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检索条件"机构=Mechatronics and robotics Engineering"

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A Novel Approach for Efficient Gaussian Mixture Model using Dynamics-motivated Optimal Excitation

A Novel Approach for Efficient Gaussian Mixture Model using ...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Taehoon Kim Juwon Jeong Taejune Kong Hyunwook Lee Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST (Daegu Gyeongbuk Institute of Science and Technology) Daegu Republic of Korea School of Mechatronics Engineering Gyeongsang National University Jinju Republic of Korea

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

EffiDynaMix, a novel, efficient, gray-box, nonparametric dynamics modeling method, integrates mathematical dynamics with Gaussian Mixture Model (GMM) for simplified training data creation and improved generalization. It outperforms traditional methods like conv-GMM, GP, and LSTM in training efficiency and accuracy with new data. By leveraging dynamic equations, EffiDynaMix enhances learning efficiency and adaptability, offering advancements in robotic system precision and computational efficiency, leading to faster and more responsive robots.

关键词： Training Industrial electronics Adaptation models Service robots Computational modeling Training data Mathematical models

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A Robust Control Technique for Pitch Control of an Aeropendulum 6

A Robust Control Technique for Pitch Control of an Aeropendu...

引用

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

作者： Tanveer, M. Hassan Koduru, Charles Roy, Rupam Gupta Lakhekar, Girish V. Chun, Cary Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA30067 United States National Institute of Technology Department of Electronics and Instrumentation Engineering Agartala Barjala Jirania Tripura Agartala India College of Engineering Department of Instrumentation Engineering Maharashtra Pune India

ISBN: (纸本)9798350315301

Pitch control of an aviation system presents a plethora of control complications, such as nonlinear effects, parameter uncertainties, disturbances, etc. In the face of parametric uncertainties and disturbances, as well as communication limits in an auditory medium, it is difficult to create efficient control algorithms that can accomplish precise path-following tasks and effective resilient control actions. This paper presents the Second Order Sliding Mode Control method for regulating the pitch angle in an aero-pendulum mechatronic system. The fundamental purpose of this study is to develop a reliable controller capable of minimising the system error between the regulated signal and the planned signal that corresponds to the pitch angle of the vehicle. By employing the proposed approach, both the prevalence of chattering and the control efficiency can be greatly improved. A comparison is given between the proposed model and the classical technique now in use, such as the classical Sliding Mode Controller. © 2023 IEEE.

关键词： Sliding mode control

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Beyond Words: Integrating Personality Traits and Context-Driven Gestures in Human-Robot Interactions 25

Beyond Words: Integrating Personality Traits and Context-Dri...

引用

Proceedings of the 24th International Conference on Autonomous Agents and Multiagent Systems

作者： Tahsin Tariq Banna Sejuti Rahman Mohammad Tareq Robotics & Mechatronics Engineering University of Dhaka Dhaka Bangladesh Accounting & Information Systems University of Dhaka Dhaka Bangladesh

ISBN: (纸本)9798400714269

As robots become increasingly integrated into human life, personalizing human-robot interactions (HRI) is crucial for improving user acceptance, engagement, and interaction quality. However, personalizing HRI poses a unique challenge due to the diversity of human personality traits. This paper proposes a method that leverages large language models (LLMs) to dynamically tailor robot conversations according to the Big Five (OCEAN) personality traits. Our novelty lies in using user personality traits to shape robots' verbal responses and implementing contextual action generation for gestures. This study addresses two primary research questions: (1) Does adapting robots' verbal responses based on user personality traits improve communication satisfaction? (2) How does the addition of context-appropriate gestures further enhance user satisfaction? We used Goldberg's personality trait measurement scale (1992) to assess 26 participants who engaged in conversations with an LLM-powered Pepper robot on various topics. The quality of these interactions was self-reported using a revised version of Hecht's (1978) conversation satisfaction scale. Three experimental conditions were conducted: (i) Baseline: Standard LLM conversation, (ii) Personality-congruent: LLM-adjusted dialogue based on personality of participants, and (iii) Enhanced interaction: Personality adaptation plus dynamic gestures. For the third condition, we implemented contextually appropriate pre-defined animations and generated novel gestures by computing joint angle values in real time. Statistical analysis using ANOVA revealed significant differences in communication satisfaction across the three conditions (F=13.41, p<.001). Post-hoc analyses using Šidák's multiple comparison test showed significant pairwise differences: Condition 2 vs. 1: Δ Δmean 4.42, p = 0.02; Condition 3 vs. 1: Δ Δmean 8.23, p < 0.01; Condition 3 vs. 2: Δ Δmean 3.80, p = 0.05. These results demonstrate that both personality-congruent inter

关键词： HRI

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Preliminary Work on Compliant Horseshoe Crab Artificial Intelligence Robot (CHAIR)

Preliminary Work on Compliant Horseshoe Crab Artificial Inte...

