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arXiv 2022年

作者： Hall, Benjamin Goeden, Andrew Reddy, Sahan Gallion, Timothy Koduru, Charles Tanveer, M. Hassan Robotics & Mechatronics Marietta United States Computer Science Marietta United States Electrical Engineering Marietta United States Robotics & Mechatronics Marietta United States

This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event, both of which resulting in first place finishes. Using a simple LiDAR-based perception pipeline feeding into an occupancy grid based expansion algorithm, we determine a goal point to drive. This pipeline successfully achieved reliable and consistent laps in addition with occupancy grid algorithm to know the ways around a cone-defined track with an averaging speeds of 6.85 m/s over a distance 434.2 meters for a total lap time of 63.4 seconds. © 2022, CC BY.

关键词： Autonomous vehicles

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The Role of Compaction Roller in Defining the Layup Quality and Laminate Porosity in Robotic Fiber Placement 24

The Role of Compaction Roller in Defining the Layup Quality ...

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24th International Conference on mechatronics Technology, ICMT 2021

作者： Ammar, Mohamed M.A. Shirinzadeh, Bijan Monash University Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering ClaytonVIC3800 Australia

ISBN: (纸本)9781665424592

The automated fiber placement has been commonly used to fabricate composite structures with high performance. However, the automated manufacturing process is limited by the developed defects in the final composite components. The current study focuses on the effect of the compaction roller's configurations and stiffness on the manufactured thermoset com-posites. The robotic fiber placement process is applied to fabricate different composite specimens. Several unidirectional and multi-axes specimens have been manufactured using 4 different rollers. The attitude of the compaction roller is also adjusted to be normal and to ensure uniform distribution of the compaction pressure. The surface quality of the manufactured components has been evaluated through image processing and detecting the layup defects. The scanning electron microscopy is used to estimate the change in the material porosity. The samples manufactured using a compliant and perforated roller included defects such as blisters, wrinkles, overlaps, and distortions. Additionally, the material porosity has been significantly improved when using the solid steel roller. © 2021 IEEE.

关键词： Porosity

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A Convergent Approach of Mathematical Modelling and Deep Learning for Inverse Kinematics Solutions in Stewart Platform Parallel Robots

A Convergent Approach of Mathematical Modelling and Deep Lea...

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Machine Intelligence and Smart Innovation (ICMISI), International Conference on

作者： M. Elseiagy A. El-Sayed M. Elsamanty Mechatronics and Robotics Department Egypt Japan University of Science and Technology Computer Science and Engineering Department Egypt Japan University of Science and Technology Mechanical Department Faculty of Engineering Benha University

ISBN: (数字)9798350365740

ISBN: (纸本)9798350365757

The Stewart Platform, a sophisticated robotic mechanism known for its precision positioning and orientation in six degrees of freedom (6-DOF), is utilized as a testbed for the proposed solution. The unique design of the platform, combining translational and rotational movements, makes it suitable for applications that demand high accuracy and rapid position and orientation adjustments. It is widely used in sectors like flight simulators, animatronics, underwater research, and medical devices. This research presents an innovative solution for the inverse kinematics problem of the Stewart platform parallel robot by synergistically integrating mathematical modeling and deep learning techniques. The study introduces a fusion of fully connected neural networks and mathematical models, harnessing the computational prowess and adaptability of deep learning and the precision of established mathematical theories.

关键词： Deep learning Parallel robots Adaptation models Technological innovation Accuracy Computational modeling Neural networks

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Noise-Optimized Signal Processing for TENG-Based Touch Sensing Using I2C Integrated Circuits

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IEEE Sensors Journal 2025年

作者： Moger, Gourav Kakim, Alibek Mubarak, Assem Bushanov, Yersaiyn Kalimuldina, Gulnur Yeshmukhametov, Azamat Nazarbayev University Department of Robotics Engineering Astana Kazakhstan Nazarbayev University School of Engineering and Digital Sciences Department of Mechanical and Aerospace Engineering Astana Kazakhstan LLP MiraiTech Astana Kazakhstan Nazarbayev University Institute of Smart Systems and Artificial Intelligence Advanced Robotics and Mechatronics System laboratory Astana Kazakhstan

