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ASME 2024 International Mechanical engineering Congress and Exposition, IMECE 2024

作者： Raju, Vomsheendhur Selekwa, Majura F. Mechatronics and Robotics Laboratory Department of Mechanical Engineering North Dakota State University FargoND United States

ISBN: (纸本)9780791888636

Interest in autonomous vehicles has attracted research into developing better navigation systems. Autonomous navigation systems guide unmanned vehicles to traverse any environment without human intervention;they require clear knowledge of the environment to make correct decisions. Information about the environment can be obtained from either ranging or vision sensors. Although ranging sensors such as LiDARs, radars, or sonars can detect the presence and location of obstacles, they don’t provide any information on whether the obstacles are traversable. On the other hand, vision sensors produce images similar to how human eyes perceive the environment, which can be processed to determine whether the sensed obstacle is traversable. Since vision sensors are light, less costly, and consume low power compared to LiDARs or Radars, there is an increasing interest in using them in autonomous navigation of unmanned ground vehicles. The main limitation of vision sensors for this purpose is their failure to directly identify the locations of the obstacles. Often, the location is determined by using a depth map, which is not always accurate and can be very computational. This paper proposes a new method of processing a depth map with improved accuracy. The depth of the closest objects to the stereo camera is extracted using the horizontal and vertical field of view of the sensor. It is further enhanced using morphological operations and the P-Tile segmentation technique to segment the obstacle(s) from its background and noise. This approach generates a denser map without any discontinuities, which leads to improved accuracy in locating close-by objects at less computational cost. Information from this depth map can be used as a low-cost alternative to ranging information in the navigation system for ground vehicles. Copyright © 2024 by ASME.

关键词： Stereo image processing

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Behavior of cracked Euler–Bernoulli beam and inverse problem for assessing crack severity

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Noise and Vibration Worldwide 2022年第3期53卷 104-119页

作者： Samir Mohamed Mohamed Soliman, Ehab Mechatronics and Robotics Department Faculty of Engineering Egyptian Russian University Cairo Badr City Egypt

In this present study, natural frequencies of the first two modes of bending vibration for the cracked simply supported Euler–Bernoulli beam is determined using finite element analysis (FEA). FEA natural frequencies for the cracked beam are used to investigate the behavior of the cracked beam and also used in the inverse problem of crack depth detection. Dynamic behavior of the cracked simply supported beam is observed, and it is found that normalized mode shape at crack location has great effect on amount of decreasing of natural frequencies. When normalized mode shape at crack location is increased, then natural frequencies decrease. In this study, pattern of mode shape played a vital role in decreasing or increasing natural frequencies. At the midpoint of the beam, there is largest bending moment in first bending mode and there is nodal point in second bending mode. Harmonic analysis for the cracked simply supported beam is carried out to find von Mises stress responses and appearance of peaks at frequency of first bending mode is noticed in graphs of von Mises stress response, expressing high values of von Mises stress at crack tip. Inverse problem of assessing the crack depth is performed using results of FEA first mode frequency ratio and published experimental results and the method showed good results in case of high crack depth ratios. © The Author(s) 2021.

关键词： Natural frequencies

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

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

作者： Mohiz, Abdul Nasir, Fazal E. Shah, Kamran University of Engineering & Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

ISBN: (纸本)9781665464727

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used. © 2023 IEEE.

关键词： Tillage

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System 8

Comparative Study of Anti-Swing Controllers for a Triple Lin...

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8th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2023

作者： Hazem, Zied Ben Bingul, Zafer University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey

ISBN: (纸本)9798350327090

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination. © 2023 IEEE.

关键词： Controllers

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Vision Based Leader-Follower Control of Wheeled Mobile Robots using Reinforcement Learning and Deep Learning 9

Vision Based Leader-Follower Control of Wheeled Mobile Robot...

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9th International Symposium on System Security, Safety, and Reliability, ISSSR 2023

作者： Garmon, Kayleb Wang, Ying Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798350302479

Vision-based control of mobile robots often involves complex calculations to derive a control law. The reinforcement learning algorithm (Q-learning) offers a machine learning method to extrapolate a control law from an environment given discretized actions, without the need of complex calculations. In this paper, a vision-based controller is created using Q-Learning to enable tracking in a leader-follower configuration of two nonholonomic autonomous mobile robots. The follower robot gathers its desired trajectory values by using a deep learning SSD model to identify a distinguishing visual feature on the leader robot and uses a lidar to determine the distance between two robots. These parameters are utilized to select an optimal action of the follower robot through reinforcement learning. The emulated results in a ROS Gazebo environment show this method to be effective in enabling a wheeled mobile robot to follow another, while simultaneously avoiding obstacles. © 2023 IEEE.

关键词： Mobile robots

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EZ3micro - A Novel Miniaturized Pick & Place Prototype for Improved Industrial Applications 20

EZ3micro - A Novel Miniaturized Pick & Place Prototype for I...

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20th IEEE International Conference on Smart Communities: Improving Quality of Life using AI, robotics and IoT, HONET 2023

作者： Sangree, Haden Kofiah, Mahmoud Voicu, Razvan Cristian Tanveer, M. Hassan Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798350331110

This research paper focuses on the development of a miniaturized pick-and-place robotic prototype, which utilizes a magnetically levitated ACOPOS 6D shuttle developed by BandR Industrial Automation Corp. The aim is to meet the technological demands of various industries, including manufacturing, logistical, biomedical, and agricultural. The prototype boasts several cutting-edge features, such as wireless communication, battery-operated design, low weight, high stability, precision control, visual recognition, and advanced end effector control. The end effector can perform pick-and-place and orientation change functions, and the modular design allows for endless applications, including rapid sorting for manufacturing, agriculture, and logistics. Furthermore, the prototype offers advancements in biomedical applications by automating sample selection, transportation, and testing. Overall, this research paper presents a new technological advancement to help maintain the current growth rate of various industries. © 2023 IEEE.

