检索结果-内蒙古大学图书馆

4th International Conference on robotics and Automation in Industry, ICRAI 2021

作者： Nasir, Fazal E Alam, Muhammad Shahab Tufail, Muhammad Khan, Muhammad Tahir University of Engineering And Technology Advance Robotics And Automation Laboratory Peshawar Pakistan Institute of Defense Technologies Gebze Technical University Gebze Turkey University of Engineering And Technology Department of Mechatronics Engineering Peshawar Pakistan

ISBN: (纸本)9781665423434

In this paper, a novel pressure and flow control technique is being applied in a variable rate precision agricultural sprayer. The spraying method used is based on variable rate application (VRA) that uses the solenoid valves on the boom in a direct action mode for chemical treatment of the desire plantation only. This procedure needs the solenoid-valve nozzles (SVNs) on the boom to be operated in varying numbers and combinations depending on the available numbers of targets on the go. The control is based on rejecting the disturbance in pressure caused by varying numbers of activated SVNs. Therefore, maintaining a constant pressure on the boom to keep the flow rate and droplet size uniform at each SVN. Two control techniques, Proportional Integral Derivative (PID) and Cascaded Feedback Control are designed and assisted with the SVNs disturbance model for pressure regulation. The estimated disturbance model compensates for the fluctuations in the pressure in the sprayer's boom. The sprayer performance is evaluated with preliminary experimental results for a 6 SVNs boom sprayer. © 2021 IEEE.

关键词： Solenoid valves

来源：评论

学校读者我要写书评

暂无评论

Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism

Design and Validation of Tunable Stiffness Actuator using So...

引用

IEEE International Conference on Soft robotics (RoboSoft)

作者： Seoyeon Ham Brian Byunghyun Kang Kevin Abishek Hyunglae Lee Wansoo Kim Department of Interdisciplinary Robot Engineering Systems Hanyang University Gyeonggi-do Republic of Korea Neuromuscular Control and Human Robotics Lab. Arizona States University AZ USA Department of Intelligent Mechatronics Engineering Sejong University Seoul Republic of Korea Robotics Department Ansan-si Gyeonggi-do Republic of Korea

This paper presents a tunable stiffness actuator with a soft-rigid combined layer jamming mechanism. The tunable stiffness actuator is aimed to be integrated into an exosuit to prevent ankle sprain and avoid or mitigate the development of chronic ankle instability. The main purpose of the soft-rigid layer jamming mechanism is to produce large stiffness with a small volume and achieve a linear stiffness characteristic. To this end, the actuator is designed to include rigid retainer pieces within the soft silicone layers, and each soft-rigid layer is jammed to induce stiffness changes. To validate the stiffness characteristics of the proposed soft-rigid actuator, a series of experiments were performed and stiffness changes were investigated for varying jamming states from unjammed to fully jammed states. Increasing the number of jamming layer effectively increased the actuator stiffness, which was consistent with expected results from the analytical model. Soft-rigid actuator's stiffness at the fully jammed state was 212.1% and 123.1% higher than the unjammed state for one-side and both sides anchored conditions, respectively. Compared to the soft actuator without the rigid retainer, the soft-rigid actuator exhibited a more linear characteristic (Pearson correlation coefficient = 0.990 and 0.997 for one-side and both sides anchored conditions, respectively). Moreover, the soft-rigid actuator achieved significantly higher stiffness than the soft actuator in all jamming states (at least 41.3% increase in each jamming state). The results suggest a potential use of the tunable stiffness actuator to develop a soft ankle exosuit with highly variable but linear stiffness characteristics.

