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11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Shakhin, Yussuf Talapiden, Kulash Minh Thao, Nguyen Gia Bagheri, Mehdi Duc Do, Ton Department of Robotics and Mechatronics AstanaZ05H0P9 Kazakhstan Toyota Technological Institute Graduate School of Engineering Japan Department of Electrical and Computer Engineering AstanaZ05H0P9 Kazakhstan

ISBN: (纸本)9788957083505

Small-scale permanent magnet motor to reach high torque density and low torque ripple is discussed in this research. To increase the torque density, meanwhile making the motor size smaller and lighter, the motor axial length within a constrained diameter is optimized in view of various pole-slot configurations. Different slot-poles are selected and various combinations are studied, and the stator windings are optimized. To compare the torque density and ripple of new designs, precise models are created and simulated through ANSYS Maxwell 2D FEA under constant operational conditions, such as rated speed, torque, and power. Over the new designs, the influence of loss and temperature distribution variations in motor elements are analyzed. The simulation results show that the proposed 20-pole 18-slot motor design will obtain superior torque density and lower torque ripple compared to the baseline design. The final design provides a 30.7 % improvement of the torque density within the same rated torque condition. © 2023 The Korean Institute of Power Electronics.

关键词： Finite element method

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Fully Tunable Fabry-Pérot Cavity on Silicon Photonic MEMS with 10 nW Static Power Consumption

Fully Tunable Fabry-Pérot Cavity on Silicon Photonic MEMS w...

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Conference on Lasers and Electro-Optics (CLEO)

作者： Young J. Park Man J. Her Dong U. Kim Dong J. Choi Min G. Lim Myung S. Hong Sangyoon Han Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Republic of Korea

We report on a fully tunable Fabry-Pérot cavity on the silicon photonic MEMS having only 10nW static power. Its resonance wavelength is tunable over the full FSR, and its transmissivity is tunable up to 3.8dB.

ISBN: (纸本)9781957171258

关键词： Microelectromechanical systems Optical components Optical directional couplers Resonance Silicon Waveguide modes

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DEVELOPMENT OF 3D PRINTED SOFT PNEUMATIC HAND MOTION SENSORS

DEVELOPMENT OF 3D PRINTED SOFT PNEUMATIC HAND MOTION SENSORS

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ASME 2022 International Mechanical engineering Congress and Exposition, IMECE 2022

作者： Papendorp, Sky Iyun, Olukayode Schneider, Christian Tekes, Ayse Ashuri, Turaj Amiri Moghadam, Amir Ali Robotics and Mechatronics Department Kennesaw State University MariettaGA United States Mechanical Engineering Department Kennesaw State University MariettaGA United States

ISBN: (纸本)9780791886663

This paper reports on the design, fabrication, and evaluation of a novel 3D printed vacuum based soft sensor and its application as hand motion sensor. Soft sensors are an integral part of soft robotics as an emerging field of science that enables safe and easy human to machine interaction. The conventional sensors used to interface with humans in robotic systems are mechanically incompliant. Because of this mechanical compliance mismatch, these sensors cause unsafe interactions with humans. Recent advancements in 3D printing technology have allowed fabrication of complex geometries with soft polymers, perfect for more delicate and user-friendly sensors. While the existing soft pneumatic sensors work based on the positive pressure due to deformation, the proposed sensor in this work works based on vacuum due to deformation. In comparison with the similar positive pressure sensor, our vacuum-based sensor is much softer and has minimum interference with hand motion. Finite element analysis (FEA) is used to analyze the design. Also, a kinematic model of the hand is developed using Matlab to visualize the hand motion based on the sensor data. This could show the potential application of the soft hand motion sensor in virtual reality and telehealth. Copyright © 2022 by ASME.

关键词： Finite element method

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Pinch Analysis of Heat Exchanger Network in the Produce Hydrogen and Electricity from Biogas Integrated with CO2 Capture 7

Pinch Analysis of Heat Exchanger Network in the Produce Hydr...

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7th International Conference on Advanced Computing and Communication Systems, ICACCS 2021

作者： Sukpancharoen, Somboon Rajamangala University of Technology Thanyaburi Division of Mechatronics and Robotics Engineering Pathum Thani Thailand

ISBN: (纸本)9781665405201

The process of producing hydrogen and electric power from biogas and the combined hydroxyapatite (HAp) production from calcium hydroxide (Ca(OH)2), which uses a substrate of calcium. This production process also generates CO2 from the methane steam reforming (MSR) reaction and water gas shift (WGS) reaction, while the carbonation reaction then serves to capture this CO2, thus eliminating it before it reaches the atmosphere. In order to lower the production costs, simulations were carried out using the Aspen Plus software to determine how to find efficiencies in the process. Analysis using the Aspen Energy Analyzer shows that heat integration can lead to improved energy efficiency in production plants in addition to product diversification. To achieve energy integration, the process of hot and cold streams must be appropriately matched, while the introduction of utilities should occur only to balance energy consumption deficits. This study proposes a basic systematic retrofit approach based on pinch analysis (PA) to reduce the utility consumption for any kind of industrial heat exchanger network (HEN) through a new minimum temperature approach which requires only minimal capital investment. When assessing the production process following improvement of the HEN, the total costs decreased from 1.57e+06 /year to 8.63e+05 /year, representing an annual decline of 44.92%. © 2021 IEEE.

