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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Smith, Gabriel David Debrah-Pinamang, Kwasi Voicu, Razvan Cristian Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

Advancements in artificial intelligence (AI) have transformed robotics by enabling systems to autonomously execute complex tasks with minimal human involvement. Traditional methods, however, often depend on costly hardware, continuous monitoring, and intricate software integration, which constrain scalability and widespread implementation. This research presents an innovative approach that combines vision-based large language models (LLMs) with zero-shot prompting to autonomously program robotic systems, including a humanoid robot equipped with dual manipulators. The proposed system harnesses contextual image data to efficiently generate task-specific code, eliminating the need for iterative corrections. Training is conducted through OpenAI's Assistant feature, utilizing documents predominantly comprising images, while continuous operation is facilitated by a self-looping mechanism. Experimental results highlight the system's capability to perform manipulator tasks with notable accuracy, paving the way for scalable, adaptive, and dynamic automation. This study addresses both practical and theoretical challenges in automation, providing a cost-effective framework for next-generation robotic systems. © 2025 IEEE.

关键词： Anthropomorphic robots

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Separation of microalgae from bacterial contaminants using spiral microchannel in the presence of a chemoattractant

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Bioresources and Bioprocessing 2024年第1期11卷 511-525页

作者： Leticia F.Ngum Y.Matsushita Samir F.El-Mashtoly Ahmed M.R.Fath El-Bab Ahmed L Abdel-Mawgood Institute of Basic and Applied Sciences Biotechnology ProgramEgypt-Japan University of Science and TechnologyAlexandria 21934Egypt Institute of Basic and Applied Sciences Nanoscience ProgramEgypt-Japan University of Science and TechnologyAlexandria 21934Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and TechnologyAlexandria 21934Egypt.

Cell separation using microfluidics has become an effective method to isolate biological contaminants from bodily fluids and cell cultures,such as isolating bacteria contaminants from microalgae cultures and isolating bacteria contaminants from white blood *** this study,bacterial cells were used as a model contaminant in microalgae culture in a passive microfluidics device,which relies on hydrodynamic forces to demonstrate the separation of microalgae from bacteria contaminants in U and W-shaped cross-section spiral microchannel fabricated by defocusing CO_(2) laser *** a flow rate of 0.7 ml/min in the presence of glycine as bacteria chemoattractant,the spiral microfluidics devices with U and W-shaped cross-sections were able to isolate microalgae(Desmodesmus sp.)from bacteria(***)with a high separation efficiency of 92%and 96%*** the same flow rate,in the absence of glycine,the separation efficiency of microalgae for U-and W-shaped cross-sections was 91%and 96%,*** was found that the spiral microchannel device with a W-shaped cross-section with a barrier in the center of the channel showed significantly higher separation *** microchannel chips with U-or W-shaped cross-sections were easy to fabricate and exhibited high *** these advantages,these devices could be widely applicable to other cell separation applications,such as separating circulating tumor cells from blood.

关键词： W-shaped cross-section CO_(2)laser ablation Glycine Separation efficiency Removal ratio

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Exploring the Feasibility of Solar-Powered Autonomous Underwater Survey Vehicles for Extended Underwater Exploration

Exploring the Feasibility of Solar-Powered Autonomous Underw...

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IEEE Southeastcon

作者： Alan Bounyasith Ben Mueller Dongwoo Jin Uday Patel M. Hassan Tanveer Matthew Marshall Yusun Chang Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

Autonomous Underwater Vehicles (AUVs) have emerged as vital tools in underwater ecological research. However, challenges such as limited operating range, energy constraints, and communication issues persist. This research investigates the practicality of autonomous survey vehicles by proposing a solution that integrates renewable energy sources, enhances communication capabilities during submersion, and facilitates long-term deployments. The study presents a solar-powered Autonomous Underwater Survey Vehicle (AUSV), comprising a submersible and a tethered solar buoy. The AUSV aims to operate autonomously along predefined paths, ensuring constant communication, extended operation cycles, and efficient data collection. The solar buoy provides GPS tracking, data transmission, and renewable energy generation, eliminating the need for periodic resurfacing. The submersible is equipped with thrusters, sensors, and data acquisition tools for oceanic measurements. The project's focus is on addressing limitations in traditional survey methods, providing an economical and efficient alternative for underwater exploration, with potential applications in ecological studies, water quality testing, and bathymetry. The presented proof-of-concept prototype lays the groundwork for future advancements in underwater infrastructure and scientific exploration. Keywords: Solar autonomous underwater vehicle, renewable energy, AUV, underwater mobile robots, oceanic survey, autonomous exploration.

