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International Conference on mechatronics (ICM)

作者： Wonhyeok Choi Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798331533892

ISBN: (纸本)9798331533908

This paper proposes a generalized dynamics model for a Non-Grounded System (NGS) mounted with a Reaction Force Sensing Series Elastic Actuator (RFSEA), focusing on scenarios where the actuator's base is unfixed and interacts with the ground. In RFSEA-based force control, the actuator base, which provides the necessary reaction force as dictated by Newton's third law, plays a critical role. This study examines how the interaction between the actuator base and the ground it is attached to influences the response of the series elasticity that generates force in the RFSEA. The investigation involves two steps. First, a generalized dynamics model that considers the dynamics between the actuator base and the ground is derived. Second, the Small Gain Theorem (SGT) is applied to evaluate the robustness of force control under load-side model uncertainties when a Force-based Disturbance Observer (FDOB), originally designed for GS, is adapted to NGS. The analysis reveals that force control utilizing FDOB can become unstable when the actuator base is unfixed, and simulations validate these findings.

关键词： Actuators Analytical models Adaptation models Uncertainty Dynamics Force Elasticity Robustness Force control Load modeling

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Graphene Oxide Integrated Surface Acoustic Wave Humidity Sensor with Simultaneous Multi-Frequency Operation 22

Graphene Oxide Integrated Surface Acoustic Wave Humidity Sen...

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22nd International Conference on Solid-State Sensors, Actuators and Microsystems, Transducers 2023

作者： Jang, Il Ryu Jung, Soon In Ryu, Chaehyun Park, Jeonhyung Padhan, Aneeta Yu, Jaesok Keum, Hohyun Kim, Hoe Joon Dgist Department Of Robotics And Mechatronics Engineering Korea Republic of Digital Health Care R&d Department Korea Republic of

ISBN: (纸本)9784886864352

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. © 2023 IEEJ.

关键词： Electrospray deposition Graphene oxide Humidity sensor Surface acoustic wave

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Integrated DOB-Based Approach for Admittance Control of an Industrial Robot 23

Integrated DOB-Based Approach for Admittance Control of an I...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Samuel, Kangwagye Haninger, Kevin Oh, Sehoon Dgist Department of Robotics and Mechatronics Engineering Daegu42988 Korea Republic of Fraunhofer Ipk Department of Automation Berlin10589 Germany

ISBN: (纸本)9788993215274

Admittance control can improve robot performance and robustness in interactive tasks, but is still limited by stability when implemented on low-admittance hardware, such as position-controlled industrial robots. This limits applications which require the payload, reach, or positioning accuracy. While the idealized reference admittance behavior would be stable with any passive environment, real robots can be unstable, especially with high-stiffness environments. Thus, instability comes from deviation from the ideal reference model, due to either inner-loop bandwidth, time-delay, or other model error. To improve accuracy of rendered dynamics and reduce contact forces, a novel integrated disturbance observer-based admittance control method which is implemented on a position/velocity-controlled industrial robot in task space is proposed. The multisensor information is integrated to estimate and cancel the disturbances, outside the position/velocity control loop, all in task space. Experiments on the actual robot show that the proposed method is able to improve accuracy and reduce contact forces even at higher admittance. © 2023 ICROS.

关键词： Industrial robots

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Investigating the Fretting of Steel Surfaces in the Presence of Hybrid Anti-Fretting Paste Containing Talc-Graphite-hBN-Molybdenum Disulfide Solid Lubricants

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-11页

作者： Bhaumik, Shubrajit Krishna, Boddu Anurag Paleu, Viorel Choudhury, Nabajit Dev Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics & ampRobotics Department Mechanical Engineering Department "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania Department of Energy Engineering Assam Science and Technology University Assam Jalukbari Guwahati781013 India

The present work proposes a novel combination of additives dispersed in mineral oil to form a paste that exhibited significant anti-fretting properties as compared to a molybdenum-di-sulfide-containing commercial paste. The proposed paste contained 20 wt% MoS2 apart from 20 wt% talc, 15 wt%. graphite to 10 wt% hBN as additives, and 65 wt% mineral oil. The average mass of the bearing raceway tested with the proposed paste was 0.0063 ± 0.0045 g thus, exhibiting 82% less average mass loss than the bearing raceways tested with commercial paste (0.0354 ± 0.0021 g). Additionally, the machine vision system exhibited 40% fewer false brinelling areas with the proposed paste (0.9400 ± 0.108 mm2) as compared to the commercial paste (1.605 ± 0.822 mm2). Optical microscope images of the false brinelling areas further indicated debris adhesion, plastic deformation, and crack formation during the fretting phenomenon. Furthermore, the Raman spectrograph indicated the deposition of the solid lubricants on the steel surfaces during the fretting tests. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Talc

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New Approaches and Recent Applications of Tensegrity Structures

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Journal of engineering Science and Technology Review 2023年第5期16卷 1-12页

作者： Guacheta-Alba, Juan C. Valencia-Castaneda, Angie J. Dutra, Max Suell Aviles, Oscar F. Mauledoux, Mauricio Robotics Laboratory Mechanical Engineering Department Universidade Federal do Rio de Janeiro Rio de Janeiro21941-914 Brazil Davinci Research Group Mechatronics Engineering Department Universidad Militar Nueva Granada Bogotá111071 Colombia

Tensegrity is composed of structures that are characterized by compressive elements (bars) and tension elements (cables) that work together to transmit and/or withstand forces in an efficient and balanced manner. Their kinetic analysis, design, and control are study topics with various methods still being explored. Furthermore, research and development have been conducted in different areas such as architecture, engineering, biomechanics and robotics, exploring lightweight and resilient tensegrity structures for more flexible and adaptable movements. Tensegrity is a structure increasingly used and studied in different areas, thanks to its ability to transmit forces efficiently and its versatility in the application of designs and solutions in different areas. So, this review presents initial definitions of this area, as well as recent methods and applications that have been developed and are the focus of study for future advances. © 2023 School of Science, IHU. All Rights Reserved.

