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IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)

作者： Mugeun Lee Hwajoong Kim Jinho Kim Minji Jeong Jaehong Lee Department of robotics and mechatronics engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Korea

Various strain sensors have been developed due to their capability to monitor a piece of basic physiological information. However, a lot of existing strain sensor is based on planar soft sensors, which have a few critical challenges such as structural mismatch and stable fixation on the target organ. Here, we present a 1-dimensional and biocompatible capacitive fiber strain sensor. The fiber strain sensor comprises a conductive fiber electrode based on Au, a representative biocompatible material. The structure of the fiber strain sensor is a double helix. The sensor shows high sensitivity of ~9.8 and high stability.

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Self-Aware AI-Based Anomaly Detection for AI IoT Enabled Smart Healthcare System

Self-Aware AI-Based Anomaly Detection for AI IoT Enabled Sma...

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Computing and Information Technology (ICCIT-1441), 2020 International Conference on

作者： Yusra Shereen Muhammad Farrukh Shahid Muhammad Hassan Tanveer School of Computing FAST - NUCES Karachi Pakistan Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta GA USA

ISBN: (数字)9798350353839

ISBN: (纸本)9798350353846

The Internet of Things (IoT) based smart healthcare systems can significantly enhance the quality of patient care. These systems can enable healthcare providers to monitor patient conditions in real time. IoT-based smart healthcare systems have the potential to revolutionize the way we provide care. Anomaly detection is crucial in IoT-based smart healthcare systems due to numerous reasons. It plays a dominant role in proactive health-care analysis, especially in brain diseases. In brain Magnetic Res-onance Imaging (MRI), anomaly detection helps in identifying several abnormalities, such as cysts, strokes, infections, vascular and developmental malformations, and neurological disorders like Alzheimer's and multiple sclerosis. The existing approaches of brain MRI anomaly detection, and anomaly detection in IoT-based smart healthcare systems utilizes static AI models. Conventional AI based models can be trained once and cannot tackle the changes in real time. The population health and the nature of disease consistently change, and conventional AI based models can't adapt to those changes. Conventional AI based system cannot tackle the changes caused by variations like diseases and public health and become ineffective over the time. Self-aware AI models can address these issues as they can learn and adapt to their environment. Self-aware AI-based systems have the potential to change lives through their ability to learn, adapt, and improve over time. In this paper, we proposed a novel approach to anomaly detection based on self-aware AI in IoT-based smart healthcare systems. Additionally, an algorithm for anomaly detection in MRI images, namely Self-Aware AI based Anomaly Detection (SAAD) is proposed. Our proposed system can detect anomalies in brain MRI images. We achieved 98% accuracy and 0.99 precision and recall, outperforming the existing approaches. The proposed self-aware AI based anomaly detection framework for IoT-based smart healthcare systems has the potential

关键词： Adaptation models Magnetic resonance imaging Medical services Brain modeling Real-time systems Internet of Things Artificial intelligence Public healthcare Anomaly detection Self-aware

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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Frontiers of Mechanical engineering 2021年第3期16卷 435-450页

作者： Boyu MA Zongwu XIE Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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Cost-Effective Pressure Glove to Measure Forces & Orientation from a Chiropractor

Cost-Effective Pressure Glove to Measure Forces & Orientatio...

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Opportunity Research Scholars Symposium (ORSS)

作者： Carolyn Butler Iti Shah Jacob Kish Muhammad Salman Robotics & Mechatronics Kennesaw State University Department of Mechanical Engineering Kennesaw State University

Currently, there is no affordable, everyday use chiropractic force sensor. Devices that are used to teach chiropractic students, such as activators and drop tables, assist students in learning but do not give adequate feedback. Our design will be implementing the cheapest materials to make the most reliable force sensing glove which chiropractors can use for their daily work needs. Materials needed to complete this project include pressure sensors, electrical wires, resistors, a breadboard, Raspberry Pi Pico W, a laptop with Thonny software installed, and an analog to digital converter. Our design of the chiropractic force sensor glove will help reduce the amount of confusion when determining the correct amount of force to apply to a chiropractor’s patient. This research will also help to dramatically reduce any severe pain resulting from misplaced forces and pressure applied to chiropractic patients.

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Toward Development of Novel Remote Ultrasound Robotic System Using Soft robotics Technology

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Journal of engineering and Science in Medical Diagnostics and Therapy 2024年第2期7卷 021012页

作者： Papendorp, Sky Ovando, Ammy Gharaie, Saleh Mosadegh, Bobak Guerra-Zubiaga, David Alaie, Seyedhamidreza Ashuri, Turaj Moghadam, Amir Ali Amiri Department of Robotics and Mechatronics Engineering Kennesaw State University MariettaGA30060 United States School of Engineering Deakin University GeelongVIC3216 Australia Department of Radiology Dalio Institute of Cardiovascular Imaging Weill Cornell Medicine New YorkNY10021 United States Department of Mechanical and Aerospace Engineering New Mexico State University Las CrucesNM88003 United States Southern Polytechnic College of Engineering and Engineering Technology Kennesaw State University MariettaGA30060 United States

This paper reports on the development of a novel soft robotic system for remote ultrasound applications. Direct contact of the ultrasound probe with the patient’s body represents a safety risk and therefore control of the probe’s positioning and applied force is a crucial task. The proposed robot uses a passive control system that provides safe interaction between the robot and the patient by leveraging soft robotics technology. The soft robot’s structure can be considered as a nonlinear spring which can be designed to exert a safe force within the robot’s workspace to guarantee the safety of human–robot interaction. The literature suggests that effective ultrasound imaging of both the heart and abdomen requires six degrees-of-freedom. These degrees-of-freedom consist of three translational motions, which are achieved using a novel hybrid soft cable-driven parallel robot, and three wrist motions, which is based on a universal joint design. The experimental results show that the robot can achieve all these six degrees-of-freedom, and its blocking force can be engineered to generate a uniform force within the workspace. Copyright © 2024 by ASME.