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Seat-Focused Multi-DOF Exoskeleton Wheelchair Synergy for Continuous Lower-Limb Rehabilitation

Seat-Focused Multi-DOF Exoskeleton Wheelchair Synergy for Co...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Voicu, Razvan Cristian Freeman, Charles F. Garretson, Christopher E. Sun, Zoe M. Bonus, Ryan H. Slutzky, Zachary A. Mukesh, Niranjan Tanveer, Muhammad Hassan Tello, Yannique Chang, Yusun Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

Wheelchair users with limited or nonexistent lower-limb mobility often struggle with significant muscle atrophy, circulatory complications, and other health issues. Although exoskeletons for gait training have shown promise, many are optimized for upright ambulation and overlook individuals remaining fully seated due to clinical or practical constraints. This article presents a seat-focused exoskeleton synergy integrated with a wheelchair to facilitate multi-DOF lower-limb mobilization without requiring transfers or standing maneuvers. The system addresses a critical gap by providing repeated, lower-intensity knee and ankle exercises throughout the day-either passively, actively with assistance, or in a resistive training mode-thus promoting muscle engagement and circulation from a seated position. The exoskeleton leverages the wheelchair's power source and employs modular, adjustable rails to accommodate diverse leg lengths. Emphasis is placed on biomechanical alignment, safe torque control, and user comfort, supported by a model-based controller accounting for inertia, Coriolis effects, and gravity in real time. Bench tests and preliminary trials confirm stable torque output, accurate tracking of desired motion profiles, and minimal burden when attaching or detaching the device. The article introduces modeling for a two-DOF prototype (knee flexion/extension and ankle dorsiflexion/plantarflexion), expandable to include additional joints or degrees of freedom, enabling broader rehabilitation targets such as hip abduction/adduction. By embedding rehabilitative capabilities directly into the wheelchair environment, the proposed approach seeks to close the gap between infrequent clinic appointments and continuous therapy aimed at mitigating muscle ailments. A seat-focused exoskeleton designed for every-day use can facilitate accessible, on-demand rehabilitation and substantially improve long-term health outcomes for mobility impaired users. © 2025 IEEE.

关键词： Physical therapy

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Gesture-Guided Exosuit Interface: Advancing Motion Tracking and Automation for Robotic Control

Gesture-Guided Exosuit Interface: Advancing Motion Tracking ...

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IEEE Southeastcon

作者： Jaykob Aksoy Jose Gonzalez Siddhant Ala Franccesca Tabertus Jose Chagoya Charles Koduru M. Hassan Tanveer Matthew Marshall Yusun Chang Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

Exosuits, also known as exoskeletons, represent a burgeoning technology designed to augment human physical capabilities while alleviating bodily strain. This project introduces a novel approach to exosuit functionality, focusing on motion tracking through a fused deposition modeled apparatus with rotary hall effect sensors. The system precisely monitors shoulder and elbow joint movements, translating them into control signals for a two-wheeled robot. The innovative design aims to provide an affordable, hands-free solution for motion tracking, offering applications in the control and automation of various vehicles, machines, and equipment. The research addresses challenges such as sensor data fusion, aiming to seamlessly integrate sensor information for real-time control. As exosuits evolve, the emphasis lies in minimizing size, enhancing comfort, and expanding applications, potentially leading to inconspicuous, wearable devices with broad compatibility. The goal is to create user-friendly exosuit with a modular design, capable of controlling a variety of devices, with minimal setup and calibration. This project contributes to the ongoing development of exosuit technology, offering a promising avenue for future applications in fields ranging from virtual reality, medical and industrial domains.

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Implementation of HRI System for Mobile Manipulator to be Operated in the Elevator

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Journal of Institute of Control, robotics and Systems 2022年第8期28卷 714-723页

作者： Kang, Min-Woo Kim, Tae-Hyeon Suh, Hyun-Uk Kim, Donghan Department of Electronics Engineering Kyung Hee University Korea Republic of Department of Robotics and Mechatronics Korea Institute of Machinery Materials Korea Republic of Kyung Hee University Korea Republic of

Unlike conventional industrial robots that operate in a limited manufacturing environment, service robots should be able to operate in various environments. Where there are many complex high-rise buildings, service robots require the ability to ride and control elevators. Furthermore, a human-robot interaction (HRI) approach is critical because service robots have the characteristics of interacting directly with humans. Therefore, this paper proposes an HRI system that enables direct elevator button manipulation to enable mobile manipulator robots to perform tasks in various high-rise building environments. The system is divided into three subsystems: Elevator button recognition, command reception through voice recognition, and elevator button operation. Elevator button recognition and command reception through voice recognition receive the required topics and communicate with the lower end of the elevator button operation. Although the three distinct substructures interact with each other and are independent, they can be replaced by different algorithms at any time. Because of the same characteristics, the system can be applied to various mobile manipulators with different specifications. The experiment proceeds with pressing the button on floors B1-4 through voice recognition in a simulation environment and pressing the button on floors 5-7 without voice recognition. The experimental results compared the central positions of the button and end effector’s x, y, and z coordinates after control. The system, verified through simulation, has since been applied to real robots. © ICROS 2022.