关键词： Deployable structures Flexible mechanisms Structural analysis Tensegrity Topology

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Advancement in Smart Cane Technology: Enhancing Mobility for the Visually Impaired Using ROS and LiDAR 6

Advancement in Smart Cane Technology: Enhancing Mobility for...

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6th International Conference on robotics and Automation in Industry, ICRAI 2024

作者： Zafar, Saqib Maqbool, Hafiz Farhan Ahmad, Naveed Ali, Arham Moeizz, Abdul Ali, Faizan Taborri, Juri Rossi, Stefano University of Tuscia Department of Economics Engineering Society and Business Organization VT Viterbo01100 Italy University of Engineering and Technology Lahore Department of Mechanical Mechatronics and Manufacturing Engineering Faisalabad Campus Lahore38000 Pakistan National Center of Robotics and Automation Human-Centred Robotics Lab Pakistan

ISBN: (纸本)9798350355703

Visual impairment affects the ability to navigate independently in an unknown environment due to reliance on human/dog assistance, potential miscommunication, and discomfort during mobility. To make the visually impaired (VI) individuals self-reliant and confident in their mobility the proposed system has been developed that contains a light detection and ranging (LiDAR) sensor for obstacle detection and two omni-wheels coupled with the DC gear encoder motors for precise movement in any direction without lifting the cane. Hector Simultaneous Localization and Mapping (SLAM), A, and steering wheel algorithms have been implemented in the robot operating system (ROS) for real-time environment mapping, efficient path planning, and navigating in an unknown indoor static environment, respectively. The Raspberry Pi 3B+ and Arduino Mega 2560 are used in the master-slave configuration for decision-making on path planning and controlling the maneuverability of the system in real-time. The proposed system in the paper is successfully tested on one subject in two indoor environments. The results demonstrate that the system serves as an assistive mobile robot, helping the VI individual to navigate confidently in an unknown environment and reach the destination without assistance. © 2024 IEEE.

关键词： Motion planning

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The Impact of Robots’ Facial Emotional Expressions on Light Physical Exercises 15th

The Impact of Robots’ Facial Emotional Expressions on Lig...

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15th International Conference on Social robotics, ICSR 2023

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

ISBN: (纸本)9789819987146

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. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robotic arms

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Cost-Effective Pressure Glove to Measure Forces & Orientation from a Chiropractor

Cost-Effective Pressure Glove to Measure Forces & Orientatio...

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2023 IEEE International Opportunity Research Scholars Symposium, ORSS 2023

作者： Butler, Carolyn Shah, Iti Kish, Jacob Salman, Muhammad Kennesaw State University Robotics & Mechatronics United States Kennesaw State University Department of Mechanical Engineering United States

ISBN: (纸本)9798350337006

Currently, there is no affordable, everyday use chiropractic force sensor. Devices that are used to teach chiropractic students, such as activators and drop tables, assist students in learning but do not give adequate feedback. Our design will be implementing the cheapest materials to make the most reliable force sensing glove which chiropractors can use for their daily work needs. Materials needed to complete this project include pressure sensors, electrical wires, resistors, a breadboard, Raspberry Pi Pico W, a laptop with Thonny software installed, and an analog to digital converter. Our design of the chiropractic force sensor glove will help reduce the amount of confusion when determining the correct amount of force to apply to a chiropractor's patient. This research will also help to dramatically reduce any severe pain resulting from misplaced forces and pressure applied to chiropractic patients. © 2023 IEEE.

关键词： Pressure sensors

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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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An Enhanced Ensemble-Based Long Short-Term Memory Approach for Traffic Volume Prediction

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Computers, Materials & Continua 2024年第3期78卷 3585-3602页

作者： Duy Quang Tran Huy Q.Tran Minh Van Nguyen Faculty of Civil Engineering Nha Trang UniversityNha Trang650000Vietnam Robotics and Mechatronics Research Group Faculty of Engineering and TechnologyNguyen Tat Thanh UniversityHo Chi Minh City700000Vietnam Department of Civil Engineering Ho Chi Minh City University of Technology and EducationHo Chi Minh City700000Vietnam

With the advancement of artificial intelligence,traffic forecasting is gaining more and more interest in optimizing route planning and enhancing service *** volume is an influential parameter for planning and operating traffic *** study proposed an improved ensemble-based deep learning method to solve traffic volume prediction problems.A set of optimal hyperparameters is also applied for the suggested approach to improve the performance of the learning *** fusion of these methodologies aims to harness ensemble empirical mode decomposition’s capacity to discern complex traffic patterns and long short-term memory’s proficiency in learning temporal ***,a dataset for automatic vehicle identification is obtained and utilized in the preprocessing stage of the ensemble empirical mode decomposition *** second aspect involves predicting traffic volume using the long short-term memory ***,the study employs a trial-and-error approach to select a set of optimal hyperparameters,including the lookback window,the number of neurons in the hidden layers,and the gradient descent ***,the fusion of the obtained results leads to a final traffic volume *** experimental results show that the proposed method outperforms other benchmarks regarding various evaluation measures,including mean absolute error,root mean squared error,mean absolute percentage error,and *** achieved R-squared value reaches an impressive 98%,while the other evaluation indices surpass the *** findings highlight the accuracy of traffic pattern ***,this offers promising prospects for enhancing transportation management systems and urban infrastructure planning.

关键词： Ensemble empirical mode decomposition traffic volume prediction long short-term memory optimal hyperparameters deep learning

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