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检索条件"机构=Mechatronics and Robotics Engineering Dept."

共 145 条记录，以下是21-30 订阅

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Development of Hovering Personal Mobility Device and Its Dynamics

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

引用

International Conference on mechatronics Technology (ICMT)

作者： Bongsub Song Insung Ju Sunghyun Choi Dongwon Yun Dept. Robotics and Mechatronics Engineering DGIST Daegu South Korea

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.

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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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IEEE Southeastcon

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

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

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.

关键词： Point cloud compression YOLO Training Three-dimensional displays Robot vision systems Grasping Manipulators Cameras Feature extraction Object recognition

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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

关键词： Robotic arms

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Action-Driven Tactile Object Exploration for Shape Reconstruction via Silver Nanowire Injected Sensors

Action-Driven Tactile Object Exploration for Shape Reconstru...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Mussin, Tleukhan Kassym, Yermakhan Kabdyshev, Nurlan Kaikanov, Marat Kappassov, Zhanat School Engineering and Digital Sciences Nazarbayev University Kazakhstan Nazarbayev University Dept. of Robotics and Mechatronics 53 Kabanbay Batyr Ave AstanaZ05H0P9 Kazakhstan Nazarbayev University Physics Department Kazakhstan

ISBN: (纸本)9798350312072

We present an action-driven tactile exploration system using flexible touch sensors integrated into the fingertips of a robot hand. These sensors are made from foams injected with silver nanotubes that exhibit resistance changes under pressure to enable tactile perception. A microcontroller-based unit captures the resistance, with communication deployed using the Robot Operating System. Our approach is evaluated in tactile object exploration, where robotic finger movements estimate the coordinates of the points of contact upon collisions with an object. Through repeated grasps, a point cloud of the shape of an object is generated. Distinct finger movements, or affordances, are developed to collect new contact points to discriminate four different shapes, including cube, cylinder, pyramid, and sphere. We benchmark our approach on medium and large sets of objects. © 2024 IEEE.

关键词： Robot Operating System

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Methodology of Low Orbit Satellites Signal Processing in the Electromagnetically Noisy Environment 10

Methodology of Low Orbit Satellites Signal Processing in the...

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10th IEEE Open Conference of Electrical, Electronic and Information Sciences, eStream 2023

作者： Masalskyi, Viktor Bučinskas, Vytautas Dzedzickis, Andrius Tyshchenko, Aramais Masalskyi, Oleksandr Robotics and Digital Manufacturing Vilnius Gediminas Technical University Dept. of Mechatronics Vilnius Lithuania University of Warwick Department of Engineering Coventry United Kingdom Vilnius Gediminas Technical University Department of Physics Vilnius Lithuania

ISBN: (纸本)9798350303834

This paper dedicated to the problematics of low orbit satellite data acquisition and processing. Efforts to improve the quality and reliability of receiving these signals in a noisy electromagnetic environment presented here as theoretical and practical solution. Paper defines the requirements for equipment, provides definition of required parameters and delivers experimental tests methodology and obtained results. The experimental results deliver a hope for reliable reception;there are necessary to use a receiver with a dynamic range of at least 70 dB. Test environment was performed on the campus of the university, where located near antennas of high power FM transmitters, digital television and other communication services. Solutions for signal acquisition in the mentioned environment described as means to improve the quality and reliability of reception. Here provided number of technological improvements performed in configuration of the receiving station: implemented high precision angle sensors, a low-noise amplifier, a high-gain antenna and RF filters. Proposed to use a complex filtering stage consisting of three filters: band pass, notch and high-pass filter. To compensate for receiver noise and losses in the antenna-feeder path, a low-noise amplifier installed nearby the antenna. The obtained test results confirmed efficiency of the receiving station upgrade. Finally, paper delivers some conclusions. © 2023 IEEE.

关键词： Satellites

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A Top-View Hand Gesture Recognition System for IoT Applications

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

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International Conference on Smart Systems and Inventive Technology (ICSSIT)

作者： William J. Wisener Jorge Diaz Rodriguez Ammy Ovando Christopher Woolford Kishan Patel Dept. of Robotics & Mechatronics Engineering Department of Physics Kennesaw State University Atlanta Georgia

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.

关键词： Protocols Deep architecture Gesture recognition Smart homes Cooperative systems Cameras Software

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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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International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： Jamil Safarov Egor Tistsov Sergey Jatsun Dept. of Chemical and Metallurgical engineering Azerbaijan Technical University Baki Azerbaijan Dept. of Mechanics Mechatronics and Robotics South-West State University Kursk Russia

ISBN: (数字)9798350395013

ISBN: (纸本)9798350395020

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.

