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Development and Control of an Autonomous User-Tracking Golf Caddie Robot

Journal of Institute of Control, robotics and Systems 2022年第2期28卷 102-108页

作者： Kim, Byeong-Soo Choi, Jung Hyun Lee, Chan Oh, Sehoon Machinery & Robot Industry Promotion Team Daegu Mechatronics & Materials Institute Korea Republic of Department of Robotics Engineering DGIST Korea Republic of Department of Robot Engineering Yeungnam University Korea Republic of

This study proposes an autonomous caddie robot system that can automatically track a golf player. The caddie robot is designed to operate in two modes: an autonomous human-tracking mode, and a power-assisted manual driving mode. Mode conversion can be autonomously performed through the driving mode determination algorithm based on the distance and angle between a user and the robot, and angle of inclination. When the latter is too steep for the robot to track the user, the user can utilize a manual mode to guide the robot with minimal force. This study seeks to provide insight into how the high-level controller of the mobile platform should be configured to track users in flat and sloping environments. Experimental results obtained from tests in the golf course verify that the robot can be successfully utilized in golf games. © ICROS 2022.

关键词： Mobile robots

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Design of the Interior Permanent Magnet Synchronous Motor for Electric Vehicles Using Grain-Oriented Electrical Steel

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Transactions of the Korean Institute of Electrical Engineers 2022年第7期71卷 939-944页

作者： Kwon, Min-Su Lim, Dong-Kuk Seo, Hyeon-Uk Dept. of Electrical Electronic and Computer Engineering University of Ulsan Korea Republic of Dept. of Robotics & Mechatronics Korea Institute of Machinery Materials Korea Republic of

In this paper, the interior permanent magnet synchronous motor (IPMSM) for electric vehicles (EVs) using grain-oriented electrical steel (GO) is proposed. It was confirmed through the B-H characteristic curve and the B-W characteristic curve that the GO has superior magnetic characteristic compared to the non-grain-oriented electrical steel (NO). In order to maximize the effect of GO, the GO was partially applied to the stator teeth that has a uniform magnetic flux direction through magnetic path analysis of the EV traction motor. It has been confirmed that the output and various characteristics of the motor have improved with the application of GO. In particular, the iron loss was decreased by 44.83% in no-load condition. Moreover, the average torque and the efficiency were increased by 5.26%, 0.29%, respectively and the iron loss was decreased by 42.45% in load condition. The result of this study shows that the partial application of the GO in IPMSM improves the performance of the motor, effectively © 2022 Korean Institute of Electrical Engineers. All rights reserved.

关键词： Traction motors

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

Optimal Design of Parallel Elastic Actuators for Minimizing ...

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Annual Conference of Industrial Electronics Society

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

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

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.

关键词： Industrial electronics Actuators Torque Power demand Gears Design methodology Cost function Numerical models Springs Design optimization

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Hysteresis Compensation of Flexible Continuum Manipulator using RGBD Sensing and Temporal Convolutional Network

arXiv

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arXiv 2024年

作者： Park, Junhyun Jang, Seonghyeok Park, Hyojae Bae, Seongjun Hwang, Minho The Department of Robotics and Mechatronics Engineering DGIST Daegu42988 Korea Republic of

Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face control difficulties due to hysteresis from cabling effects such as friction, elongation, and coupling. These effects are difficult to model due to nonlinearity and the difficulties become even more evident when dealing with long and coupled, multi-segmented manipulator. This paper proposes a data-driven approach based on Deep Neural Networks (DNN) to capture these nonlinear and previous states-dependent characteristics of cable actuation. We collect physical joint configurations according to command joint configurations using RGBD sensing and 7 fiducial markers to model the hysteresis of the proposed manipulator. Result on a study comparing the estimation performance of four DNN models show that the Temporal Convolution Network (TCN) demonstrates the highest predictive capability. Leveraging trained TCNs, we build a control algorithm to compensate for hysteresis. Tracking tests in task space using unseen trajectories show that the proposed control algorithm reduces the average position and orientation error by 61.39% (from 13.7mm to 5.29mm) and 64.04% (from 31.17◦ to 11.21◦), respectively. This result implies that the proposed calibrated controller effectively reaches the desired configurations by estimating the hysteresis of the manipulator. Applying this method in real surgical scenarios has the potential to enhance control precision and improve surgical performance. Copyright © 2024, The Authors. All rights reserved.

关键词： Hysteresis

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Enhancing Accessibility and Affordability of Mobile Robotic Platforms Through MMATR: A Modular Machine-Learning Autonomous Trainable Rover

Enhancing Accessibility and Affordability of Mobile Robotic ...