关键词： Correlation coefficient Actuators Analytical models Composite materials Mechanical cables Soft robotics Jamming

来源：评论

学校读者我要写书评

暂无评论

Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

引用

IEEE/CAA Journal of Automatica Sinica 2021年第11期8卷 1817-1826页

作者： Gaofeng Li Dezhen Song Lei Sun Shan Xu Hongpeng Wang Jingtai Liu Nankai University Tianjin 300350China Humanoids and Human Centered Mechatronics Research Line Italian Institute of Technology16163 GenovaItaly Department of Computer Science and Engineering Texas A&M UniversityCollege StationTexas 77843 USA Institute of Robotics and Automatic Information System Nankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To balance the contradiction between higher flexibility and heavier load bearing capacity,we present a novel deformable manipulator which is composed of active rigid joints and deformable *** deformable link is composed of passive spherical joints with preload forces between socket-ball *** estimate the load bearing capacity of a deformable link,we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable *** yields an important result that the load bearing capacity of a spherical joint only depends on its radius,preload force,and static friction *** further develop a parameter estimation method to estimate the product of preload force and static friction *** experimental results validate our model.80.4%of percentage errors on the maximum payload mass prediction are below 15%.

关键词： Deformable link parameters identification spherical joint with preload force static force-based model

来源：评论

学校读者我要写书评

暂无评论

Development and Validation of a Modular Sensor-Based System for Gait Analysis and Control in Lower-Limb Exoskeletons

arXiv

引用

arXiv 2024年

作者： Marinou, Giorgos Kourouma, Ibrahima Mombaur, Katja Heidelberg University Heidelberg69120 Germany Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany Department of Systems Design Engineering The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada

With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb exoskeletons, utilizing advanced sensor technologies and fuzzy logic. We aim to surpass the limitations of current biomechanical evaluation methods confined to laboratories and to address the high costs and complexity of exoskeleton control systems. The system integrates inertial measurement units, force-sensitive resistors, and load cells into instrumented crutches and 3D-printed insoles. These components function both independently and collectively to capture comprehensive biomechanical data, including the anteroposterior center of pressure and crutch ground reaction forces. This data is processed through a central unit using fuzzy logic algorithms for real-time gait phase estimation and exoskeleton control. Validation experiments with three participants, benchmarked against gold-standard motion capture and force plate technologies, demonstrate our system’s capability for reliable gait phase detection and precise biomechanical measurements. By offering our designs open-source and integrating cost-effective technologies, this study advances wearable robotics and promotes broader innovation and adoption in exoskeleton research. Copyright © 2024, The Authors. All rights reserved.

关键词： Exoskeleton (robotics)

来源：评论

学校读者我要写书评

暂无评论

Digital Fabrication of Bio-Inspired Robotic Modular Systems based on Biomechanics of Inching-Locomotion Caterpillars

Digital Fabrication of Bio-Inspired Robotic Modular Systems ...

引用

Colombian Caribbean Conference (C3), IEEE

作者： José Cornejo Sergio Marquez Sanchez J. Enrique Sierra Francisco Javier Gomez-Gil Ricardo Palomares Alfredo Weitzenfeld Department of Electromechanical Engineering University of Burgos Burgos Spain BISITE Research Group University of Salamanca Salamanca Spain Research Group of Robotics and Mechatronics (GI-ROMA) Professional School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Department of Computer Science and Engineering Biorobotics Laboratory University of South Florida FL USA

Inching-locomotion caterpillars have biomechanical features for good performance in manipulation tasks. This research focuses on the study of kinematic chains in 2 species of the Lepidoptera family. The motion analysis of both was distributed in 8 biomechanical gait steps (BGS) named from t0 to t7 for each one. The engineering design was carried out in 2 stages, the first (2-D) was implemented with the use of CorelDraw and its manufacture in 3 mm thick MDF material, where it was obtained that the system complied with the mechanical configuration of BGS from t0 to t2 and t5 to t7, then, for the second stage (3-D) SolidWorks was used where the parametric modeling was carried out. For the manufacture of the second prototype, the FDM method was used in PLA material, to have resistant parts, for which it was defined to use the Original Prusa i3 MK3S printer. Then, in order to process the STL files, the PrusaSlicer 2.5.0 software was used. In addition, their mechanical configurations comply with BGS from t0 to t3 and t5 to t7. The Geometridae system has a maximum length of 32.5 cm and a weight of 110.53 g and the Plusiinae has a maximum length of 44 cm and a weight of 147.83 g. Finally, the bio-design thinking methodology structured and adapted to each section presented in this work was successfully implemented.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Predicting urban landslides in the hilly regions of Bangladesh leveraging a hybrid machine learning model and CMIP6 climate projections