关键词： Viscosity Uncertainty Muscles Control systems Mathematical models Physiology Trajectory

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Multi-layer Disturbance Observer-based Wheel Speed Control for Electric Vehicles

Multi-layer Disturbance Observer-based Wheel Speed Control f...

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Annual Conference of Industrial Electronics Society

作者： Yussuf Shakhin Ahmad Bala Alhassan Binh-Minh Nguyen Ton Duc Do Dept. of Robotics and Mechatronics School of Engineering and Digital Science (SEDS) Nazarbayev University Astana Kazakhstan Dept. of Advanced Energy The University of Tokyo Tokyo Japan

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

As the adoption of electric vehicles (EVs) increases globally, there is a need to provide effective control for the safety and stability of the vehicles. In this paper, a cascade observer-based wheel speed control of an EV is proposed. The scheme uses three-loop cascade observers to estimate the wheel speed, which is often difficult to measure and critical for the EV’s control. The study only uses the measurement of the motor speed and torque to estimate the wheel speed from the observation of the total disturbances acting on the EV. A PID control is then designed for the control of the wheel speed using the estimated speed. The effectiveness of the designed observers and the wheel speed control is investigated using Matlab simulation under the influence of parametric uncertainties and external disturbance.

关键词： Torque Uncertainty Simulation Velocity control Wheels Motors Electric vehicles Stability analysis Safety Torque measurement

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Robust Wheel Speed Control of Electric Vehicles with Respect to Backlash and Dead-time in Powertrains

Robust Wheel Speed Control of Electric Vehicles with Respect...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Yussuf Shakhin Ahmad Bala Alhassan Minh Cao Ta Binh-Minh Nguyen Ton Duc Do Dept. of Robotics and Mechatronics School of Engineering and Digital Science (SEDS) Nazarbayev University Astana Kazakhstan Dept. of Electrical Engineering and Computer Engineering University of Sherbrooke Sherbrooke Canada Dept. of Advanced Energy The University of Tokyo Tokyo Japan

ISBN: (数字)9798331541606

ISBN: (纸本)9798331541613

The primary advantage of electric vehicles (EVs) lies in their rapid and precise torque generation. Consequently, the research and development of traction control systems that ensure safety, stability, and reliability in EVs are becoming increasingly popular. In this paper, an analysis of the wheel-speed control of an EV under various operating conditions is presented. A double-loop cascade disturbance observer (DOB) was designed to estimate the wheel speed from the estimation of the total disturbance acting on the vehicle. The influence of gear backlash, torque delay, air drag, and road inclination were analyzed to investigate the effectiveness of the control system. The preliminary Matlab simulation analysis demonstrated that the DOB-based control design was effective and robust to the effects of external disturbances.

关键词： Torque Uncertainty Simulation Velocity control Wheels Electric vehicles Stability analysis Disturbance observers Delays Standards

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Advancing Pedestrian Attribute Classification: A Multi-Head Deep Learning Paradigm

Advancing Pedestrian Attribute Classification: A Multi-Head ...

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International Conference on Systems and Control (ICSC)

作者： Amanali Bekbolat Syuhei Kurokawa Muhammad Hassan Tanveer Md. Hazrat Ali Dept. of Mechanical and Aerospace Engineering SEDS Nazarbayev University Astana Kazakhstan Dept. of Mechanical Engineering Kyushu University Nishi-ku Fukuoka Japan Dept. of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

ISBN: (数字)9798331531812

ISBN: (纸本)9798331531829

Evaluating pedestrians is critical when designing new systems for more sophisticated video monitoring and innovative computer vision-based security. Although convolutional neural networks successfully learn different features from images, modeling the pedestrians to the details needed for such tasks remains an issue. In this paper, we present a novel approach based on the multi-head deep learning model to identify the pedestrian attributes, which has merits in this method. Thus, the proposed approach yields better accuracy, robustness, and efficiency in comparison to state-of-the-art methods on a novel database consisting of pedestrian images. We also incorporate further pre-processing steps whereby data augmentation, transfer learning, and model ensembling are additional methods that are used to improve the generality and applicability of the approach proposed in this study. This framework empirically achieves promising accuracy and outperforms existing approaches, proving the usefulness and robustness of our idea in terms of pedestrian attribute recognition.

关键词： Deep learning Pedestrians Accuracy Databases Computational modeling Transfer learning Robustness Data models Monitoring Image classification

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