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IEEE MIT Undergraduate Research Technology Conference (URTC)

作者： Carol Sandoval Cesar Martel Ricardo Palomares Jeanette Borja Arroyo Margarita F. Murillo Manrique José Cornejo Professional School of Mechatronics Engineering Ricardo Palma University Lima Peru Research Group of Robotics and Mechatronics (GI-ROMA) Ricardo Palma University Lima Perú Rehabilitation Service for Locomotor and Cardiovascular System Edgardo Rebagliati Martins Hospital Lima Peru

ISBN: (数字)9798350309652

ISBN: (纸本)9798350309669

For this design, average anthropometric data specified by the National Institute of Health (NIH) were used for an 11-year-old child. Regarding the elements and materials, two motors with a reduction ratio of 500:1 were used, along with a control module that includes a rotary encoder for angle configuration, two Bowden cables for motion transmission, and an ankle-foot orthosis with variable angle adjustment. The results obtained for the motor ratio were a torque of 11.60 N.m. A Von Mises stress analysis was conducted on the support components made of ABS, the AISI 304 stainless steel pulley, and the PETG casing. Maximum stresses of 0.52MPa, 34.34 MPa and 0.95MPa were recorded, respectively. Finally, the ankle-foot working angle obtained for palmar flexion movement was 30°, and 20° for dorsiflexion. As future work, the exoskeleton will be implemented in a patient with spastic cerebral palsy, validating its impact on physical rehabilitation through gait analysis.

关键词： Weight measurement Torque Pulleys Exoskeletons Velocity control Motors National Institutes of Health

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An Iterative-Based Dead-Time Compensation Method for Integrated Interleaved Boost-LLC Converter

An Iterative-Based Dead-Time Compensation Method for Integra...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Jin Wen Jiajia Guan Zongheng Wu Wenzhe Xu Haiyan Chen Zhaosheng Jin Lei Yang Cai Chen Kang Yong School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China AECC Aero Engine Control System Institute Beijing Institute of Precision Mechatronics and Controls

This paper proposes an iterative-based dead-time compensation method to help integrated interleaved boost-LLC converter (IIBLLC) converter achieve higher frequency. By adjusting switching frequency and compensating dead time, the converter can operate in quasi-resonant mode and the rectification control signal is synchronized with the primary side. In quasi-resonant mode, smaller current RMS results in lower conduction losses and the advantages of realizing ZCS on the secondary side can be preserved. Finally, a 400 W / 850 kHz IIBLLC prototype with 36 – 60 V input and 12 V output is demonstrated, which achieves a peak efficiency of 96.2%. The experimental results show that the LLC operates in quasi-resonant mode, and the efficiency and power density are improved.

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Pixel-Level Sea Ice Concentration Retrieval from Sentinel-1 SAR Imagery and Ancillary Data via Regional Loss Representations

Pixel-Level Sea Ice Concentration Retrieval from Sentinel-1 ...

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OCEANS

作者： Xinwei Chen Muhammed Patel Linlin Xu Yuhao Chen David A. Clausi K. Andrea Scott Weimin Huang School of Marine Science and Engineering South China University of Technology Department of System Design Engineering Vision and Image Processing Lab University of Waterloo Department of Mechanical & Mechatronics Engineering University of Waterloo Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John's NL Canada

ISBN: (数字)9798350362077

ISBN: (纸本)9798350362084

The automated monitoring and high resolution mapping of Arctic sea ice concentration (SIC) from synthetic aperture radar (SAR) images are crucial for various purposes, such as tactical navigation. However, the available labels for training deep learning-based SIC estimation models are mostly in coarse spatial resolution. This study tackles this key issue by proposing a novel loss calculation algorithm during model training. Consequently, a U-Net-based model can produce fine-grained SIC estimates via direct learning from ice charts in low resolution. The proposed method is evaluated with the recently release AI4Arctic Sea Ice Challenge Dataset with more than 500 Sentinel-1 SAR imager and associated ice charts. Visual interpretation and numerical results demonstrate the outstanding performance of the proposed method in terms of SIC mapping resolution. The effectiveness of incorporating multi-source ancillary data in performance improvement is also validated.

