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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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Achieving of magnus effect with agros suite

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2021年第2期65卷 131-137页

作者： Lukin, Aleksandr Demidova, Galina Rassõlkin, Anton Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia Department of Electrical Power Engineering and Mechatronics School of Engineering Tallinn University of Technology 5 Ehitajate tee Tallinn19086 Estonia

When the rotating body gets into the ambiance flow appears the lifting force, called Magnus Effect. That lifting force may be controlled by changing the revolution speed of the body. That phenomenon uses in many engineering applications like wind turbines and marine ships. In this paper, the Magnus Effect simulation is achieved with Agros Suite, a multiplatform application for the solution of physical problems. The article presents the nature of the Magnus Effect and discusses possible applications in engineering. The research question is focused on demonstrating the Magnus Effect with Agros Suite and evaluating the computational power of the personal computer that runs the simulation. The simulation is made keeping in mind the possible application of the Agros Suite tools for Magnus-Effect-based wind generator control algorithms optimization. The simulation result analysis shows that Agros Suite is a reliable tool in accessing and simulation of such phenomena. © 2021 Budapest University of Technology and Economics. All rights reserved.

关键词： Personal computers

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Generating Realistic Sound with Prosthetic Hand: A Reinforcement Learning Approach

Generating Realistic Sound with Prosthetic Hand: A Reinforce...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Taemoon Jeong Sankalp Yamsani Jooyoung Hong Kyungseo Park Joohyung Kim Sungjoon Choi Department of Artificial Intelligence Korea University Seoul Korea Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign Champaign IL USA Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DG-IST) Daegu South Korea

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

In this study, we tackle the complex task of enabling prosthetic hands to accurately reproduce sounds, a crucial aspect for distinguishing between different materials through auditory feedback. Sound identification, such as discerning a drywall tap from that on a brick wall, significantly enhances the functionality and user experience of prosthetic devices. However, achieving this level of auditory feedback in prosthetic hands poses considerable challenges. We utilize reinforcement learning (RL) techniques to train prosthetic hands in emulating human-like sound characteristics, focusing on key auditory signals like amplitude and onset timing. Our approach integrates a detailed analysis of these sound attributes to direct the prosthetic hand’s movements for the sound generation that mimics natural human actions. We developed a tailored reward function incorporating amplitude, onset strength, and timing criteria to ensure the prosthetic hand’s movements align closely with the intended human-like sound output.

关键词： MIMICs Focusing Reinforcement learning User experience Timing Object recognition engineering in medicine and biology Prosthetic hand

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Machine Vision based automated 3-DOF Articulated Robot for fruit defect Identification and Segregation

Machine Vision based automated 3-DOF Articulated Robot for f...

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International Conference on Computing and Networking Technology (ICCNT)

作者： Ramkumar S Kanagaraj Venusamy Eswaran A N. Jeevitha G. Ramyapriya S. Kannadhasan Department of Robotics and Automation Rajalakshmi Engineering College Chennai India Department of Mechatronics Engineering Rajalakshmi Engineering College Chennai India Department of Electrical and Electronics Engineering Roever Engineering College Perambalur India Department of Electronics and Communication Engineering Study World College of Engineering Chennai India

The automation scenario in the current industrial as well as domestic applications has seen an exponential growth over the decade. Robot plays an important role in industrial automation but in some cases, it needs some extent of human intervention in quality inspection. This paper focuses on solving problems related to defect identification and segregation of fruits using 3-DOF articulated robot configuration with the integration of machine vision system and deep learning algorithms. To perceive the features of object, A USB camera is utilized. The machine vision algorithm will next use a variety of methods for processing digital images to extract the relevant data and decide whether to continue processing the product, redirect it to a different stage of production, or just throw it away. In recent days, the advancement in deep learning leads to the phenomenal growth in computer vision. There are many state-of-the-art object detection algorithms available in deep learning technology and we are using Inception-V3 algorithm that can be used for the machine vision operation in our solution. Based on the results from the algorithm, segregation operation is carried out successfully.

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