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A smart green mashrabiyya-shutter design for residential applications in Egypt

HBRC Journal 2023年第1期19卷 229-252页

作者： Abdel Gelil Mohamed, Nermine Hamid Abd El-Rahman, Eslam Sadek, Mohamed Giza Egypt Mechatronics and Robotics Department Cairo Higher Institute for Engineering Computer Science and Management Cairo Egypt

The revival of traditional latticework mashrabiyya is continually urged in the Middle East and North Africa to address conflicting needs since it optimally balances environmental, social, and aesthetic functions. However, its material and craftsmanship costs and inflexibility are significant barriers. This study aims to provide a preliminary design for a green, smart mashrabiyya-like shutter responsive to climatic conditions and privacy needs in Egypt, manufactured with palm midribs, a waste material available in the MENA region due to annual trimming. The simple, yet responsive and traditional design outlined in this study has a considerable potential for residential applications not only in Egypt, but also in similar socio-environmental contexts. The design generation is based on three steps: 1) constructing a static model that maintains the basic socio-environmental needs, manufactured with palm midrib patterns, 2) modeling dynamic functions, using Grasshopper/Ladybug, through standardizing slats and deciding upon visibility and adjustable parts, and 3) integrating smart controls based on comfort indexes and indoor climatic readings. Using a simple circuit fitted with sensors, actuators, and a microcontroller, the design of a latticework shutter responsive to climate and privacy was generated. The concept depends on computing indoor weather data and comparing them to thermal, daylight, and wind comfort indexes. Consequently, automated decisions could be made to regulate the shutter parts in two ways: 1) its opening angle and 2) openness between the slats. Ultimately, the operating concept of the smart shutter in a room and automated flowcharts that make decisions in daytime and nighttime modes were proposed. © 2023 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Visibility

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Radar Dead-reckoning Based EKF-SLAM Using Virtual Line Segment

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Journal of Institute of Control, robotics and Systems 2024年第9期30卷 996-1003页

作者： Lee, Min-Ho Seo, Kyeong-Wook Hwang, Dong-Yun Song, Jin-Woo Do, Hoang-Viet Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone Sejong University Korea Republic of Department of Artificial Intelligence and Robotics and Convergence Engineering for Intelligent Drone Sejong University Korea Republic of

In this paper, we propose a dead reckoning–based radar simultaneous localization and mapping (SLAM) system utilizing constrained virtual line segments. In particular, we utilize Doppler velocity from radar for odometry while constructing a map using 3D radar point-cloud measurements. Unlike the conventional approach where accelerometers are employed, our system integrates radar velocity for pose calculation, thereby preventing double-integration and accelerometer bias and potentially improving the localization accuracy. Additionally, we analyze radar 3D point cloud characteristics and employ a recursive random sample consensus algorithm to eliminate outliers. The resulting set of inlier point clouds is then used to predict virtual line segments. Using virtual lines instead of feature points mitigates the sparse and noisy nature of radar point clouds. Moreover, considering the typical characteristics of indoor environments where walls intersect perpendicularly, we impose constraints on estimates to enhance performance further. We evaluate the performance of the proposed algorithm through experiments conducted in real indoor environments using an unmanned ground vehicle platform. Our results demonstrate significant improvements over traditional odometer-based systems, with reductions of approximately 41% in 2D trajectory error and 49.5% in heading angle error. © ICROS 2024.

关键词： Accelerometers

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The Development and Implementation of a Cost-Effective Educational Robotic Arm Using ROS-MoveIT 14

The Development and Implementation of a Cost-Effective Educa...

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14th IEEE Integrated STEM Education Conference, ISEC 2024

作者： Eaton, Matthew Tanveer, M. Hassan Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798350352801

This paper introduces a cost-effective robotic arm designed to match the performance of expensive counterparts, addressing the financial barriers hindering the widespread adoption of modern robotic arms in educational settings. The affordability of this robotic arm not only allows for greater student involvement, but its open-source nature fosters a deeper understanding of the robotics development process. This paper details the features and characteristics of the robotic arm design, as well as outlines the opportunities for mechatronics and robotics labs this design provides to students and educators through discussions ranging from the pros and cons of various stepper motor gearbox configurations, and structural material choices, to choices regarding various popular computational platforms. The overall initiative of the paper aims to create a more inclusive learning environment by reducing financial constraints, enabling broader student participation, and contributing to the advancement of robotics education. © 2024 IEEE.