引用

Geosystems and Geoenvironment 2025年第2期4卷

作者： Islam, Md․ Ashraful Arrafi, Musabbir Ahmed Peas, Mehedi Hasan Hossain, Tanvir Hasan, Md Mehedi Murshed, Sanzida Tania, Monira Jahan Department of Geology University of Dhaka Dhaka Bangladesh Department of Mechanical and Aerospace Engineering University of Dayton OH United States Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh Bangladesh Space Research and Remote Sensing Organization (SPARRSO) Dhaka Bangladesh

Landslides pose significant risks to infrastructure and human lives in cities, exacerbated by climate change. Therefore, a reliable predictive landslide model is crucial for mitigation, especially in resource-limited nations. This study employs hybrid machine learning (ML) techniques and climate projections to predict landslides in the Chattogram development area (CDA) of Bangladesh – a rapidly growing urban city in Bangladesh. The model was trained using diverse geospatial parameters including topographical, hydrological, soil, and geological parameters, along with an updated landslide inventory, enabling spatially explicit predictions of landslide susceptibility. To incorporate future climate scenarios, we utilized the Coupled Model Intercomparison Project Phase 6 (CMIP6) Global Climate Model (GCM), projecting climate impacts under SSP1-2.6 and SSP5-8.5 scenarios for the periods of 2021–2040, 2041–2060, 2061–2080, and 2081–2100, respectively. These scenarios reflect different pathways of greenhouse gas emissions, providing a range of possible future climate conditions. We tested six ML classifiers: random forest (RF), extra trees (ExT), support vector machine (SVM), logistic regression (LR), Bernoulli Naïve Bayes (bNB), and K-nearest neighbor (KNN). Each base model demonstrated high accuracy (>90 %) but combining them improved both accuracy and computational efficiency. The LR-bNB hybrid model outperformed all others, effectively mapping landslide susceptibility in the study area for the current timeframe and future projections. Our results revealed significant variability in landslide-prone areas across the area, with 12 % of the region categorized as high to very high risk, a figure that slightly rises with predicted increased rainfall due to climate change. The present study demonstrates the efficacy of a hybrid ML model for nowcasting as well as forecasting landslide susceptibility under future climate scenarios. These findings offer valuable insights for proa

关键词： Bangladesh Climate change Disaster risk reduction Landslide Landslide mapping Machine learning

来源：评论

学校读者我要写书评

暂无评论

Analysis and Design Optimization of Surface Permanent Magnet Motor to Improve Torque Density and Ripple

Analysis and Design Optimization of Surface Permanent Magnet...

引用

International Conference on Power Electronics (ICPE)

作者： Yussuf Shakhin Kulash Talapiden Nguyen Gia Minh Thao Mehdi Bagheri Ton Duc Do Department of Robotics and Mechatronics School of Engineering and Digital Sciences (SEDS) Nazarbayev University Astana Kazakhstan Graduate School of Engineering Toyota Technological Institute Japan Department of Electrical and Computer Engineering School of Engineering and Digital Sciences (SEDS) Nazarbayev University Astana Kazakhstan

Small-scale permanent magnet motor to reach high torque density and low torque ripple is discussed in this research. To increase the torque density, meanwhile making the motor size smaller and lighter, the motor axial length within a constrained diameter is optimized in view of various pole-slot configurations. Different slot-poles are selected and various combinations are studied, and the stator windings are optimized. To compare the torque density and ripple of new designs, precise models are created and simulated through ANSYS Maxwell 2D FEA under constant operational conditions, such as rated speed, torque, and power. Over the new designs, the influence of loss and temperature distribution variations in motor elements are analyzed. The simulation results show that the proposed 20-pole 18-slot motor design will obtain superior torque density and lower torque ripple compared to the baseline design. The final design provides a 30.7 % improvement of the torque density within the same rated torque condition.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots

Extensions to Dynamically-Consistent Collision Reaction Cont...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Marie Harder Maged Iskandar Jinoh Lee Alexander Dietrich German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling Germany Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

