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2023 International Conference on Ocean Studies, ICOS 2023

作者： Ermolov, Ivan Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Laboratory of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9798350382457

The article discusses the some new results of investigation of new applications of climbing and walking robots in marine environment. One of the perspective applications is a robot for hull cleaning. Another robot is designed to perform inspection operations at sea shelf deposit platform. Both robots use walking propulsion technology. Within this paper we discuss basic scenarios for their application and a outcoming general view on their structure. Some ideas of main components to be used within these robots are also presented. © 2023 IEEE.

关键词： Mobile robots

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Comparative Analysis of Vacuum Generative Devices for Vacuum Suction Cups of Mobile Transport Systems Designed for Underwater Operation

Comparative Analysis of Vacuum Generative Devices for Vacuum...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Belchenko, Philipp Knyazkov, Maxim Ostrikov, Pavel Semenov, Eugeny Sukhanov, Artem Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Laboratory of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9798350382457

The article discusses the results of studies of gas-dynamic and hydrodynamic processes in cavities and channels of vacuum suction cups of mobile transport systems operating in an aqueous environment. Transient processes occurring in the cavities of vacuum suckers from the moment the vacuum generator is powered on to the moment of steady-state vacuum level are obtained. Commercially available ejector-type vacuum generators with the same nozzle diameter, but with different parameters of the vacuum level and evacuation time (suction flow rate), as well as a diaphragm air pump were used in the research. Commercially available suction cups with a bellows with a diameter of 100 mm were used as a vacuum holding device on the surface. Experimental studies were conducted to study the behavior of vacuum suction cups in an aqueous environment to identify the possibility of their use for mobile transport systems operated in a liquid environment. To conduct research, an experimental stand was created that allows real-time recording of the level of vacuum in the cavities of vacuum suckers in an aqueous medium and recording the time to a steady level of vacuum. © 2023 IEEE.

关键词： Gas dynamics

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System 8

Comparative Study of Anti-Swing Controllers for a Triple Lin...

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8th IEEE International Conference on Engineering Technologies and Applied Sciences, ICETAS 2023

作者： Hazem, Zied Ben Bingul, Zafer University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey

ISBN: (纸本)9798350327090

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination. © 2023 IEEE.

关键词： Controllers

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Synthesis technique for control of a CMG Stabilization of an inverted pendulum which does not require repeated code generation 3

Synthesis technique for control of a CMG Stabilization of an...

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3rf International Scientific Conference on Metrological Support of InnovativeTechnologies, ICMSIT 2022

作者： Prutskii, A.S. Mikhalkov, N.V. Vasiliev, E.Y. Laboratory of Robotics and Mechatronics Kuban State University Krasnodar Russia

The article presents a synthesis technique for controlling the stabilization of a reverse pendulum, which does not require repeated code generation when making changes to the parameters of the control object. The problem of developing a feedback control system for a reverse pendulum controlled by a gyrodine is considered. The main tool for developing a control system is a combination of a real-time control system based on STM32 and an external computer based on ROS. © Published under licence by IOP Publishing Ltd.

关键词： Stabilization

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Research on Size Calibration Algorithm of Dark-field Flaw on Optics Surface Based on Convolutional Neural Network

Research on Size Calibration Algorithm of Dark-field Flaw on...

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2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Wang, Bei Yin, Zhaoyang Zhou, Shicheng Zhao, Linjie Chen, Mingjun Cheng, Jian School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Optics in high-power solid-state laser devices will be damaged and adhere to contaminates on the surface during manufacturing and operation, which reduces the service life. To facilitate the positioning and recognition of the flaw (damage and contaminates) in the process of automatic repair, the dark-field flaw size calibration algorithm was studied. In this paper, a flaw size calibration model based on convolutional neural network was established. The size, exposure time, and loss function of damage and contaminate were optimized respectively. The training parameter of the damage regression model is determined to be size of less than 500μm, 30ms of exposure time and SmoothL1 loss function, and the parameter of contaminate is 0-100μm, 20ms of exposure and SmoothL1 loss function. After data balancing, the calibration precision was improved. To improve the calibration consistency of the full-size segment, a comprehensive size calibration strategy is proposed. The CNN regression algorithm is used for small size, and the pixel-level calibration algorithm is used for large size. Compared with the single regression calibration algorithm, the relative error and absolute error of the calibration results of small damage ( © 2024 SPIE.

关键词： Solid state lasers

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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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Path Tracing and Validation of Omni Wheeled Mini Robot Using Visual Feedback

Path Tracing and Validation of Omni Wheeled Mini Robot Using...

