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Algorithm for Deriving Position Measurement Based on Automatically Saved Image Matching

Transactions of the Korean Institute of Electrical Engineers 2025年第3期74卷 491-499页

作者： Hwang, Dong-Yun Seo, Kyeong-Wook Lee, Min-Ho Kim, Yong-Hun Song, Jin-Woo Dept. of Artificial Intelligence and Robotics Sejong University Korea Republic of Dept. of Intelligent Mechatronics Engineering Sejong University Korea Republic of

In this paper, we propose an algorithm that equips a drone with a monocular camera and a laser range finder to derive position measurements for smooth mission execution and return to the home position, even in situations where GNSS is not available. This algorithm stores images and create an orthoimage when GNSS is available, and from the time the GNSS signal is lost, it matches the current image with the database image based on image feature point matching to determine the drone's current location and to employ return to home mission. We validated the algorithm with data acquired from actual drone flights and confirmed that the proposed algorithm could be used practically and effectively with sufficient accuracy for return to home mission. © The Korean Institute of Electrical Engineers.

关键词： Drones

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Optimal Design of Parallel Elastic Actuators for Minimizing Required Torque and Power: Comparison with Series Elastic Actuators 50

Optimal Design of Parallel Elastic Actuators for Minimizing ...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Shin, Kyeongsik Oh, Sehoon Dept. Robotics and Mechatronics Engineering DGIST Daegu Korea Republic of

ISBN: (纸本)9781665464543

This paper proposes an optimal design methodology for Parallel Elastic Actuators (PEAs) that minimizes torque and power consumption for tasks with external conditions. Furthermore, the paper advocates for selecting an actuator based on a comparison of the dynamic characteristics of PEAs and Series Elastic Actuators (SEAs) for a specific task. However, the design of actuators may need to vary depending on the task and application, but the criteria for this are often unclear. To address the ambiguous design criteria, we analyze the dynamic characteristics of PEAs and SEAs under external conditions and utilize them for optimal design. By formulating cost functions for various tasks, we identify the most suitable actuator design for each task. This study establishes criteria for designing PEAs for tasks with external conditions and proposes a general framework for PEA design optimization. © 2024 IEEE.

关键词： Cost functions

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FFT-UAVNet: FFT Based Human Action Recognition for Drone Surveillance System 5

FFT-UAVNet: FFT Based Human Action Recognition for Drone Sur...

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5th International Conference on Sustainable Technologies for Industry 5.0, STI 2023

作者： Chowdhury, Abdul Monaf Imran, Ahsan Hasan, Md Mehedi University of Dhaka Dept. of Robotics and Mechatronics Engineering Bangladesh

ISBN: (纸本)9798350394290

Unmanned aerial vehicles (UAVs) have emerged as a transformative technology for human action recognition, providing a birds-eye view and unlocking new possibilities for precise and comprehensive support in surveillance systems. While substantial advances in ground-based human action recognition have been achieved, the unique characteristics of UAV footage present new challenges that require tailored solutions. Specifically, the reduced scale of humans in aerial perspectives necessitates the development of specialised models to accurately recognize and interpret human actions. Our research focuses on modifying the well-established C3D model and incorporating Fast Fourier Transform (FFT)-based object disentanglement (FO) and space-time attention (FA) mechanisms. By leveraging the power of FFT, our model effectively disentangles the human actors from the background and captures the spatio-temporal dynamics of human actions in UAV footage, enhancing the discriminative capabilities and enabling accurate action recognition. Through extensive experimentation on a subset of the UAV-Human dataset, our proposed FFT-UAVNet (m-C3D+FO&FA+FC) model demonstrates remarkable improvements in performance. We achieve a Top-1 accuracy of 64.86% and a Top-3 accuracy of 83.37%, surpassing the results obtained by the standard C3D and X3D methods, which achieve only a Top-1 accuracy of 28.05% and 31.33%, respectively. These findings underscore the efficacy of our approach and emphasize the significance of the proposed model for UAV datasets in maximizing the potential of UAV-based human action recognition. © 2023 IEEE.

关键词： Computer vision

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Development of Hovering Personal Mobility Device and Its Dynamics 26

Development of Hovering Personal Mobility Device and Its Dyn...

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26th International Conference on mechatronics Technology, ICMT 2023

作者： Song, Bongsub Ju, Insung Choi, Sunghyun Yun, Dongwon Dept. Robotics and Mechatronics Engineering Dgist Daegu Korea Republic of

ISBN: (纸本)9798350381429

Recent advances in control units and innovations in battery technology have greatly improved the accessibility of personal mobility, also known as personal mobility. However, most of the personal mobility developed to date utilizes motorized wheels as the primary propulsion source. This approach is limited by the fact that the mobility capability of the device is heavily constrained by the road surface conditions. In this paper, we propose a new form of personal mobility to address these issues. We devised an air cushion-based personal mobility to extend the range of personal mobility devices and reduce their dependence on road conditions. This novel mobility system supports the weight of the system and its occupants through air cushions, and it allows for vector control of the direction of propulsion through individual cushions acting independently. This unique structure is able to overcome the road surface constraints faced by motorized wheel-based personal mobility by floating off the ground. This will enable personal mobility to be effectively utilized in a wider range of environments and situations. © 2023 IEEE.