Since modern robots are supposed to work closely together with humans, physical human-robot interaction is gaining importance. One crucial aspect for safe collaboration is a robust collision reaction strategy that is triggered after an unintentional physical contact. In this work, we propose a dynamically-consistent collision reaction controller, where the reactive motion is performed in one particular desired direction in Cartesian space, without disturbing the remaining ones. This results in more intuitive and more predictable behavior of the end-effector. In addition, the proposed reaction control law is independent of contact and internal observer dynamics used for collision detection. The theoretical claims are validated in simulation and experiments. The proposed reaction controller is experimentally compared with a conventional approach for collision reaction. All experiments have been conducted on a torque controlled KUKA LWR IV + lightweight robot.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robot-assisted Social Narratives for Children with Diverse Developmental Conditions: A Pilot Study

Robot-assisted Social Narratives for Children with Diverse D...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Aida Amir Nurziya Oralbayeva Nurbanu Zhenissova Zhansaule Telisheva Aida Zhanatkyzy Ilyas Issa Alina Kontorbayeva Sultan Kuat Aizhan Yermek Anara Sandygulova Graduate School of Education Nazarbayev University Astana Kazakhstan Department of Mechanical and Aerospace Engineering School of Engineering and Digital Sciences Astana Kazakhstan Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan Department of Computer Science School of Engineering and Digital Sciences Astana Kazakhstan Astana Medical University Astana Kazakhstan

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Social Narratives (SNs) have shown promising benefits for helping children navigate diverse social situations. The use of SNs in Robot-Assisted Play (RAP) can offer creative ways to address social and communication challenges of children with functional needs. In this study, we evaluate the initial use of social stories in robot-assisted therapy to help 17 children with diverse conditions such as Down Syndrome (DS), Autism Spectrum Conditions (ASC), and speech disorders (SD) understand and act on real-world situations while interacting with the social robot Furhat. We developed educational stories based on six common professions to show how each professional works and interacts with people. We conducted a user study as part of their daily intervention in a rehabilitation center over two weeks. Overall results demonstrate that there were no significant differences in socio-emotional outcomes among children grouped by their diagnosis, age, and other characteristics. However, their communication skills played a significant role in their performance; in particular, children with verbal abilities had higher completion time in activities compared to their non-verbal counterparts. This result was supported by two therapists who reported higher engagement with the robot among verbal children. We suggest that the SN-inspired intervention could be used to support children with diverse special needs, without causing any negative impacts on their learning.

关键词： Autism Navigation Social robots Medical treatment

来源：评论

学校读者我要写书评

暂无评论

Comparison of Object Detection Technique for Applications in ETAT Automation Training Set

Comparison of Object Detection Technique for Applications in...

引用

International Conference on Information Technology (INCIT)

作者： Karin Kosiyanurak Pongpat Singsri Soontaree Seangsri Sommart Promput Department of Mechatronics and Robotics Engineering School of Engineering and Innovation Rajamangala University of Technology Tawan-ok Chonburi Thailand Department of Information and Communication Technology Faculty of Science and Technology Rajamangala University of Technology Tawan-ok Chonburi Thailand

Object detection is a type of artificial intelligence (AI) that is currently being developed and used widely. It can classify and detect objects in images or videos. This research aims to investigate object detection that is suitable and accurate for detecting the color of the workpieces in the training set. This study will experiment comparison of three object detection models: 1. OpenCV Python code via the Thonny software. Using the BGR color separation principle, the range of color values must be specified so that the model can separate different colors. 2. V4-tiny and 3. V7-tiny are models that use model training principles in the CiRA-CORE Platform. In this study, 1,271 images of workpieces processed with the Augmentation Technique were utilized to train the model. and 240 images for testing the model. To analyze of find a suitable and accurate model for detecting the color of workpieces Because light is important in visual or object detection in real-time this study divided the experiment into two conditions: LED Lighting and without LED Lighting. The results showed that V7-tiny is an object detection model that can detect the color of the target in both lighting conditions. The V7-tiny model has an accuracy of 97.92%.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：