引用

IEEE Southeastcon

作者： Kate Johnson Jamie Assaf Rafael Juarez Razvan Voicu Ayse Tekes Robotics and Mechatronics Kennesaw State University Atlanta GA Mechanical Engineering Kennesaw State University Atlanta GA

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

This paper introduces a compliant robot inspired from horseshoe crab that harnesses the advantages of bendable links to achieve locomotion reminiscent of its natural counterpart. Our robot design features multiple motors for dynamic limb motion and a selectively positioned tail mechanism, which, in future work, will play a pivotal role in swimming. In this initial phase, we focus on establishing fundamental terrestrial locomotion by conducting separate Q-learning experiments for forward movement, left turning, and right turning. Each experiment utilizes gyroscopic feedback to reinforce proper tilt and balance, ensuring stable movement across diverse surface conditions. The success of these individual Q-learning procedures demonstrates how a soft robotic platform can systematically learn essential gait patterns while minimizing disturbances to local ecosystems, owing to the gentle, adaptive interactions afforded by compliant materials. By utilizing bendable links, the robot can conform more closely to uneven terrain, resulting in increased stability and reduced motor strain compared to rigid-body designs. The gyroscope-driven reward structure guides the robot's posture, helping it make timely corrective adjustments for each action. Overall, these results highlight that soft robotics, coupled with reinforcement learning and orientation-based rewards, is a viable approach for developing multi-terrain robots. This work establishes a foundation for more comprehensive action discovery, eventually incorporating additional sensing modalities, continuous tail motions, and further environmental-awareness capabilities to enable fully autonomous amphibious navigation.

关键词： Q-learning Torque Tail Soft robotics Robot sensing systems Motors Turning Gyroscopes Robots Strain

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Deep Learning-Based Hash Function Cryptanalysis

Deep Learning-Based Hash Function Cryptanalysis

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International Conference on Information and Communication Technology Convergence (ICTC)

作者： Ongee Jeong Inkyu Moon Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science & Technology (DGIST) Daegu Republic of Korea

ISBN: (数字)9798350364637

ISBN: (纸本)9798350364644

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, messages, into 128-bit arrays, digests, with MD5 in different numbers of steps. Furthermore, two different structures of deep learning models, fully-connected neural network and Bidirectional Long Short-Term Memory (BiLSTM), are used in attacks and trained to analyze MD5 automatically. As a result, the BiLSTM shows better prediction accuracy than the fully-connected neural network. Moreover, the PR attack is more challenging than the EE attack.

关键词： Deep learning Analytical models Accuracy Neural networks Emulation Bidirectional long short term memory Cryptographic hash function Information and communication technology Encryption Convergence

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Privacy-Preserving Classification of Photon-Limited Images Using Deep Learning

Privacy-Preserving Classification of Photon-Limited Images U...

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International Conference on Information and Communication Technology Convergence (ICTC)

作者： Ongee Jeong Inkyu Moon Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science & Technology (DGIST) Daegu Republic of Korea

ISBN: (数字)9798350364637

ISBN: (纸本)9798350364644

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, which represents the images sparsely by using a few photons. As a result, over 90 % of photon-limited images can be classified when at least 50,000 photons are used. Since some information from the original images is lost in the photon-limited images, it is challenging to recognize the personal information in the photon-limited images. Therefore, the proposed scheme can classify the images while concealing the portion of the information in the images.

关键词： Deep learning Image recognition Imaging Color Transformers Information and communication technology Photonics Image classification Convergence

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Comparison of Object Detection Technique for Applications in ETAT Automation Training Set 7

Comparison of Object Detection Technique for Applications in...

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7th International Conference on Information Technology, InCIT 2023

作者： Kosiyanurak, Karin Singsri, Pongpat Seangsri, Soontaree Promput, Sommart Rajamangala University of Technology Tawan-ok School of Engineering and Innovation Department of Mechatronics and Robotics Engineering Chonburi Thailand Rajamangala University of Technology Tawan-ok Faculty of Science and Technology Department of Information and Communication Technology Chonburi Thailand

ISBN: (纸本)9798350358698

Object detection is a type of artificial intelligence (AI) that is currently being developed and used widely. It can classify and detect objects in images or videos. This research aims to investigate object detection that is suitable and accurate for detecting the color of the workpieces in the training set. This study will experiment comparison of three object detection models: 1. OpenCV Python code via the Thonny software. Using the BGR color separation principle, the range of color values must be specified so that the model can separate different colors. 2. V4-tiny and 3. V7-tiny are models that use model training principles in the CiRA-CORE Platform. In this study, 1,271 images of workpieces processed with the Augmentation Technique were utilized to train the model. and 240 images for testing the model. To analyze of find a suitable and accurate model for detecting the color of workpieces Because light is important in visual or object detection in real-time this study divided the experiment into two conditions: LED Lighting and without LED Lighting. The results showed that V7-tiny is an object detection model that can detect the color of the target in both lighting conditions. The V7-tiny model has an accuracy of 97.92%. © 2023 IEEE.