关键词： Training Visualization Sentinel-1 Estimation Radar polarimetry Numerical models Spatial resolution

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A Novel Space Vector Modulation Strategy for Three-Level Simplified Neutral Point Clamped Inverter

A Novel Space Vector Modulation Strategy for Three-Level Sim...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Shuangxi Zhu Xinyue Guo Menghu Liu Cai Chen Yong Kang Haiyan Chen Zhaosheng Jin Lei Yang School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China AECC Aero Engine Control System Institute Beijing Institute of Precision Mechatronics and Controls

To improve efficiency of the three-level (3-L) simplified neutral point clamped (SNPC) inverter, a novel space vector modulation (SVM) strategy is proposed in this paper. The proposed SVM strategy is characterized by switching all switches in 2-L inverter stage only under zero voltage, thus achieving zero voltage switching (ZVS). Therefore, the switching loss of 2-L inverter stage can be diminished. 3-L SNPC inverter suffers from unbalanced neutral-point voltage (NPV) as conventional multilevel inverters. By using alternative small vectors, the NPV can be balanced as well. The performance of the proposed SVM strategy is analyzed in terms of switching loss and the ability of NPV control. Finally, the feasibility and superiority of the proposed strategy are verified by simulation and experiment.

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Assessment of Trapping Layer Control in Igzo/Al2o3/Ga2o3 Synaptic Transistor for Neuromorphic Computing

SSRN

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SSRN 2023年

作者： Jo, Eun Seo Rim, You Seung Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone Sejong University Seoul05006 Korea Republic of Department of Semiconductor Systems Engineering Institute of Semiconductor and System IC Sejong University Seoul05006 Korea Republic of

We conducted research to create reverse synapse plasticity using metal oxide semiconductor-based field-effect transistors. Specifically, we used IGZO as the channel, AlO3 as the tunneling layer, and Ga2O3 as the trapping layer. We adjusted the thickness of the Ga2O3 trapping layers and examined changes in roughness and density. Through this examination, we confirmed the variations and mechanisms of synaptic behaviors with respect to the properties of Ga2O3. We found that controlling the charge traps as functions of pulse time, input voltage, and initialization is key to approaching optimal device conditions. As a result of our research, we obtained a maximum nonlinearity factor of ν = 0.27 for G of synaptic plasticity. This high degree of linearity, particularly near zero nonlinearity, is significant for neuromorphic research in pattern recognition. © 2023, The Authors. All rights reserved.

关键词： Transistors

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PID Steering Control for Lane Keeping Assist based on IMU Sensor and ROS

PID Steering Control for Lane Keeping Assist based on IMU Se...

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International Conference on Electrical engineering, Computer and Information Technology (ICEECIT)

作者： Marco Yosafat Siagian Taufik Ibnu Salim Philippians Manurung Rendra Dwi Firmansyah Yanuandri Putrasari Bambang Wahono Muhammad Khristamto Aditya Wardana Khairul Anam Electrical Engineering Del Institute Of Technology Indonesia Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Informatics and Electrical Engineering Faculty Del Institute Of Technology Indonesia Intelligent System and Robotics CDAST UNEJ Jember Indonesia

ISBN: (数字)9798331504373

ISBN: (纸本)9798331504380

This study presents the development and implementation of a PID steering control system for lane-keeping assistance using an IMU sensor and ROS (Robot Operating system). The system leverages the capabilities of the Teensy 4.1 microcontroller and the HWT905-TTL IMU sensor to maintain precise steering adjustments, crucial for autonomous vehicle applications. The PID controller, designed to respond dynamically to real-time feedback, ensures that the motor reaches designated target angles, even under varying test conditions. The control system was tuned experimentally to achieve optimal response times, resulting in a rise time of approximately 2 seconds, a steady-state error within ±1-2 degrees, and a maximum overshoot of 4.09%. Performance metrics such as the Integral of Squared Error (ISE) and the Integral of Time-weighted Squared Error (ITSE) further confirmed system accuracy and stability over time. Results indicate that the proposed control system effectively maintains lane-keeping with minimal error, demonstrating potential for future deployment in real-world autonomous driving scenarios. Future work will focus on enhancing system adaptability through advanced tuning techniques and sensor fusion to improve robustness in dynamic environments.

关键词： Accuracy Sensor fusion Robot sensing systems Motors Robustness Stability analysis Vehicle dynamics Tuning Autonomous vehicles Testing

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Design and Implementation of a QoL Improvement system for Visually Impaired Patients 5

Design and Implementation of a QoL Improvement System for Vi...