关键词： Inverse kinematics

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A Driving Direction Estimation Algorithm for Obstacle Avoidance of a Wheel-less Snake Robot 26

A Driving Direction Estimation Algorithm for Obstacle Avoida...

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26th International Conference on mechatronics Technology, ICMT 2023

作者： Lim, Seunghyun Song, Jinhyeok Yun, Dongwon Dgist Department of Robotics and Mechatronics Engineering Daegu Korea Republic of

ISBN: (纸本)9798350381429

This paper describes a driving direction estimation algorithm of a wheel-less snake robot and verifies that the algorithm allows the robot to locomote as desired in ROS-based simulation. Snake robots have serious operational difficulties since their driving directions are not intuitive. Therefore, a driving direction should be estimated for autonomous locomotion, such as path tracking and obstacle avoidance. A driving direction estimation algorithm based on the kinematics of the snake robot is used with path planning and tracking algorithms. The suggested driving direction estimation algorithm allowed straightness improvement and path tracking in the simulation environment. © 2023 IEEE.

关键词： Motion planning

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Experimental and modeling study of surface topography generation considering tool-workpiece vibration in high-precision turning

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Chinese Journal of Aeronautics 2023年第7期36卷 194-212页

作者： Xingying ZHOU Henan LIU Tianyu YU Ruiyang GUO Guangzhou WANG Yazhou SUN Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

High-precision turning(HPT)is a main processing method for manufacturing rotary high-precision components,especially for metallic ***,the generated vibration between tool tip and workpiece during turning may seriously deteriorate the surface ***,exploring the effect of vibration on turning surface morphology and quality of copper parts using 3D surface topography regeneration model is crucial for predicting HPT *** developed model can update the machined surface topology in real *** this study,the effects of tool arc radius,feed rate,radial vibration,axial vibration and tangential vibration on the surface topography and surface roughness were *** results show that the effect of radial vibration on surface topography is greater than that of axial vibration and tangential *** radial vibration frequency is also *** vibration frequency changes,the surface topography profile presents three different types:the standard sinusoidal curve,the sinusoidal curve whose lowfrequency signal envelopes high-frequency signal,and the oscillation curve whose low-frequency signal superimposes high-frequency *** addition,HPT experiment was carried out to validate the developed *** surface roughness obtained in the experiment was Ra=53 nm,while the roughness obtained by the simulation was Ra=46 nm,achieving a prediction accuracy of 86.7%.Received 4 September 2022;revised 3 October 2022;accepted 17 October 2022.

关键词： High-precision turning Machining vibration Modeling Surface roughness Surface topography

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FFT-UAVNet: FFT Based Human Action Recognition for Drone Surveillance System 5

FFT-UAVNet: FFT Based Human Action Recognition for Drone Sur...

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5th International Conference on Sustainable Technologies for Industry 5.0, STI 2023

作者： Chowdhury, Abdul Monaf Imran, Ahsan Hasan, Md Mehedi University of Dhaka Dept. of Robotics and Mechatronics Engineering Bangladesh

ISBN: (纸本)9798350394290

Unmanned aerial vehicles (UAVs) have emerged as a transformative technology for human action recognition, providing a birds-eye view and unlocking new possibilities for precise and comprehensive support in surveillance systems. While substantial advances in ground-based human action recognition have been achieved, the unique characteristics of UAV footage present new challenges that require tailored solutions. Specifically, the reduced scale of humans in aerial perspectives necessitates the development of specialised models to accurately recognize and interpret human actions. Our research focuses on modifying the well-established C3D model and incorporating Fast Fourier Transform (FFT)-based object disentanglement (FO) and space-time attention (FA) mechanisms. By leveraging the power of FFT, our model effectively disentangles the human actors from the background and captures the spatio-temporal dynamics of human actions in UAV footage, enhancing the discriminative capabilities and enabling accurate action recognition. Through extensive experimentation on a subset of the UAV-Human dataset, our proposed FFT-UAVNet (m-C3D+FO&FA+FC) model demonstrates remarkable improvements in performance. We achieve a Top-1 accuracy of 64.86% and a Top-3 accuracy of 83.37%, surpassing the results obtained by the standard C3D and X3D methods, which achieve only a Top-1 accuracy of 28.05% and 31.33%, respectively. These findings underscore the efficacy of our approach and emphasize the significance of the proposed model for UAV datasets in maximizing the potential of UAV-based human action recognition. © 2023 IEEE.

