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2021 International Mobile, Intelligent, and Ubiquitous Computing Conference, MIUCC 2021

作者： El-Khatib, Mohamed Fawzy Maged, Shady A. Faculty of Engineering Mechatronics and Robotics Engineering Department Badr City Cairo Egypt Ain Shams University Faculty of Engineering Mechanical and Mechatronics Engineering Department Cairo Egypt

ISBN: (纸本)9781665412438

The various types of applications for arm robots have made it one of the most important topics within the field. An important step to be considered is the application of a suitable control algorithm that takes into account the complex nonlinear dynamics. However, nonlinear control methods can still face difficulties due to the complexity of implementation. In this paper, four degrees of freedom (4-DOF) robot arm model is considered. Simple linear control methods are proposed to be used in the control of the angle of robotjoints. For this purpose, the fuzzy logic controller (FLC) and the two degree of freedom PID (2-DOF PID) controller are applied to control the joint angles of robot arm and in order to improve the response speed and reduce overshoot. The system simulation was performed using the MATLAB/Simulink software package. Simulation results show that the FLC has a faster response with a better rise time compared to the 2-DOF PID controller. © 2021 IEEE.

关键词： Fuzzy logic

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FaceEngine: A Tracking-Based Framework for Real-Time Face Recognition in Video Surveillance System

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SN Computer Science 2024年第5期5卷 1-20页

作者： Imran, Ahsan Ahmed, Riad Hasan, Md Mehedi Ahmed, M. Helal Uddin Azad, A.K.M. Alyami, Salem A. Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka 1000 Bangladesh Department of Computer Science and Engineering BRAC University Dhaka 1212 Bangladesh Department of Management Information Systems University of Dhaka Dhaka 1000 Bangladesh Department of Mathematics and Statistics College of Science Imam Mohammad Ibn Saud Islamic University (IMSIU) Riyadh 11432 Saudi Arabia

The escalating concern over worldwide security and criminal activities has led to the emergence and significance of closed-circuit television video surveillance systems as an essential tool for diverse security purposes. These systems are extensively implemented and serve a crucial function in the surveillance and upkeep of security. The predominant purpose of video surveillance systems is to gather data primarily for evidentiary purposes subsequent to the occurrence of a criminal incident. The demand for video surveillance systems capable of autonomously monitoring and promptly identifying criminals or intruders in real-time is steadily increasing. Nevertheless, the existing facial recognition methods pose difficulties in reliably identifying individuals who are in motion within a video frame. Moreover, conventional approaches necessitate a substantial quantity of photographs in order to achieve precise recognition following the acquisition of an individual’s facial pattern. In order to tackle these concerns, we developed the implementation of input optimisation algorithms alongside a novel framework for real-time face recognition in the context of video surveillance. The input optimization algorithms, integrated with adaptive thresholding techniques, effectively reduce the need for manual outlier removal by actively identifying outliers for each specific case. The application of this optimisation strategy has demonstrated a substantial enhancement in both the efficiency and precision of our system in comparison to alternative baseline methodologies. Through the use of a reduced set of input image, our system is capable of attaining a heightened degree of improvements. Specifically, employing tracking and temporal voting techniques enables our system to accomplish a real-time face recognition accuracy of 90.91%. The findings of this study suggest that our approach has the potential to be a valuable tool in various applications that necessitate rapid and precise fac

关键词： Computer vision Deep learning Face recognition Image processing Tracking Video surveillance

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Establish a Dynamic Detection System for Metal Bicycle Frame Defects Based on YOLO Object Detection

Establish a Dynamic Detection System for Metal Bicycle Frame...

