR University School of Business Telangana Warangal India Uttaranchal University Uttaranchal Institute of Technology India Parul University Mechatronics & Robotics PIT India Sri Balaji University Department of IT& Business Analytics SBUP Pune India Chennai Institute of Technology Department of Computer Science & Engineering India

ISBN: (纸本)9798350399264

This article serves as a primer where integration of different techniques related to machine learning in the realm of economic prediction, planning, and analysis (FP&A). With its ability to extract insights quickly and automatically from massive datasets, machine learning looks to be a natural fit for supporting FP&*** this article, we highlight the caveats of utilizing classic machine learning approaches for scheduling and data allocation, since most of these methods are designed for forecasting (prediction) (causal inference). Newly designed double machine cognitive approach may answer causal concerns of interest, although naïve use of machine learning often fails in this context. In this paper, we survey the existing literature on the use of machine learning to financial planning and analysis, and we utilize a case study from the field of simulation research to demonstrate the utility of this technique for both decision making and planning. We also look at how better predicting and planning may be achieved with more data sets. © 2023 IEEE.

关键词： Data mining

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Web Based Lidar Point Cloud Visualization and Teleoperation Tool for Robots

Web Based Lidar Point Cloud Visualization and Teleoperation ...

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International Conference on Computing and Networking Technology (ICCNT)

作者： Suraj Nukala Midori Sugaya Seenu Nagarajan Department of Mechatronics Engineering Hindustan Institute of Technology and Science Chennai Tamil Nadu India Department of Computer Science Shibaura Institute of Technology Tokyo Japan Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai 603103 Tamil Nadu India

This paper presents the development of a teleoperation system designed for remote control of a ROS robot over the internet. While existing visualization tools like rvis are limited to the host system or local area network, this system aims to overcome those constraints. The system's primary objectives are remote motor control and lidar data visualization using point cloud and camera data, and it is compatible with any ROS system, tested with ROS2 *** system meets the following requirements:*** ability to work over the *** ability to visualize lidar and camera *** ability to control *** achieve this, the system relies heavily on ROSBridge, which is a ROS node that exposes ROS communication channels such as topics, services, and activities out to the internet using websockets. This enables any client to subscribe and publish data to and from the ROS communication *** user interface of envious incorporates various interactive elements, including the camera feed, motor controllers, and lidar data visualization. These components are implemented using roslibjs, react, and react three fiber, which leverages webgl and threejs libraries to create an abstraction layer for seamless integration with the web *** leveraging ROSBridge and modern web technologies, the proposed system offers the ability to control motors and visualize lidar and camera data remotely over the internet. It provides a user-friendly interface for interacting with the ROS system, facilitating teleoperation of robots from any location with an internet connection. This system expands the capabilities of ROS beyond local networks, opening up new possibilities for remote robotics applications and *** the capabilities of this system would opens up a world of exciting applications, one of which is a swarm mapping system that takes leverage of multiple interconnected robots to collaboratively map and explore an area

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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

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IEEE Transactions on robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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