Triboelectric nanogenerator (TENG) sensors efficiently convert mechanical stimuli into electrical signals, making them well-suited for touch sensing due to their high sensitivity, durability, and self-powered operation. However, conventional signal acquisition methods introduce noise, affecting measurement accuracy. This paper presents a compact, Inter-Integrated Circuit (I2C)-based signal processing circuit designed to enhance signal fidelity while minimizing noise interference. The system’s performance was evaluated by analyzing sensor response across varying contact areas (50 mm² to 576 mm²) and drop heights, demonstrating a consistently high signal-to-noise ratio (SNR) across impact conditions. A high-frequency impact experiment further confirmed the PCB’s ability to distinguish sensor output from noise. Comparison with direct analog acquisition showed a significant enhancement in SNR, validating the PCB’s effectiveness in noise reduction. The system exhibited a rise time of 3.27 milliseconds, ensuring rapid detection of mechanical stimuli. Additionally, the measured latency of 88.9 ms between impact and signal detection falls within acceptable limits for realtime applications. These results establish the proposed PCB-based signal processing method as a practical solution for improving TENG sensor performance in touch-sensing applications requiring high accuracy and noise resilience. The compact, low-power design further enhances its suitability for integration into wearable electronics, interactive surfaces, and space-constrained systems where conventional bulky processing units are impractical. © 2001-2012 IEEE.

关键词： Network coding

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Direct Biologically-Inspired Sliding-Mode Control of a Rotorcraft System 32

Direct Biologically-Inspired Sliding-Mode Control of a Rotor...

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32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Alvarez-Munoz, J.U. Escareno, J. Garcia Carrillo, L.R. Scola, I. Rubio Labbani-Igbida, O. Institut Polytechnique de Sciences Avancées Ivry-sur-Seine94200 France XLIM Research Institute UMR-CNRS University of Limoges Robotics and Mechatronics Department 87060 France Klipsch School of Electrical and Computer Engineering New Mexico State University Las CrucesNM88003 United States INTI CONICET and UNR Department of Industrial Products Engineering Rosario Argentina

ISBN: (纸本)9798350395440

In the context of nonlinearity and uncertainty in the control systems, this work presents a novel control strategy based on a biologically-inspired learning robust controller for the attitude stabilization of a Vertical-Take-Off and Landing (VTOL) rotorcraft. Initially, the attitude's VTOL model based on quaternion formalism is detailed to subsequently develop the corresponding control law. Such controller consists of a Brain Emotional Learning-Based Intelligent Control (BELBIC) mechanism, combined with a Super-Twisting Sliding-Mode Control (STSMC) law. By using this architecture, the nonlinear sliding-mode equivalent control term is estimated via the BELBIC model, which allows the controller not to be fully dependent on the system model. Furthermore, closed loop stability is verified through Lyapunov's theory. Finally, for validation and assessment purposes of the overall control strategy, an extensive numerical simulation stage is conducted. © 2024 IEEE.

关键词： Sliding mode control

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Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation

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IFAC-PapersOnLine 2023年第2期56卷 11639-11644页

作者： Gianluca D'Antuono Kristin Y. Pettersen Luca R. Buonocore Jan Tommy Gravdahl Mario Di Castro Department of Engineering Cybernetics Norwegian University of Science and Technology (NTNU) Trondheim Norway Mechatronics Robotics & Operation Section European Organization for Nuclear Research (CERN) Meyrin Switzerland

Dynamic models are necessary when dealing with robotic applications where requirements of dexterity, manipulability, payload and compliance have to be satisfied at the same time. This work considers a particular design of tendon-actuated snake-like robots in which links are not coupled through mechanical joints but are free to roll between each other under the effect of cable tension forces. The state of the art in modeling these tendon-actuated rolling-joints systems is limited to kinematic and quasi-static models. In order to simultaneously guarantee modeling accuracy and suitability for model-based control, the Newton-Euler (NE) formulation has been adopted, by taking into account the forces and moments generated by cable tensions, links interactions, inertias, and friction between the rolling surfaces.