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2022 IET International Conference on engineering Technologies and Applications, IET-ICETA 2022

作者： Kuan-Ying, Su Ming-Fei, Chen Po-Cheng, Tsai Cheng-Han, Tsai University of Education Department of Mechatronics Engineering National Changhua Changhua Taiwan Intelligent Robotics Technology Division Industrial Technology Research Institute Hsinchu Taiwan

ISBN: (数字)9781665491389

ISBN: (纸本)9781665491389

The purpose of this research is to develop a real-time bicycle frame's defect detection system using YOLO (You Only Look Once) and machine vision. Firstly, the defect locations are manually selected and a database is established. Next, a Darknet method is used to train the YOLO model. Its static detection accuracy rate is 92.6%, and then the static training model is combined with a robotic arm and an industrial camera to perform dynamic detection verification. The result shows that its detection rate reaches 87%. Finally, the above-mentioned defect detection technology is used with the detection machine to complete the development of the online defect detection system. © 2022 IEEE.

关键词： Object detection

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Electric field enhancement of coupled plasmonic nanostructures for optical amplification

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PhotoniX 2023年第1期4卷 579-591页

作者： Jun Hyun Kim Ja Yeon Lee Eung Soo Kim Myung Yung Jeong Department of Cogno-mechatronics Engineering Pusan National UniversityBusan 46241Korea ESPn Medic ESPn Medic cooperationBusan 46241Korea Department of Electronic&Robotics Engineering Busan University of Foreign StudiesBusan 46234Korea Department of Optics and Mechatronics Engineering Pusan National UniversityBusan 46241Korea

Plasmonic effects that enhance electric fields and amplify optical signals are crucial for improving the resolution of optical imaging systems. In this paper, a metal-based plasmonic nanostructure (MPN) is designed to increase the resolution of an optical imaging system by amplifying a specific signal while producing a plasmonic effect via a dipole nanoantenna (DN) and grating nanostructure (GN), which couple the electric field to be focused at the center of the unit cell. We confirmed that the MPN enhances electric fields 15 times more than the DN and GN, enabling the acquisition of finely resolved optical signals. The experiments confirmed that compared with the initial laser intensity, the MPN, which was fabricated by nanoimprint lithography, enhanced the optical signal of the laser by 2.24 times. Moreover, when the MPN was applied in two optical imaging systems, an indistinguishable signal that was similar to noise in original was distinguished by amplifying the optical signal as 106 times in functional near-infrared spectroscopy(fNIRS), and a specific wavelength was enhanced in fluorescence image. Thus, the incorporation of this nanostructure increased the utility of the collected data and could enhance optical signals in optics, bioimaging, and biology applications.

关键词： Plasmonic effect Nanostructure Nanoimprint lithography Field enhancement Amplifying optical intensity Selective deposition fabrication

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Surface Defects Detection of Cylindrical High-Precision Industrial Parts Based on Deep Learning Algorithms: A Review

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Operations Research Forum 2024年第3期5卷 58页

作者： Wei, Li Solihin, Mahmud Iwan Saruchi, Sarah ‘Atifah Astuti, Winda Hong, Lim Wei Kit, Ang Chun School of Computer Science and Technology (School of Software) Guangxi University of Science and Technology Guangxi 545006 China Faculty of Engineering Technology and Built Environment UCSI University Kuala Lumpur 56000 Malaysia Faculty of Manufacturing and Mechatronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pahang Pekan 26600 Malaysia Computer Engineering Department Automotive and Robotics Engineering Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

High-precision cylindrical parts are critical components across various industries including aerospace, automotive, and manufacturing. Since these parts play a pivotal role in the performance and safety of the systems they are integrated into, they are often subject to stringent quality control measures. Defects on the interior and exterior wall surfaces of these cylindrical parts can severely undermine their function, leading to degraded performance, increased wear, and even catastrophic failures in extreme cases. This article aims to comprehensively summarize the task definition, challenges, mainstream methods, public datasets, evaluation metrics, and other aspects of surface defect detection for high-precision cylindrical parts, in order to help researchers quickly grasp this field. Specifically, the background and characteristics of industrial defect detection are first introduced. Owing to the unique geometric features of cylindrical part surfaces, algorithms and equipment for image data acquisition used in surface defect detection are elaborated in detail. This article presents an extensive overview of state-of-the-art surface defect detection techniques designed for high-precision cylindrical components, all rooted in deep learning. The methods are systematically classified into three main categories: fully supervised, unsupervised, and alternative approaches, based on their data labeling strategies. Additionally, the paper conducts a comprehensive analysis within each category, shedding light on their unique strengths, limitations, and practical use cases. Concluding the discussion, the paper provides insights into future development trends and potential research directions in this field that will lead to manufacturing innovation. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Anomaly detection Computer vision Deep learning Defect detection High-precision cylindrical parts Image processing Optical illumination

