Open-source Software (OSS) provide attractive solutions for complementing mechatronics and robotics engineering (MRE) education due to their numerous advantages such as free access, customizability and wide community ...
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Open-source Software (OSS) provide attractive solutions for complementing mechatronics and robotics engineering (MRE) education due to their numerous advantages such as free access, customizability and wide community support, increased adoption and utilization in industry, etc. To provide a deeper insight on the current status, limitations, and potentials of the OSS, a summary of the results of an online survey, conducted among various community stakeholders, is included. Furthermore, the two parts of this contribution are intended to provide an exposure to the OSS which have the potential to be used in MRE education. To this end, two specific problems, namely, model simulation and analysis of a DC motor (Part I) and controller implementation for a 2-DOF robot manipulator (Part II), are solved using Python, Java, Modelica, GNU Octave, and Gazebo. The systems chosen for this work are some of the most-commonly encountered systems and the considered problems, i.e. model simulation, analysis, and control implementation, are fundamental problems in the context of MRE. Therefore, this work can help MRE instructors familiar with these OSS to easily integrate them into their respective courses. On the other hand, the students can also greatly benefit from this work as it provides an entry point into applying different OSS in MRE-related courses and projects. Exposure to various ways in which an MRE problem is translated into a software solution enables the students to generalize their problem-solving process across different computational tools. Students equipped with such a skillset would potentially have a flexible mindset and could make well-balanced and informed judgements when devising a solution to a real-world engineering problem. Full code scripts for each of the OSS introduced in this work, along with Matlab which is intended as a point of comparison, are included on the GitHub repository of the paper to provide free access to the community and to help with widespr
This article presents a novel approach to enhancing the stability and performance of impedance control in robotic systems through improved acceleration estimation. The focus is on Series Elastic Actuators (SEAs), whic...
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Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of r...
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Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.
We present a design optimisation method for the routing of tendons in a tendon-driven mechanism with the objective of maximising force transmission efficiency (FTE). We formulate a friction model for the different rou...
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作者：
Jeong, OngeeMoon, Inkyu
Department of Robotics and Mechatronics Engineering Daegu Korea Republic of
This paper analyzes the strength of Message Digest Algorithm (MD5) by performing deep learning-based Encryption Emulation (EE) and Plaintext Recovery (PR) attacks. We convert randomly generated S12-bit arrays, message...
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作者：
Jeong, OngeeMoon, Inkyu
Department of Robotics and Mechatronics Engineering Daegu Korea Republic of
This paper presents a privacy-preserving image classification scheme based on deep learning and photon counting imaging. The vision transformer-based deep learning model can classify the photon-limited color images, w...
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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 an...
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This paper proposes the optimization of polyimide microneedle electrode using a 3D print double molding fabrication. Various shapes (circle, triangle, square, star, and hexagon) of microneedles are investigated by cha...
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The classification of celestial objects has traditionally relied on spectral analysis, which involves identifying unique patterns in the light emitted or absorbed by the objects. In this study, we present a novel appr...
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Conventional mobile robots control driving speed using various sensors data. However, in this paper, we present the speed control method for mobile robot using a single vision sensor and a guidance lane. The proposed ...
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