关键词： Roads and streets

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Towards Autonomous Robotic Grasping: 3D Point Cloud Analysis with Stereo Cameras in Unpredictable Environments

Towards Autonomous Robotic Grasping: 3D Point Cloud Analysis...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Patel, Shrey Kovarovics, Aiden More, Aaditya Chun, Carrington Fletcher, Montreal Tanveer, M. Hasan Chakravarty, Sumit Voicu, Razvan Kennesaw State University Dept. of Robotics & Mechatronics Engineering Marietta United States Kennesaw State University Dept. of Electrical and Computer Engineering Marietta United States

ISBN: (纸本)9798331504847

Current robotic arm systems typically depend on pretrained models or function within controlled environments using known positions or fiducial markers for object manipulation. Although these methods achieve high accuracy, they face limitations due to lengthy training processes and the need for carefully controlled setups. This research introduces a methodology that leverages stereo cameras to develop a generalized algorithm aimed at overcoming these constraints and enhancing robotic manipulation in uncontrolled environments. The proposed solution utilizes an Intel RealSense stereo camera in conjunction with YOLO segmentation models for initial object identification. It combines segmentation meshes with the camera's dept. values to create a detailed three-dimensional point cloud of the target object's surface. This point cloud is analyzed through Random Sample Consensus (RANSAC) and geometry-based feature extraction techniques, which allow the algorithm to approximate the object's shape as a combination of fundamental 3D forms, such as cuboids, cylinders, and spheres. A grasp point is then estimated by identifying suitable surfaces for grasping with a two-pronged gripper, followed by calculating an optimal approach angle and position kinematics for the robotic arm. This innovative approach enables robotic arm systems to autonomously adapt to various objects in uncontrolled environments, significantly expanding their practical applications. For example, the methodology could support modular robotic systems designed for sample collection in extraterrestrial missions, where adaptability and autonomous operations are essential. Ultimately, this research aims to enhance the efficiency and capabilities of robotic systems in dynamic and unpredictable settings. © 2025 IEEE.

关键词： Robotic arms

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Robotic Device for Active-Passive Mechanotherapy of the Ankle Joint

Robotic Device for Active-Passive Mechanotherapy of the Ankl...

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2024 International Conference on Industrial engineering, Applications and Manufacturing, ICIEAM 2024

作者： Safarov, Jamil Tistsov, Egor Jatsun, Sergey Azerbaijan Technical University Dept. Of Chemical And Metallurgical Engineering Baki Azerbaijan South-West State University Dept. Of Mechanics Mechatronics And Robotics Kursk Russia

ISBN: (纸本)9798350395013

This paper describes the design and control system of a robotic device for active-passive mechanotherapy of the ankle joint. The paper raises the question of the importance of these developments in modern rehabilitation, provides examples of work in this area, and also indicates the difficulties in organizing a control system for such a device, due to the spasticity and musculoskeletal contracture of the ankle joint, as well as the general uncertainty and individuality of the muscular system of the ankle joint during rehabilitation. The paper describes the design of the device, the location of the measuring modules, and the operating principle of the adaptive control system for this device. Data obtained during experimental studies are also presented and the influence of various factors during rehabilitation procedures on the behavior of the musculoskeletal system is described. This paper describes the mathematical modeling of the behavior of this system, and indicators of the stiffness and viscosity of the musculoskeletal system are derived, allowing the adaptation of device control algorithms. © 2024 IEEE.

关键词： Musculoskeletal system

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Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) Micropositioner with Large Workspace 26

Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) M...

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26th International Conference on Computer and Information Technology, ICCIT 2023

作者： Das, Tilok Kumar Shahrear, Rifat Shirinzadeh, Bijan Dept. of Mechanical Engineering Chattogram Bangladesh Monash University Robotics and Mechatronics Research Laboratory Dept. of Mechanical and Aerospace Engineering Melbourne Australia

ISBN: (纸本)9798350359015

This paper presents a piezo-based compliant planer 3-DOF micropositioning stage for decoupled large workspace of the platform. Three piezoelectric actuators inside three double-stairs bridge-type mechanisms were used to drive the output platform in XY? directions. A-3PPR type kinematic chain has been oriented parallelly in such a way to have a rotational symmetry about the centroid. Two different types of prismatic flexure joints with a passive rotary flexure joint were utilized in each kinematic chain. The proposed design focused on the redundancy of the cross-axis coupling effect from the other axes during directional movements. To evaluate the performance, Finite Element Analysis (FEA) has been conducted. The decoupled 3-DOF micropositioning stage is able to maintain the maximum parasitic motion of 0.05% and 1.95 % in the Y and ? directions of their respective directional working range. So, the effect of cross-coupling motion during directional movement can be presumed to be less in this case. Further, the FEA results show that the micropositioning stage has a large work envelope of ±271.1 µm × 235 µm × ± 6.0352 mrad. Moreover, the evaluation of the dynamic characteristics predicts that out-of-plane motion will be less likely to occur. Thus, the 3-DOF micropositioning stage can provide a unidirectional decoupled large range of motions. © 2023 IEEE.