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5th International Conference on Advances in Computational Tools for engineering Applications, ACTEA 2023

作者： Abi Zeid Daou, Roy Beaino, Jad Hawat, Johnny Ibrahim, Ramy Hayek, Ali Boercsoek, Josef Olmedo, Jose Javier Serrano Université la Sagesse Faculty of Engineering Mechatronics Department Beirut Lebanon MART Learning Education and Research Center Chananir Lebanon University of Applied Science Hamm-Lippstadt Department Lippstadt 2 Hardware Engineering Hamm59063 Germany University of Kassel Faculty of Electrical Engineering/Computer Science Department of Computer Architecture and System Programming Germany Centro de Tecnología Biomédica Universidad Politécnica de Madrid Lab of Bioinstrumentation and Nanomedicine Spain

ISBN: (纸本)9798350309959

Visually impaired people encounter several challenges in their mobility and navigation. Their daily activities are obstructed due to their inability to adapt or recognize accurately their surroundings, especially outside their house which they are more familiar with. Thus, it becomes the main reason of accidents, falling off, getting lost in unknown areas, etc. Furthermore, one of the sensory systems that helps the body to process data about the external environment is the visual system. Blind people also lose touch with the outside world, develops poor motor habits, which results in postural problems as a result. This project will assist visually impaired people in their daily life and simplify normal tasks through a system combining two previously designed projects, 'Smart Shoes for Blind and Visually Impaired People', and 'Human posture monitoring device'. The multifunctional system is developed with the goal of securing safe movements for visually impaired people as well as maintaining a good back posture by detecting leaning postures (LP). The purpose of the smart shoe is to identify obstacles and protect the user from unintended accidents. A compatible Android application has been developed to alert the user when there is an obstruction or when he is walking on a wet surface. Voice alarms will be used to acoustically alert the user. If the user collapses, a message with their position will be sent right away to a relative. On the other hand, the smart vest will identify the position of the user's back and alert him to maintain a straight posture through the same application as well. As the system is dealing with human health, some safety measurements would be taken into consideration to implement a safe electrical system in order to reduce error and to increase accuracy. © 2023 IEEE.

关键词： Accidents

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Point Cloud Segmentation of Breast Ultrasound Regions to be Scanned by Fusing 2D Image Instance Segmentation and Keypoint Detection

Point Cloud Segmentation of Breast Ultrasound Regions to be ...

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International Conference on Advanced Robotics and mechatronics (ICARM)

作者： Jiyong Tan Hui Qin Xinxing Chen Jiawang Li Yuanwei Li Bing Li Yuquan Leng Chenglong Fu School of Mechatronics Engineering Harbin Institute of Technology Harbin China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Medical Rehabilitation Intelligent System Engineering Technology Research Center Shenzhen China

Automatic segmentation of the region of interest to be scanned (ROIS) is one of the key tasks to achieve autonomous scanning of ultrasound robots. By analyzing breast ROIS in an unstructured environment, a point cloud segmentation framework for the breast ultrasound ROIS that incorporates 2D image instance segmentation and keypoint detection is proposed. Firstly, 2D image instance segmentation based on the improved SOLOv2 is performed to extract the human torso point cloud in the unstructured environment. Then, based on YOLO-Pose, the keypoints of human body are automatically detected, and the upper and lower lines of breast ROIS are obtained according to the constraint matching relationship between breast ROIS and keypoints, and finally the point cloud of breast ROIS is obtained effectively and accurately. Experiments show that the proposed framework can achieve automatic segmentation of breast ROIS within 2 s.

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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An Improved Dual Quaternion-based Dynamic Movement Primitives Formulation for Obstacle Avoidance Kinematics in Human- Robot Collaboration system of systems

An Improved Dual Quaternion-based Dynamic Movement Primitive...

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IEEE International Conference on system of systems engineering (SoSE)

作者： Freddy Liendo Alessandro Bozzi Camilo Hernández Christine Galez Roberto Sacile José Jiménez Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

In the context of Human-Robot Collaboration (HRC) as system of systems (SoS), motion planning and learning are a highly important subsystem. Dynamic Movement Primitives (DMP) are an elegant and efficient method for learning complex behaviours and representing them as stable, well understood dynamical systems. When applied for encoding a task by considering the behaviour of the end-effector of a robotic manipulator in Cartesian space, the common solution is to represent and to encode the pose separately as position and orientation using different but phase-coupled DMP formulations; resulting mathematically and algorithmically inefficient. Dual Quaternions are a mathematical tool capable of representing pose in a unified variable. Literature shows the interest of such a representation for rigid body kinematics, given its mathematical flexibility, efficiency and robustness. This article presents an existing formulation for Dual Quaternion Dynamic Movement Primitives based on screw theory. Then, we expand on our proposed improved formulation which considers obstacle avoidance as a contribution for the layer of Awareness and Intelligence in the context of Human-Robot Collaboration as a system of systems.

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