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IEEE Southeastcon

作者： Daniel Byers Mark Vladimir Ogloblin Brandon Nguyen M. Hassan Tanveer Matt Marshall Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Georgia

Traditional mobile robotic platforms often prove cost-prohibitive for small enterprises, offering limited functionality constrained to pre-programmed tasks. The Modular Machine-Learning Autonomous Trainable Rover (MMATR) ad-dresses this gap by striving to democratize access to automated mobile robotics. Prioritizing cost-effectiveness, programma-bility, and user-friendliness, MMATR presents an accessible solution. This research outlines MMATR's primary goals: autonomous operation through embedded machine learning, user-friendly retraining facilitated by a Python GUI, extensi-bility via user-developed modules, and a generatively designed, consumer-sized 3D-printable chassis. MMATR integrates a diverse range of functionalities, including five ultrasonic sensors for autonomous navigation, a user-friendly Python GUI for retraining the embedded machine learning model, and the capa-bility to extend functionality through user-developed modules. This paper details the design, implementation, and potential applications of MMATR, contributing to the advancement of accessible and affordable mobile robotic platforms.

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Open-Source, Low-Cost, and Bimodal Amateur Radio Communication Paradigm for Scientific CanSats 6

Open-Source, Low-Cost, and Bimodal Amateur Radio Communicati...

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6th International Conference on robotics, Control and Automation engineering, RCAE 2023

作者： Chun, Carrington Kihei, Billy Chakravarty, Sumit Tanveer, M. Hassan Kennesaw State Univeristy Department of Robotics and Mechatronics Engineering MariettaGA United States Kennesaw State Univeristy Department of Electrical and Computer Engineering MariettaGA United States

ISBN: (纸本)9798350315301

To facilitate the development of accessible space-bound robotic explorers, this work demonstrates a novel communication architecture intended for scientific CanSats. As low-cost terrestrial simulation platforms for orbital satellites, CanSats provide a valuable proving ground for new technologies or techniques. CanSats are also a considerably more accessible technological frontier than orbital CubeSats, as CanSats are lower in cost to develop and retain fewer operational requirements. Multiple low-cost CanSats and a simple Base Station were developed using Commercial-Off-The-Shelf (COTS) components. The bimodal modulation technique utilizes Amplitude Shift Keying (ASK) as a means for transferring data packets between the devices, while the delay between multiple ASK trains modulates additional Pseudo Morse Code (PMC) information that is audibly decodable with a handheld amateur radio receiver or digitally with a Software Defined Radio (SDR). The presented framework could be a valuable addition to telemetry beacons for orbital satellites that are seeking to engage the open-source or amateur radio communities. © 2023 IEEE.

关键词： Costs

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Development of Novel Stewart Robot Equipped with 3D Printed Soft Actuators

Development of Novel Stewart Robot Equipped with 3D Printed ...

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IEEE Southeastcon

作者： Joe Gilmore Cecil Abidoye Devin Grace Razvan Cristian Voicu Turaj Ashuri Amir Ali Amiri Moghadam Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

The Stewart platform, a parallel robot configuration, traditionally employs six rigid linear actuators to connect a base with a mobile platform. These actuators, typically prismatic and connected by spherical or universal joints, are arranged in alternating pairs, enabling six degrees of freedom in positioning and orientation. While this architecture has proven effective in applications requiring robust and rigid positioning systems, the advent of soft or compliant actuators presents new possibilities, especially in applications where safety is paramount, such as in medical robots involving human contact. This paper introduces a novel compliant Stewart mechanism, incorporating soft 3D-printed linear actuators designed to replace the rigid joints and legs in conventional rigid Stewart mechanisms. It explores the implementation of these soft actuators within the Stewart platform's framework, aiming to retain its six degrees of freedom (DOF) motion while enhancing safety and adaptability in sensitive environments. The results demonstrate the feasibility and potential of this approach, opening new avenues in robotic design for medical and other human-interactive applications where the combination of precision, safety, and adaptability is critical.