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Imperceptive and reusable dermal surface EMG for lower extremity neuro-prosthetic control and clinical assessment

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npj Flexible Electronics 2023年第1期7卷 48-58页

作者： Jaeu Park Jinwoong Jeong Minseok Kang Nagwade Pritish Youngjun Cho Jeongdae Ha Junwoo Yea Kyung-In Jang Hyojin Kim Jumin Hwang Byungchae Kim Sungjoon Min Hoijun Kim Soonchul Kwon ChangSik John Pak HyunSuk Peter Suh Joon Pio Hong Sanghoon Lee Department of Robotics and Mechatronics Engineering DGISTDaegu 42899Republic of Korea Department of Plastic and Reconstructive Surgery Asan Medical CenterSeoul 05505Republic of Korea Hugo Dynamics HUGOHwaseong-siGyeonggi-do 18468Republic of Korea Department of Smart Convergence Kwangwoon UniversitySeoul 01897Republic of Korea

Surface electromyography(sEMG)sensors play a critical role in diagnosing muscle conditions and enabling prosthetic device control,especially for lower extremity robotic ***,challenges arise when utilizing such sensors on residual limbs within a silicon liner worn by amputees,where dynamic pressure,narrow space,and perspiration can negatively affect sensor *** commercial sEMG sensors and newly developed sensors are unsuitable due to size and thickness,or susceptible to damage in this *** this paper,our sEMG sensors are tailored for amputees wearing sockets,prioritizing breathability,durability,and reliable recording *** employing porous PDMS and Silbione substrates,our design achieves exceptional permeability and adhesive *** serpentine electrode pattern and design are optimized to improve stretchability,durability,and effective contact area,resulting in a higher signal-to-noise ratio(SNR)than conventional ***,our proposed sensors wirelessly enable to control of a robotic leg for amputees,demonstrating its practical feasibility and expecting to drive forward neuro-prosthetic control in the clinical research field near future.

关键词： durability utilizing exceptional

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Volume reduction design of a surface-mounted permanent magnet synchronous motor for traction motor of an electric-powered wheelchair for the lower body disabled

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Journal of Institute of Control, robotics and Systems 2021年第10期27卷 762-768页

作者： Son, Ji-Chang Lim, Dong-Kuk Park, Jongwoo Seo, Hyeon-Uk Department of Electrical Electronic and Computer Engineering University of Ulsan Korea Republic of Department of Robotics & Mechatronics Korea Institute of Machinery Materials Korea Republic of

This article proposes a novel surface-mounted permanent magnet synchronous motor for independent activity support robots for the lower body disabled. An improved design through electromagnetic field analysis was conducted for the purpose of reducing the stacking length and the volume of the motor. Moreover, prototype motor was manufactured and tested to validate the proposed design. As a result of two rounds of design and manufacturing, optimal design with 37.5 % reduced stacking length and 23 % reduced volume could be obtained. © ICROS 2021.

关键词： Permanent magnets

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ExSLeR: Development of a Robotic Arm for Human Skill Learning

ExSLeR: Development of a Robotic Arm for Human Skill Learnin...

