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robotics, Control and Automation engineering (RCAE), International Conference on

作者： Carrington Chun Billy Kihei Sumit Chakravarty M. Hassan Tanveer Department of Robotics and Mechatronics Engineering Kennesaw State Univeristy Marietta GA Department of Electrical and Computer Engineering Kennesaw State Univeristy Marietta GA

To facilitate the development of accessible space-bound robotic explorers, this work demonstrates a novel communication architecture intended for scientific CanSats. As low-cost terrestrial simulation platforms for orbital satellites, CanSats provide a valuable proving ground for new technologies or techniques. CanSats are also a considerably more accessible technological frontier than orbital CubeSats, as CanSats are lower in cost to develop and retain fewer operational requirements. Multiple low-cost CanSats and a simple Base Station were developed using Commercial-Off- The-Shelf (COTS) components. The bimodal modulation technique utilizes Amplitude Shift Keying (ASK) as a means for transferring data packets between the devices, while the delay between multiple ASK trains modulates additional Pseudo Morse Code (PMC) information that is audibly decodable with a handheld amateur radio receiver or digitally with a Software Defined Radio (SDR). The presented framework could be a valuable addition to telemetry beacons for orbital satellites that are seeking to engage the open-source or amateur radio communities.

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Crafting CanSats: A Novel Modular Design Paradigm for Scientific CanSats

Crafting CanSats: A Novel Modular Design Paradigm for Scient...

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International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Carrington Chun Uday Patel M. Hassan Tanveer Tom Swift Kevin Dallesasse Sumit Chakravarty Department of Robotics and Mechatronics Engineering Kennesaw State Univeristy Marietta Cobb Department of Electrical and Computer Engineering Kennesaw State Univeristy Marietta GA

This paper introduces a novel modular design paradigm for Scientific CanSats, offering a cost-effective platform for testing space-related hardware in near-space environments with reduced developmental timelines. By harnessing Commercial Off The Shelf (COTS) products alongside open-source technologies, this framework emphasizes quick integration of diverse scientific instruments and control systems. The core architectural elements comprise: (1) a unified power and communication bus, (2) standardized mechanical attachments and interfaces, and (3) distributed computing and data management. To validate the effectiveness and adaptability of this design, undergraduate students were engaged to design modules adhering to the established standards. This approach facilitated the creation of an adaptable ecosystem of Command and Sensor Modules, enabling swift assembly and reconfiguration of CanSats with diverse scientific potentials. Remarkably, students transitioned from conceptual design to tangible modules within a semester, while CanSat assembly and reconfiguration from existing modules took five and four minutes respectively.

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Occupancy Grid Based Reactive Planner

arXiv

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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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Invisible Servoing: A Visual Servoing Approach with Return-Conditioned Latent Diffusion

Invisible Servoing: A Visual Servoing Approach with Return-C...

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2025 International Conference on Unmanned Aircraft Systems, ICUAS 2025

作者： Gerges, Bishoy Bazzana, Barbara Botteghi, Nicolò Aboudorra, Youssef Franchi, Antonio University of Twente Department of Applied Mathematics Enschede 7500AE Netherlands University of Twente Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics and Computer Science Enschede 7500AE Netherlands Sapienza University of Rome Department of Computer Control and Management Engineering Rome 00185 Italy

ISBN: (纸本)9798331513283

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial Vehicles). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. A compact representation is learned from raw images using a Cross-Modal Variational Autoencoder. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach has been validated in simulation using two generic multi-rotor UAVs (a quadrotor and a hexarotor). The results show that we can successfully reach the visual target, even if not visible in the initial view. A video summary with simulations can be found in: https://***/2Hb3nkkcszE. © 2025 IEEE.

关键词： Target drones

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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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