关键词： Human robot interaction

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Multi-Robot Object Transport in Constrained Environments: A Model Predictive Control Approach

Multi-Robot Object Transport in Constrained Environments: A ...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Ibrahim Muhammed Ayman A. Nada Haitham El-Hussieny Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

This paper presents a robust approach for cooperative object transportation using a multi-robot system driven by Model Predictive Control (MPC). Object transportation is a critical task in various applications such as industrial automation, logistics, and search and rescue, requiring efficient and reliable methods to handle dynamic and constrained environments. Utilizing multiple robots in object transportation enhances flexibility, scalability, and efficiency, allowing for distributed workload and improved robustness against individual robot failures. Current techniques in multi-robot object transportation include centralized and decentralized control strategies, The key challenges are communication constraints, coordination complexity, and real-time adaptability. Our methodology leverages Decentralized MPC, which significantly contributes to overcoming these challenges by enabling real-time, local decision-making while ensuring global coordination and optimal performance. The proposed approach is proven through various types of scenarios, demonstrating its potential as a scalable and efficient solution for multi-robot systems operating in constrained environments.

关键词： Service robots Scalability Robot kinematics Transportation Search problems Robustness Real-time systems Multi-robot systems Predictive control Resilience

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Model- and Data-Based Control of Self-Balancing Robots: Practical Educational Approach with LabVIEW and Arduino

arXiv

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arXiv 2024年

作者： Abdelgawad, Abdelrahman Shohdy, Tarek Nada, Ayman Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt

A two-wheeled self-balancing robot (TWSBR) is non-linear and unstable system. This study compares the performance of model-based and data-based control strategies for TWSBRs, with an explicit practical educational approach. Model-based control (MBC) algorithms such as Lead-Lag and PID control require a proficient dynamic modeling and mathematical manipulation to drive the linearized equations of motions and develop the appropriate controller. On the other side, data-based control (DBC) methods, like fuzzy control, provide a simpler and quicker approach to designing effective controllers without needing in-depth understanding of the system model. In this paper, the advantages and disadvantages of both MBC and DBC using a TWSBR are illustrated. All controllers were implemented and tested on the OSOYOO self-balancing kit, including an Arduino microcontroller, MPU-6050 sensor, and DC motors. The control law and the user interface are constructed using the LabVIEW-LINX toolkit. A real-time hardware-in-loop experiment validates the results, highlighting controllers that can be implemented on a cost-effective platform. © 2024, CC BY.

关键词： Controllers

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Design and Implementation of a Cost-Effective Semi-Autonomous Scissor Lift Robot for Industrial Material Handling

Design and Implementation of a Cost-Effective Semi-Autonomou...

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IEEE Southeastcon

作者： Ricardo Juarez Marquis Ledet Daisie Johnson M. Hassan Tanveer Matthew Marshall Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

This paper presents the mechanism, system configuration, basic control algorithm, and integrated functions of a Semi-Autonomous Robotic Lift designed for efficient industrial material handling. The robot combines the capabilities of traditional manual tools with advanced sensors, including infrared, ultrasonic, and gesture sensors, to carry, lift, and navigate within a specified area. The use of a gesture sensor enables a user-friendly command protocol for scissor lift operations through simple hand movements. The robot's stability on uneven surfaces is ensured by four wheels and robust materials, such as steel and 3/4” wood, allowing it to withstand heavy loads safely. Safety protocols, including speed limits, light indicators, and an emergency stop button, adhere to industry standards. The Semi-Autonomous Robotic Lift, constructed with a mixture of steel and plywood, aims to facilitate the transportation of heavy materials in indoor industrial or warehouse settings, providing a cost-effective alternative to existing products.

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Peripheral Neuromodulation for Bionic limbs and Electroceuticals

Peripheral Neuromodulation for Bionic limbs and Electroceuti...

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Pan American Health Care Exchanges, PAHCE

作者： Youngjun Cho Heejae Shin Minseok Kang Yongwoo Kim Jinwoong Jeong Sanghoon Lee Robotics and Mechatronics Engineering DGIST Rep. of Korea

Modulation of nerve signals in the peripheral nervous system (PNS) is a promising research field for interfacing with bionic limbs and for therapeutic applications. To achieve this, peripheral neural interfaces should be improved in terms of biocompatibility and functionality of recording and stimulation. This presentation introduces shape memory polymer neural interfaces, which have been developed for use in bionic limbs and bladder modulation. Furthermore, this paper introduces triboelectric neurostimulators for modulating peripheral nerves.

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