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

作者： Deokjin Lee Kiyoung Choi Junyoung Kim Wonbum Yun Taehoon Kim Kanghyun Nam Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Mechanical Engineering Yeungnam University Gyeongsan Korea

The trend in robotics has shifted from collaboration with humans to learning and reproducing human skills, reflecting a growing social demand. In response, it is imperative to consider both hardware and software aspects in the design of robots. On the hardware side, the robot should be equipped with adequate sensors for mimicking human motion and force, and its design should meet necessary requirements such as workspace, degree of freedom, payload capacity, and weight, all of which are contingent upon the intended use of the robot. On the software side, the robot should be equipped with a real-time system and stable control algorithms to ensure safe operation. This paper presents the ExSLeR arm which meets the requirements for human skill learning. The performance of the ExSLeR arm is validated by a set of experiments through motion tracking with heavy payload and compliant interaction control tasks.

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FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects

FinFix: A Soft Gripper With Contact-Reactive Reflex for High...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Willem Heeringa Cosimo Della Santina Gerwin Smit BioMechanical Engineering department Delft University of Technology Delft Netherlands Cognitive Robotics department Delft University of Technology Institute of Robotics and Mechatronics Delft Netherlands German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling Germany

Industrial automation calls for precise tasks with cycle times reduced to the minimum. At the same time, when handling delicate products such as fruits and vegetables, accelerations must be kept low to keep interaction forces under a certain threshold to avoid damage. This trade-off hinders the penetration of automation in many relevant application fields. This paper investigates using soft technology to solve this challenge. We propose the FinFix gripper, a non-anthropomorphic soft gripper capable of handling delicate objects at high acceleration using a contact-reactive grasping approach. This gripper has two entirely passive sensorized fingers that establish contact and two active fingers that are actuated pneumatically through a rigid mechanism allowing for rapid closure. We provide exhaustive experimental validation by connecting the gripper to a delta robot. The system can reliably execute pick-and-place cycles in $\sim 1 \ \mathrm{s}$ when the distance between the pick and the place locations is 400 mm, resulting in a peak speed of $\sim 10\frac{\mathrm{m}}{\mathrm{s}}$ . None of the fragile objects used during the experiments showed any damage. The only information needed is a rough estimation of the object's position to be grasped and a contact event to trigger the reflex. The test results show that the gripper can hold fragile objects during lateral accelerations of 10g.

关键词： Automation Grasping Soft robotics Robot sensing systems Sensors Reliability Grippers

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Methodology of Low Orbit Satellites Signal Processing in the Electromagnetically Noisy Environment 10

Methodology of Low Orbit Satellites Signal Processing in the...

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10th IEEE Open Conference of Electrical, Electronic and Information Sciences, eStream 2023

作者： Masalskyi, Viktor Bučinskas, Vytautas Dzedzickis, Andrius Tyshchenko, Aramais Masalskyi, Oleksandr Robotics and Digital Manufacturing Vilnius Gediminas Technical University Dept. of Mechatronics Vilnius Lithuania University of Warwick Department of Engineering Coventry United Kingdom Vilnius Gediminas Technical University Department of Physics Vilnius Lithuania

ISBN: (纸本)9798350303834

This paper dedicated to the problematics of low orbit satellite data acquisition and processing. Efforts to improve the quality and reliability of receiving these signals in a noisy electromagnetic environment presented here as theoretical and practical solution. Paper defines the requirements for equipment, provides definition of required parameters and delivers experimental tests methodology and obtained results. The experimental results deliver a hope for reliable reception;there are necessary to use a receiver with a dynamic range of at least 70 dB. Test environment was performed on the campus of the university, where located near antennas of high power FM transmitters, digital television and other communication services. Solutions for signal acquisition in the mentioned environment described as means to improve the quality and reliability of reception. Here provided number of technological improvements performed in configuration of the receiving station: implemented high precision angle sensors, a low-noise amplifier, a high-gain antenna and RF filters. Proposed to use a complex filtering stage consisting of three filters: band pass, notch and high-pass filter. To compensate for receiver noise and losses in the antenna-feeder path, a low-noise amplifier installed nearby the antenna. The obtained test results confirmed efficiency of the receiving station upgrade. Finally, paper delivers some conclusions. © 2023 IEEE.

关键词： Satellites

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