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Recursive Input-Output Linearization for Slow-Fast Realization of Nonholonomic Hamiltonian Control Systems

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IEEE Transactions on Automatic Control 2024年第6期70卷 3571-3586页

作者： Gzenda, Vaughn Chhabra, Robin Carleton University Autonomous Space Robotics Laboratory OttawaONK1S 5B6 Canada Toronto Metropolitan University Department of Mechanical Industrial and Mechatronics Engineering TorontoONM5B 2K3 Canada

In this paper, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using the kinetic energy metric and the geometry of friction forces. The (slow) invariant manifold is identified by a set of invariance conditions resulting in partial differential equations that generally do not have an analytic solution. We approximate the invariant manifold along with the control inputs with power series and show that using this approximation the invariance conditions admit an inherent recursion. Accordingly, we develop a recursive procedure to perform dynamic input-output linearization of the approximated slow system. We consider the output trajectory tracking problem using a PD control law on the Nth order approximation of the invariant manifold. Closed-loop stability analysis is performed on both the invariant manifold and the full phase space of the system. We prove that if the internal dynamics of the nonholonomic system is exponentially stable, then the perturbed system remains asymptotically stable. Moreover, we prove that the output error dynamics is uniformly bounded when applying the approximated control law, with bounds dependent on the control gains and strength of the friction force. Our approach is illustrated through a numerical case study on a differential robot. © 1963-2012 IEEE.

关键词： Kinetic energy

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An exploratory user study towards developing a unified, comprehensive assessment apparatus for deaf signers, specifically tailored for signing avatars evaluation: challenges, findings, and recommendations

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Multimedia Tools and Applications 2024年 1-38页

作者： Imashev, Alfarabi Oralbayeva, Nurziya Sandygulova, Anara Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University 53 Kabanbay Batyr ave. Astana010000 Kazakhstan National Laboratory Astana Nazarbayev University 53 Kabanbay Batyr ave. Astana010000 Kazakhstan

Sign Languages (SL) are natural languages used by those who are deaf or have hearing impairments, as well as by hearing persons, including interpreters, family members, and friends of deaf individuals. Spoken languages rely primarily on verbal and written communication, whereas sign language focuses mainly on visual-gestural communication. In their daily lives, unimodal users (deaf people who only use sign language) cannot always rely solely on textual communication. Research on SL recognition and generation has shown enormous promise in addressing concerns related to inclusivity and accessibility. The research on using signing avatars in human-computer interaction is relatively new. The currently available information suggests that the research strategies used to develop sign language-interpreting avatars have drawbacks that hinder the establishment of a strong, dependable, and persuasive signing system. Therefore, to ensure the meaningful involvement of the deaf population in user studies, it is essential to design a standardized procedure for surveying them and acquiring significant insights to assist future improvements. In order to accomplish this objective, we undertook a thorough examination of several scales and metrics, which we endeavored to precisely customize and modify to suit the subjective assessment of SL agents by deaf signers. We conducted this analysis as an exploratory case study involving deaf signers and individuals who use sign language oftentimes. We aimed to address the question: "What should a methodological framework for evaluating sign language agents by deaf signers entail?" The data obtained from both rounds of this preliminary exploratory user study, as outlined in the current paper, became essential for our future work. During the COVID-19 lockdown period in 2020-2021, we conducted the first iteration solely online. We held the second iteration after a year, still adhering to the limitations imposed by the pandemic. © The Author(s), u

关键词： Audition

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Pre-Programmable Directional Stiffness in Continuum Robotic Arms: Effects of Truss Configurations

Pre-Programmable Directional Stiffness in Continuum Robotic ...

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International Conference on Computer and Applications (ICCA)

作者： Zahy Y. Elgendy Mahmoud Magdy Mostafa Abdelaziz Mechatronics & Robotics Mechanical Engineering The British University in Egypt Cairo Egypt

ISBN: (数字)9798350367560

ISBN: (纸本)9798350367577

This paper investigates the implementation of trussed designs in modular tendon-driven continuum arms (CAs) to address stiffness and stability limitations while maintaining adaptability. Various truss configurations-Single-Level, Combined-Level, and Alternated trusses-were analyzed using Finite Element Analysis (FEA) to evaluate their impact on flexural and axial stiffness under realistic loading conditions. Results demonstrate that truss placement significantly influences performance, with bottom-level trusses improving flexural stiffness by up to 33 %, middle-level trusses enhancing axial stiffness by 43%. Further, Combined-Level configurations provide superior overall stiffness, with Middle-Bottom trusses achieving a 66.5% improvement in flexural stiffness and a 70.9% increase in axial stiffness, while fully trussed configurations maximize rigidity with an 87.8% increase in flexural stiffness and 98.5% in axial stiffness. Alternated configurations achieve anisotropic stiffness for directional control. Additionally, the proposed trussed wing approach enhances stiffness programmability with reduced complexity, eliminating the need for full segment disassembly or tendon re-routing. The proposed trussed CAs enable tailored stiffness and directional control in robotics, medical devices, and aerospace systems.

关键词： Medical devices Loading Anisotropic Soft robotics Manipulators Three-dimensional printing Stability analysis Finite element analysis Rigidity Tendons

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