关键词： Object detection

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Micro Heater Design Procedure with Backside Etching for Medical Applications 48

Micro Heater Design Procedure with Backside Etching for Medi...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Tolba, Muhammad S. Fanni, Mohamed Nasser, Gamal A. Umezu, Shinjiro Fath El-Bab, Ahmed M. R. Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Helwan Univeristy Faculty of Engineering Mechanical Engineering Department Cairo Egypt Assuit University Mechatronics Engineering Assuit Egypt Waseda University School of Creative Science and Engineering Tokyo Japan

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

The incorporation of micro-heaters in medical analysis devices significantly aided in the miniaturization of such devices and shortened the processing time. Despite the fact that various micro-heater designs have been proposed, a high-speed heating rate for micro-heaters remain a challenge. The reduction of thermal mass allows for this high-speed to be accomplished. Furthermore, backside etching of the substrate is critical in increasing the rate of temperature change in thin-film micro heaters. This will speed up the thermal cycle, paving the way for high-speed, portable, and cost-effective medical devices like the polymerase chain reaction (PCR). The size of the backside opening, on the other hand, should be carefully chosen to ensure the heater's rigidity. The larger the backside opening, the faster the thermal change and the lower the stiffness of the chip. An accurate simulation investigation was performed in this study using the CoventorWare software tool to obtain the optimal back side design for the designed micro heater in which the temperature change process is accelerated while the chip's strength is maintained. This study allows us to achieve a high-strength, high-speed micro-heater with superior efficiency. The heater's dimensions are designed to warm up a chip of size 30x40 mm in accordance with Peltier's chip size. For the provided heater dimensions, a series of squares with side lengths of 2.5 mm per square and a distance of 1 mm between each square was found to be the best design for the backside etching. It raises the heating rate to 22 °C/s and allows the heater to withstand pressure up to 1.8 MPa. © 2022 IEEE.

关键词： Polymerase chain reaction

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New Educational Technologies for Training Specialists in the Field of mechatronics and robotics

New Educational Technologies for Training Specialists in the...

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International Conference on Information Technologies in engineering Education (Inforino)

作者： Delshan Deeb Igor Merkuryev Vasily Pakhomov Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Power Engineering Institute Moscow Russian Federation

ISBN: (数字)9798350371369

ISBN: (纸本)9798350371376

The development and integration of robotics education encompass a multifaceted approach that combines theoretical knowledge with practical application. The educational process is geared toward producing highly qualified specialists and supporting the development of innovative mechatronic modules and robotic systems. The article introduces new practice-oriented educational technologies designed to train specialists in mechatronics and robotics, with a focus on creating robotic systems for competitions and human interaction. The study has started at the Moscow Power engineering Institute in 1931 with the activities of student design and engineering bureaus. Improving the professional level of graduates led to winning several international competitions, which had the greatest role in the formation of the Technology Support Center for Education in 2012. Scientific research continues to this day in the field of designing robots and finding optimal methods for their implementation. Ultimately, this study suggests prioritizing sponsorship and enhancing competition, offering additional technological and material resources to students and researchers, and formulating long-term strategies to anticipate and address technological obstacles. The article concluded by examining the step-by-step advancement of technical education in preparing skilled professionals in robotics and mechatronics, and highlighting the potential future prospects and obstacles for educating students in this field.

关键词： Training mechatronics Educational robots Service robots Prototypes Educational technology Robots

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Prescribed Performance Sliding Mode Control and Estimation for Perturbed Double-Pendulum Cranes

Prescribed Performance Sliding Mode Control and Estimation f...

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Annual Conference of Industrial Electronics Society

作者： Ahmad Bala Alhassan Muhammad Auwal Shehu Ton Duc Do Dept. of Robotics and Mechatronics School of Engineering and Digital Science (SEDS) Nazarbayev University Astana Kazakhstan Dept. of Mechatronics Engineering Nigerian Defence Academy Kaduna Nigeria

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

Cranes suffer significantly from parameter uncertainties, frictions, unknown dynamics, and disturbances. Besides, it may be necessary to design a state estimator for an effective feedback controller design. Furthermore, the performance quality and precision of model-based controllers and state estimators rely heavily on accurate models, which may be challenging to formulate. In this study, to address the highlighted control problems and also achieve a precise level of bogie tracking error, the sliding mode control (SMC) with a novel prescribed performance function-based sliding surface is designed. Simulations have shown that the proposed control technique achieved pre-specified transient and steady-state quality metrics on the bogie tracking error where the error converged to a pre-defined small vestigial set, with a decay rate no less than the pre-assigned rate, exhibiting overshoots and undershoots less than some small-enough pre-assigned values.

关键词： Measurement Industrial electronics Uncertain systems Cranes Friction Estimation Observers Steady-state Transient analysis Sliding mode control

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