关键词： Computer vision

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Data-driven System Decoupling Algorithm with Transfer Function Decoupling Matrix 49

Data-driven System Decoupling Algorithm with Transfer Functi...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Yoon, Jegwon Kong, Taejune Jung, Hanul Oh, Sehoon Dgist Department of Robotics and Mechatronics Engineering Daegu Korea Republic of

ISBN: (纸本)9798350331820

A Multi-Input-Multi-Output (MIMO) system has complex interactions between inputs and outputs, resulting in a coupling effect that can lead to undesired motions. To effectively control MIMO systems, decoupling is necessary. This paper introduces a decoupling method that uses a transformation matrix modeled as a transfer function using Frequency Response Function (FRF). Unlike the conventional decoupling method uses constant transformation matrix obtained through Canonical Polyadic Decomposition (CPD) and shows performance degradation in certain frequency bands, the proposed method creates transformation matrix as a transfer function and demonstrates better decoupling performance across the entire frequency band. The performance of the proposed method is validated through simulations on a hybrid dual-drive gantry stage. © 2023 IEEE.

关键词： Transfer functions

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New Educational Technologies for Training Specialists in the Field of mechatronics and robotics 7

New Educational Technologies for Training Specialists in the...

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7th International Conference on Information Technologies in engineering Education, Inforino 2024

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

ISBN: (纸本)9798350371369

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. © 2024 IEEE.

关键词： Students

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Analysis of the Stability and postcritical Behavior of the Ziegler's Pendulum in Simulink 7

Analysis of the Stability and postcritical Behavior of the Z...

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7th International Conference on Information Technologies in engineering Education, Inforino 2024

作者： Radin, Vladimir P. Poznyak, Elena V. Novikova, Olga V. Tsoy, Valerian E. Chirkov, Viktor P. Kuznetsov, Sergey F. Moscow Power Engineering Institute Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Russia

ISBN: (纸本)9798350371369

The paper presents a nonlinear Simulink model of a double pendulum loaded with potential and follower forces. At first stability region of the initial equilibrium position was found using the dynamic method. Then time-depended displacements and phase portraits of the pendulum were obtained and investigated for various parameters of the loading: in the stable regions, at the intersection of the boundaries of flutter and divergence, in distant postcritical regions. In the simulation some features of phase trajectories of the nonlinear nonconservative system have been found and illustrated. The relevance of simulation for training future specialists in the field of dynamics and strength of machines is shown. © 2024 IEEE.

关键词： Simulink

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Development of Hovering Personal Mobility Device and Its Dynamics 26

Development of Hovering Personal Mobility Device and Its Dyn...

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26th International Conference on mechatronics Technology, ICMT 2023

作者： Song, Bongsub Ju, Insung Choi, Sunghyun Yun, Dongwon Dept. Robotics and Mechatronics Engineering Dgist Daegu Korea Republic of

ISBN: (纸本)9798350381429

Recent advances in control units and innovations in battery technology have greatly improved the accessibility of personal mobility, also known as personal mobility. However, most of the personal mobility developed to date utilizes motorized wheels as the primary propulsion source. This approach is limited by the fact that the mobility capability of the device is heavily constrained by the road surface conditions. In this paper, we propose a new form of personal mobility to address these issues. We devised an air cushion-based personal mobility to extend the range of personal mobility devices and reduce their dependence on road conditions. This novel mobility system supports the weight of the system and its occupants through air cushions, and it allows for vector control of the direction of propulsion through individual cushions acting independently. This unique structure is able to overcome the road surface constraints faced by motorized wheel-based personal mobility by floating off the ground. This will enable personal mobility to be effectively utilized in a wider range of environments and situations. © 2023 IEEE.

关键词： Roads and streets

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