关键词： Probes

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MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design

MonoRollBot: 3-DOF Spherical Robot with Underactuated Single...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Zhiwei Liu Seyed Amir Tafrishi Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab the School of Engineering Cardiff University Cardiff United Kingdom

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional propulsion with high degrees of freedom while utilizing a limited number of actuators. This paper presents the MonoRollBot, a novel 3-degree-of-freedom (DOF) spherical robot that utilizes an underactuated mechanism driven by only a single springmotor system. Unlike conventional spherical robots, MonoRoll-Bot employs a minimalist actuation approach, relying on only one motor and a passive spring to control its locomotion. The robot achieves 3-DOF motion through an innovative coupling of spring dynamics and motor control. In this work, we detail the design of the MonoRollBot and evaluate its motion capabilities through design studies. We also study its locomotion behaviours based on changes in rotating mass and stiffness properties.

关键词： Actuators Dynamics 3-DOF Soft robotics Propulsion Motors Stability analysis Space exploration Springs Robots

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An Efficient Inverse Kinematic Method for SSRMS-type Manipulator with Conformal Geometric Algebra

An Efficient Inverse Kinematic Method for SSRMS-type Manipul...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Jingdong Zhao Jiayu Zhang Liangliang Zhao Zhonglai Tian Zirui Wang Wei Jiang Hong Liu School of Mechatronics Engineering State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

SSRMS-type Manipulator is a typical type of space manipulator featuring 7-degree-of-freedom offset configuration with redundancy characteristic. It is challenging to solve inverse kinematics in high efficiency, make the upmost of redundancy characteristic, and select optimal redundant parameter. This paper proposes an analytical inverse kinematic method, named three-continuous-parallel-Link Direction Vector Parameterization (LDVP), in the theory of Conformal Geometric Algebra. This method employs the direction vector of the axis of parallel Joint 3, Joint 4, and Joint 5 as the parameter, and selects the optimal parameter according to context plan-points in a given trajectory. The process of solving inverse kinematics is divided into two steps, including solving joint positions and joint variables. The average solution time of forward and inverse kinematics is 9.79 us and 0.25 ms respectively. The continuous path tracking experiment verifies that all seven joints changing to pursue the optimal configuration, which makes full use of redundancy characteristic.

关键词： mechatronics Algebra Termination of employment Kinematics Manipulators Vectors Orbits

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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Yasir Nawaz Muhammad Usman Qadir Muhammad Awais Khan Izhar Ul Haq Kamran Shah Tahir Khan Department of Mechatronics Advanced Robotics & Automation Lab University of Engineering and Technology Peshawar Pakistan

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area.

关键词： Meters Industries PI control Automation System performance Production Robustness

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Diagnosis of Localized Bearing Defects using Texture Analysis of Vibration Envelope Signals and Machine Learning

Diagnosis of Localized Bearing Defects using Texture Analysi...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Nguyen, Cong Dai Nasir, Fazal E. Khan, Shahbaz Khan, Sheraz Ali Kim, Jong-Myon Le Quy Don Technical University Faculty of Radio-Electronic Engineering Hanoi Viet Nam Advanced Robotics and Automation Lab National Center for Robotics and Automation Peshawar Pakistan Institute of Manufacturing University of Engineering and Applied Sciences Swat Pakistan University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan University of Ulsan Department of IT Convergence Ulsan Korea Republic of PD Technology Ulsan Korea Republic of

ISBN: (纸本)9781665464727

Bearings are important because they play a critical role in the operation of many machines and devices by reducing friction and enabling smooth motion between two moving parts. They are commonly used in rotating machinery, such as electric motors, turbines, pumps, and gearboxes, where they support and guide the rotating shafts. The primary cause of failure in wind turbines and induction motors is bearing faults, resulting in significant downtime and economic losses. Detecting these faults accurately and promptly is crucial to preventing unexpected shutdowns. Most of the existing methods for bearing fault detection rely on envelope analysis, which involves filtering and demodulating the raw signal, and Fourier analysis of the envelope signal to identify defect frequencies. Recent research has focused on improving the visibility of these frequencies by selecting an optimal band for filtering, using sub-band analysis and spectral kurtosis, which is a complex process and can be time-consuming. This paper presents a new approach to envelope signal analysis using texture analysis of the envelope signals that are projected as 2D grayscale images where each fault generates a unique texture. These textures are encoded using the local binary pattern operator and then used for fault classification. The method is tested on a publicly available seeded fault dataset. © 2023 IEEE.

关键词： Signal analysis

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MPPT Algorithms for Wind Turbines: Review and Comparison 29

MPPT Algorithms for Wind Turbines: Review and Comparison

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29th International Workshop on Electric Drives: Advances in Power Electronics for Electric Drives, IWED 2022

作者： Aleksandr, Lukin Demidova, Galina Alassaf, Omar Lukichev, Dmitry Rassolkin, Anton Vaimann, Toomas ITMO University Faculty of Control System and Robotics Saint-Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia

ISBN: (纸本)9781665467865

Wind turbines play an important role in energy generation using renewable sources. The wind is very changeable, and such turbines require techniques for finding and tracking maximum power density. The presented work includes an overview of maximum power point tracking techniques applicable to small-size wind turbines based on the Magnus effect. An overview of existing algorithms is presented. Overviewed algorithms are assessed using a simulation in MATLAB with a model of the experimental Magnus effect wind turbine. © 2022 IEEE.

关键词： Wind power

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