关键词： Hydrogen production

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Dual UWB Anchors-Based Target Tracking Strategy for an Omnidirectional Mobile Robot

Dual UWB Anchors-Based Target Tracking Strategy for an Omnid...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Le Bao Kai Li Wenbin Dong Wenqi Li Kyoosik Shin Changsoo Han Wansoo Kim Department of Mechatronics Engineering Hanyang University Ansan Republic of Korea Robotics Department Hanyang University ERICA Ansan Republic of Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

Target tracking mobile robots still face challenges in terms of localization accuracy and tracking performance. This study presents a novel target tracking strategy for an omnidirectional mobile robot by using dual ultra-wideband (UWB) anchors. The proposed target tracking strategy integrates these sensors with a Mecanum wheeled mobile platform, optimizing motion control and target tracking. Based on the developed dual UWB anchors’ geometric localization model, the horizontal relative distance and orientation between the target and the robot were estimated. In tracking scenarios, the robot demonstrates advanced adaptability: While the target is at close-range, the robot rotates in place for orientation tracking to directly face the target, and the designed tracking algorithm allows the robot to dynamically adjust its rotation speed, resulting in smooth tracking movements. While the target is at longer-range, the robot dynamically modifies its tracking speed and orientation according to relative positional data, to ensure effective and continuous target following. Through experimental validation, the lateral error during target tracking is reduced, the tracking accuracy is improved by 50% compared to existing related studies, and the tracking performance is smoother.

关键词： Location awareness Target tracking Accuracy Robot sensing systems Sensor systems Sensors Mobile robots Reliability Faces Ultra wideband technology

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Igwo-Ss: Improved Grey Wolf Optimization Based on Synaptic Saliency for Fast Neural Architecture Search in Computer Vision

SSRN

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SSRN 2022年

作者： Arman, Shifat E. Deowan, Shamim Ahmed Department of Robotics and Mechatronics Engineering University of Dhaka Bangladesh

Neural Architecture Search (NAS) is the process of automating the design of neural network architectures for a given task. Although NAS provides an automatic way to find suitable neural network architectures for a specific task, the existing NAS algorithms are immensely time-consuming. The main bottleneck in NAS algorithms is the training time for each architecture. This study proposes an Improved Grey Wolf Optimization based on Synaptic Saliency (IGWO-SS), which is much faster than the existing NAS algorithms and provides better final performance. The IGWO-SS algorithm skips training the less promising architectures by creating a relative rank between the architectures based on synaptic saliency. The architectures that are lower in rank are considered less promising than the architectures that are higher in rank. Since the calculation of synaptic saliency is a very fast process, a significant amount of time is saved by skipping training of less promising architectures. We performed extensive experiments to determine the efficacy of synaptic saliency to improve NAS. Our experimental results suggest that the synaptic saliency of an untrained neural network positively correlates with its final accuracy. Hence, it can be used to identify untrained promising neural networks. The experimental results suggest that the IGWO-SS algorithm is almost 10x faster and achieves better final performance than five other bio-inspired algorithms. The IGWO-SS algorithm achieves higher mean accuracy than state-of-the-art NAS algorithms, including - REA, RS, RL, BOHB, DARTSV1, DARTSV2, GDAS, SETN, and ENAS. We hope that our work will make NAS more easily accessible and useful to researchers by reducing the time and resources required to perform NAS. © 2022, The Authors. All rights reserved.

关键词： Network architecture

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Human Hand Gesture Recognition System Using Body Sensor Network 4

Human Hand Gesture Recognition System Using Body Sensor Netw...