关键词： Compliant mechanism Cross-coupling effect Decoupling Finite Element Analysis (FEA) Planer motion

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A Top-View Hand Gesture Recognition System for IoT Applications 5

A Top-View Hand Gesture Recognition System for IoT Applicati...

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5th International Conference on Smart Systems and Inventive Technology, ICSSIT 2023

作者： Wisener, William J. Rodriguez, Jorge Diaz Ovando, Ammy Woolford, Christopher Patel, Kishan Kennesaw State University Dept. of Robotics and Mechatronics Engineering Department of Physics AtlantaGA United States

ISBN: (纸本)9781665474672

Gesture recognition integrated into Internet of Things (IoT) systems is a growing field with opportunities for improvement. Identifying hand gestures from vertical angles with a cooperative network of cameras can enable a broader collection of control methods for controlling IoT devices within residential and commercial environments. Integrating this smart home framework with other IoT control methodologies also creates a more user-friendly experience. To generate a proof of concept of the effectiveness with this control framework, a convolutional neural network was created using the YOLOv7 deep learning architecture and Roboflow software. This image detection network was connected to a simulated IoT device via Home Assistant home automation software and communicates using the MQTT protocol. The gesture detection system was tested on different camera setups to evaluate the importance of camera position and data sharing within a smart-home device network. © 2023 IEEE.

关键词： Internet of things

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Probabilistic Modelling and Safety Assurance of an Agriculture Robot Providing Light-Treatment 19

Probabilistic Modelling and Safety Assurance of an Agricultu...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Adam, Mustafa Ye, Kangfeng Anisi, David A. Cavalcanti, Ana Woodcock, Jim Morris, Robert Robotics Group Faculty of Science & Technology Norway University of York Dept. of Computer Science United Kingdom Faculty of Engineering and Science Dept. of Mechatronics Norway Saga Robotics As Norway

ISBN: (纸本)9798350320695

Continued adoption of agricultural robots postulates the farmer's trust in the reliability, robustness and safety of the new technology. This motivates our work on safety assurance of agricultural robots, particularly their ability to detect, track and avoid obstacles and humans. This paper considers a probabilistic modelling and risk analysis framework for use in the early development phases. Starting off with hazard identification and a risk assessment matrix, the behaviour of the mobile robot platform, sensor and perception system, and any humans present are captured using three state machines. An auto-generated probabilistic model is then solved and analysed using the probabilistic model checker PRISM. The result provides unique insight into fundamental development and engineering aspects by quantifying the effect of the risk mitigation actions and risk reduction associated with distinct design concepts. These include implications of adopting a higher performance and more expensive Object Detection System or opting for a more elaborate warning system to increase human awareness. Although this paper mainly focuses on the initial concept-development phase, the proposed safety-assurance framework can also be used during implementation, and subsequent deployment and operation phases. © 2023 IEEE.

关键词： Agricultural robots

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INNOVATIVE Y-SHAPED STENT FABRICATION: A LEAP FORWARD IN BIFURCATION LESION TREATMENT

INNOVATIVE Y-SHAPED STENT FABRICATION: A LEAP FORWARD IN BIF...

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ASME 2024 International Mechanical engineering Congress and Exposition, IMECE 2024

作者： Gharaie, Saleh Zolfagharian, Ali Moghadam, Amir Ali Amiri School of Engineering Faculty of Science Engineering and Built Environment Deakin University Burwood Australia Dept. of Robotics & Mechatronics Engineering Kennesaw State University AtlantaGA United States

ISBN: (纸本)9780791888629

This study introduces a novel method for fabricating Yshaped stents from Nitinol sheets, aimed at addressing clinical needs more effectively than current braided designs. Stents play a crucial role in treating narrowed blood vessels, but conventional methods often result in high bending resistance and increased risk of in-stent restenosis (ISR). The proposed method allows for precise control over the stent's flexibility and mesh density, overcoming the limitations of braiding techniques. A complex Y-shaped stent design was developed and subjected to extensive mechanical testing, including tensile, bending, and crush resistance tests, and finite element analysis (FEA). The results demonstrated that the developed stent exhibited superior flexibility, lower bending resistance, and high structural integrity under various load conditions. The stent's performance was benchmarked against a commercially available Y-shaped stent, showing comparable or improved mechanical properties. This innovative approach enhances the mechanical performance of Yshaped stents and also opens new possibilities for design customization, potentially improving clinical outcomes and reducing complications associated with stent implantation. Copyright © 2024 by ASME.

关键词： Tensile testing

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