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International Conference on Advanced Computer Control, ICACC

作者： Aftaab Ahamed Karthik Jayaraj Shibin Fazil Nikitha S Sudheer A P Robotics Interest Group Mechatronics/Robotics Laboratory National Institute of Technology Calicut Mechanical Engineering Department Mechatronics/Robotics Laboratory National Institute of Technology Calicut

ISBN: (数字)9798350379136

ISBN: (纸本)9798350379143

Holonomic drives are gaining popularity in many fields due to their versatility in various industrial applications. The ability of the holonomic drive robots to move in all directions makes it distinct from other drive mechanisms. Open-loop control of omnidirectional bots can be achieved with relative ease whereas automating it is not as easy. When trying to create an automated system with lower cost, off the shelf components and hardware, other problems may arise as a result of the poor performance of the components. Here a three wheeled omnidirectional robot that can trace a predefined path without human intervention has successfully been developed.

关键词： Location awareness Visualization Costs Service robots Debugging Drives Hardware Mobile robots Robots Wireless fidelity

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CNN coal and rock recognition method based on hyperspectral data

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International Journal of Coal Science & Technology 2022年第5期9卷 59-70页

作者： Jianjian Yang Boshen Chang Yuchen Zhang Wenjie Luo Shirong Ge Miao Wu School of Mechatronics and Information Engineering China University of Mining and Technology-BeijingBeijing 100083China Key Laboratory of Intelligent Mining and Robotics Ministry of Emergency ManagementBeijingChina

Aiming at the problem of coal gangue identifcation in the current fully mechanized mining face and coal washing,this article proposed a convolution neural network(CNN)coal and rock identifcation method based on hyperspectral ***,coal and rock spectrum data were collected by a near-infrared spectrometer,and then four methods were used to flter 120 sets of collected data:frst-order diferential(FD),second-order diferential(SD),standard normal variable transformation(SNV),and multi-style *** coal and rock refectance spectrum data were pre-processed to enhance the intensity of spectral refectance and absorption characteristics,as well as efectively remove the spectral curve noise generated by instrument performance and environmental factors.A CNN model was constructed,and its advantages and disadvantages were judged based on the accuracy of the three parameter combinations(i.e.,the learning rate,the number of feature extraction layers,and the dropout rate)to generate the best CNN classifer for the hyperspectral data for rock *** experiments show that the recognition accuracy of the one-dimensional CNN model proposed in this paper reaches 94.6%.Verifcation of the advantages and efectiveness of the method were proposed in this article.

关键词： Hyperspectral data Data pre-processing 1D-CNN Coal gangue identifcation

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Control of the Switch-on Instant for a Shock Isolator that Protects an Object on a Movable Base from Impact Disturbances of Bounded Magnitude 16

Control of the Switch-on Instant for a Shock Isolator that P...

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16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference), STAB 2022

作者： Bolotnik, N.N. Korneev, V.A. Ishlinsky Institute for Problems in Mechanics RAS Laboratory of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9781665465861

Guaranteeing control modes are constructed for a shock isolator that protects objects on a moving base from external shock disturbances applied to the base. A constraint is imposed on the disturbance magnitude. Parametric optimization is performed, the control starting time playing the role of the design parameter. The maximum of the absolute value of the displacement of the object to be protected relative to the base, provided that the absolute acceleration of the object does not exceed a prescribed value, is used as a performance index. The optimization is performed for two types of controls. © 2022 IEEE.

关键词： Shock absorbers

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Wheeled Mobile Robots on Rough Terrains as Stochastic Nonholonomic Systems

Wheeled Mobile Robots on Rough Terrains as Stochastic Nonhol...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Gzenda, Vaughn Chhabra, Robin Carleton University Autonomous Space Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering Department OttawaONK1S5B6 Canada

ISBN: (纸本)9781665410205

In this paper, we investigate the motion of wheeled mobile robots on rough terrains modeled as noisy nonholonomic constraints. Such constraints are the natural extension of ideal nonholonomic constraints when the Stratonovich process is directly introduced in the constraint equations. The resulting stochastic model can capture motion on rough surfaces, random deformation in the wheel-ground contact, or stochastic loss/gain of traction. We study a differential robot with ideal noisy and affine noisy constraints, where each case models a certain aspect of motion on rough terrains. We then investigate their corresponding stochastic dynamics and the propagation of mean and covariance through Monte-Carlo simulations. The proposed model for roving rough terrains has the potential to serve as the stochastic model employed in model-based motion planning, pose estimation, and control of rover systems. The main challenge will be dealing with the nonlinear appearance of the noise and its feedback in the equations of motion. © 2024 IEEE.

关键词： Stochastic models

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