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4th International Conference on robotics and Automation in Industry, ICRAI 2021

作者： Maheen, Asra Bin Shahzad, Moosa Asif, M. Usama Ahmad, Syed Fasih Zafar, Saqib Maqbool, H. Farhan Usman, Muhammad Arshad, Hira Department of Mechanical Mechatronics And Manufacturing Engineering Faisalabad Pakistan Human-Centered Robotics Lab National Center of Robotics And Automation Lahore Pakistan Pakistan Engineering Council Islamabad Pakistan Department of Mechanical Mechatronics And Manufacturing Engineering Faisalabad Pakistan

ISBN: (纸本)9781665423434

Wearable technology has gained massive popularity for applications in healthcare in recent years. Body sensor network (BSN) includes wearable sensors such as Myoware muscle sensor that can capture electromyography (EMG) signal from human muscles during a movement. This study involves the control of a 3d prosthetic hand using EMG data of basic hand gestures from healthy subjects and operating the prosthetic hand with this classified data. Artificial Neural Networks (ANN) are biologically inspired computational networks which help to build predictive models from large databases. Backpropagation combined with feedforward ANN is used to classify data here. Classification results showed an accuracy of about 91% for four-hand gestures - hand closed, hand open, pointing index finger, and pinch motion. The BSN-based prosthetic hand can facilitate rehabilitation of amputees, perform surgery using recorded EMG data from a surgeon's hands and reduce industrial manpower in the future. © 2021 IEEE.

关键词： Neural networks

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Ultimate Boundedness and Output Convergence of Prioritized Output Tracking Control Under Nonsmooth and Imperfect Feedback Linearization

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IEEE Transactions on Automatic Control 2025年

作者： An, Sang-Ik Lee, Dongheui Park, Gyunghoon University of Seoul School of Electrical and Computer Engineering Korea Republic of Tu Wien Autonomous Systems at Institute of Computer Technology Faculty of Electrical Engineering and Information Technology Austria Institute of Robotics and Mechatronics Germany

The concept of priority has been introduced to the robotic systems in 1980 s as an effort to overcome problems caused by singularity and it has attracted considerable attention from both the robotics and control societies. However, none of the previous works have successfully addressed two fundamental degenerate properties of singularity: nonsmoothness and imperfect inversion. This technical note proposes a prioritized output tracking control method that guarantees the ultimate boundedness and the convergence of higher priority outputs when the input-output feedback linearization becomes nonsmooth and imperfect by singularity. For that purpose, we firstly prioritize the input-output feedback linearization and discuss how two degenerate properties can occur when the system becomes singular. Then, we introduce the differential inclusion to deal with the nonsmooth internal dynamics and establish a condition using the upper Dini derivative for asymptotically stable zero dynamics. Also, we propose a strictly positive realness-based feedback gain design and find a condition related to an M-matrix in order to handle nonlinearities that appear in the imperfect feedback linearization. Finally, we combine these two results and show the ultimate boundedness and the output convergence. Additionally, we provide a motivational example with a planar four-link manipulator to illustrate the effectiveness and limitations of the proposed method. © 1963-2012 IEEE.

关键词： Feedback linearization

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Parking Lines and Indoor Structural Feature-based SLAM with 2D LiDAR and AVM for Indoor Autonomous Parking

Parking Lines and Indoor Structural Feature-based SLAM with ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sekang Oh Taehyun Lim Yonggu Kang Seonghan Kim Department of Intelligent Mechatronics Engineering Sejong University Seoul Korea Department of Artificial Intelligence and Robotics Sejong University Seoul Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

Accurate localization is essential to achieve Automated Valet Parking (AVP) without collisions. However, indoor parking facilities where the use of GPS is restricted are usually lack of maps. This study proposes a Simultaneous Localization And Mapping (SLAM) approach that combines parking line information detected by Around View Monitor (AVM) with the scan data by a 2D LiDAR. The parking line information is extracted using a parking slot detection model and then fused with the scan data. Finally, an indoor map that includes parking spaces is created based on the fused scan data. The proposed method results in low computational requirements, and the generated map contains information such as parking lines, pillars, and walls, which enables accurate real-time localization. This generated map can be utilized in future AVP research to navigate from one location in the parking facility to an available parking space.

关键词： Location awareness Simultaneous localization and mapping Laser radar Accuracy Navigation Feature extraction Real-time systems Data mining Monitoring Global Positioning System

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Design of a Multi-bending Flexible Manipulator for Gastrointestinal Surgery

Design of a Multi-bending Flexible Manipulator for Gastroint...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyojae Park Minho Hwang Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

Unlike the existing rigid surgical robots, flexible endoscopic robotic platforms have been actively researched owing to the advantages of high lesion accessibility and scar-free. However, there still exists difficult-to-access areas such as cardia and fundus in the gastrointestinal tract due to the limited Degrees of Freedom (DoFs) of the manipulator. In this study, we propose a multi-bending endoscopic manipulator to improve accessibility to the gastric region in any position and orientation. We perform mechanism design, kinematics, and cable-control analysis of the proposed manipulator. Finally, we verify the multi-bending motion in the simulated flexible pathway.

关键词： Medical robotics Automation Surgery Kinematics Manipulators Control systems Gastrointestinal tract

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