关键词： Modeling dynamic model tendon-actuated robots snake robots rolling-joints

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Design and Analysis of Knee Joint for Transfemoral Amputees

Design and Analysis of Knee Joint for Transfemoral Amputees

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2021 International Conference on Artificial Intelligence and mechatronics Systems, AIMS 2021

作者： Qadir, Muhammad Usman Khan, Muhammad Awais Hussain, Muzammal Ul Haq, Izhar Akhtar, Nizar Shah, Kmaran Advanced Robotics Automation Lab University of Engineering Technology Dept. of Mechatronics Engineering Peshawar Pakistan University of Engineering Technology Dept. of Mechatronics Engineering Peshawar Pakistan International Committee of Red Cross Sanaa Yemen

ISBN: (纸本)9781665424820

Lower limb amputation not only reduces mobility but also results in significant impairment in quality of life. Microprocessor based transfemoral knee joints have gained significant importance in the last decade to not only restore cosmetics but also provide functionality comparable to real limb. One of the key issues in such devices is selection of the suitable material for manufacturing of knee joint to minimize chances of failure under various loading conditions, while at the same time ensuring the weight of the knee is within acceptable limits. The purpose of this research is to design a microprocessor-based knee joint and perform various static structural analysis for different materials to optimize strength to weight ratio of the proposed design. Initially, a model for the proposed microprocessor-based knee was developed in SolidWorks followed by displacement study and computation of von-mises stresses in Ansys Workbench. Different materials used in the analysis include Plain Carbon Steel, Stainless Steel 304, Aluminum 6061. Based on the results Aluminum 6061 was identified as a suitable material for manufacturing knee joint as it not only reduces weight of the knee joint but also the deformation and stress values are within acceptable limits. The minimum and maximum Von Mises stress of Aluminum 6061 was 559.9 Pa and 71.37 MPa respectively with tensile strength of 313 MPa. © 2021 IEEE.

关键词： Manufacture

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Fuzzy Open Loop Speed Control of DC Motor Using Armature and Field Impedances

Fuzzy Open Loop Speed Control of DC Motor Using Armature and...

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IEEE Long Island Systems, Applications and Technology Conference (LISAT)

作者： M. A. Salam Ahmed ElSayed Navarun Gupta Uma Boda Shafiqul Islam Sanjib Das Electrical Engineering School of Engineering University of Bridgeport Bridgeport Connecticut USA Mechatronics & Robotics Xavier University New Orleans Louisiana USA Maitainance Excelence Moderna Norwood Massachusetts USA

ISBN: (数字)9798331506667

ISBN: (纸本)9798331506674

DC motors are used in a wide variety of applications. These applications include car seats, wipers, windshields, doors, power tools, etc. Although permanent magnet DC motors are mostly common types, the separately exited DC motors have more utilization in industrial applications, especially for speed control. In this paper, different variable impedance techniques are utilized to control the speed of the DC motors using open-loop control techniques. Furthermore, a fuzzy logic-based controller is used to automatically generate the required armature and field impedances required for the desired motor speed.

关键词： Fuzzy logic Resistance Velocity control DC motors Permanent magnets Impedance Automobiles Automotive components

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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Design and Development of an Anthropomorphic Robotic Hand Using TPU Material 2

Design and Development of an Anthropomorphic Robotic Hand Us...

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2nd International Conference on Innovation in engineering and Technology, ICIET 2019

作者： Nihal, Ragib Amin Broti, Nawara Mahmood Deowan, Shamim Ahmed Rahman, Sejuti University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh

ISBN: (纸本)9781728163093

The paper presented here approaches to solve the complexity of an anthropomorphic robotic hand. robotics is now the most advancing field and there has always been an intention of mimicking human-like actuation and behavior. An anthropomorphic hand is one of the approaches to imitate human-like operations. In this paper, the idea of developing an anthropomorphic hand with 15 degrees of freedom and 5 actuators has been elaborated as well as the mechanical design, control system, composition, and peculiarities of the robotic hand have been discussed. The hand has an anthropomorphic appearance and also can perform human-like functionalities, for example, gripping and hand gestures representation. The results reveal that the hand is designed as one part and does not need any kind of assembly and it exhibits an excellent weight lifting capacity, since it is made of flexible thermoplastic polyurethane (TPU) material, and its elasticity also ensures that the hand is safe for interacting with humans as well. This hand may be used in a humanoid robot as well as a prosthetic hand. The limited number of actuators makes the control simpler and the hand lighter. © 2019 IEEE.

关键词： 3D printers

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