关键词： Medical applications

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COVIDXception-Net: A Bayesian Optimization-Based Deep Learning Approach to Diagnose COVID-19 from X-Ray Images

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SN Computer Science 2022年第2期3卷 1-22页

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

COVID-19 is spreading around the world like wildfire. Chest X-rays are used as one of the primary tools for diagnosing COVID-19. However, about two-thirds of the world population do not have access to sufficient radiological services. In this work, we propose a deep learning-driven automated system, COVIDXception-Net, for diagnosing COVID-19 from chest X-rays. A primary challenge in any data-driven COVID-19 detection is the scarcity of COVID-19 data, which heavily deteriorates a deep learning model’s performance. To address this issue, we incorporate a weighted-loss function that ensures the COVID-19 cases are given more importance during the training process. We also propose using Bayesian Optimization to find the best architecture for detecting COVID-19. Extensive experimentation on four publicly available COVID-19 datasets shows that our proposed model achieves an accuracy of 0.94, precision 0.95, recall 0.94, specificity 0.997, F1-score 0.94, and Matthews correlation coefficient 0.992 outperforming three widely used architectures—VGG16, MobileNetV2, and InceptionV3. It also surpasses the performance of several state-of-the-art COVID-19 detection methods. We also performed two ablation studies that show our model’s accuracy degrades from 0.994 to 0.950 when a random search is used and to 0.983 when a regular loss function is employed instead of the Bayesian and weighted loss, respectively. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2021.

关键词： Bayesian optimization Chest X-ray COVID-19 Deep learning SARS-CoV-2

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

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

ISBN: (纸本)9781665464727

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. © 2023 IEEE.

关键词： Sliding mode control

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Ferroelectric composite-based piezoelectric energy harvester for selfpowered detection of obstructive sleep

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Journal of Materiomics 2023年第4期9卷 609-617页

作者： Swati Panda Hyoju Shin Sugato Hajra Yumi Oh Wonjeong Oh Jeonghyeon Lee P.M.Rajaitha Basanta Kumar Panigrahi Jyoti Shukla Alok Kumar Sahu Perumal Alagarsamy Hoe Joon Kim Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu42988South Korea Department of Electrical Engineering Siksha‘O’Anusandhan UniversityBhubaneswar751030India Department of Electrical Engineering Poornima College of EngineeringJaipur303903India Department of Physics Indian Institute of Technology-GuwahatiAssam781039India Robotics and Mechatronics Research Center Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu42988South Korea

Lead-free piezoelectric ceramic is a promising material for energy harvesters,as they have superior electromechanical,ferroelectric,and piezoelectric *** addition,piezoelectric ceramics can be blended with polymer to achieve high-flexibility polymer-ceramic composites,providing mechanical robustness and *** this context,a new lead-free ferroelectric material,having the chemical formula SrTi_(2)O_(5)(STO),was synthesized using a high-temperature solid-state *** analyses of the structural,morphological,and electrical properties of the synthesized material were *** crystallizes with orthorhombic symmetry and space group of *** frequency and temperature-dependent dielectric parameters were evaluated,and impedance spectroscopy shed light on the charge *** PDMS-STO composites at different mass fraction of the STO were prepared using a solvent casting route,and a corresponding piezoelectric nanogenerator(PENG)was *** electrical output of the different PENG by varying massfractions of STO in PDMS and varying force were *** 15%(in mass)PENG device delivered the highest peak-to-peak voltage,current,and power density of 25 V,92 nA,and 0.64 mW@500 MU,*** biomechanical energy harvesting using the PENG device by daily human motions,bending of the device,and attaching the device to laboratory equipment was *** the PENG device was attached to the human throat region,and snoring signals were recorded.A classification model was designed employing the convolutional neural network(CNN)*** have been laid to differentiate between normal and abnormal snores,which could help the patient with screening and early disease detection,contributing to self-powered healthcare applications.

关键词： Lead-free Ferroelectric Nanogenerator Sleepdisorder

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ADVANCING AUTONOMOUS BACKING OF TRACTOR-TRAILER SYSTEMS: A DYNAMIC MODEL APPROACH

ADVANCING AUTONOMOUS BACKING OF TRACTOR-TRAILER SYSTEMS: A D...

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ASME 2024 International Mechanical engineering Congress and Exposition, IMECE 2024

作者： Sah, Dhirendra K. Selekwa, Majura F. Mechatronics and Robotics Laboratory Department of Mechanical Engineering North Dakota State University FargoND58102 United States

ISBN: (纸本)9780791888636

Recent developments in sensing and information processing technology have seen an increased interest in applications of autonomous vehicles. Many driverless vehicles have been tested in various places and environments across the world. Automated backing of tractor-trailer systems is one of the problems yet to be fully addressed in this endeavor, even experienced drivers find it challenging to perform backup maneuvers of tractor-trailer systems in confined spaces. Achieving a fully automated backup maneuver of a tractor-trailer vehicle requires, among other things, the presence of a high-fidelity mathematical model of the vehicle. Often this problem is approached from a kinematic standpoint where the vehicle and the trailer are modeled using a bicycle structure formulation by concentrating weights at the axle centers only, which limits not only the maneuverability of the vehicle system but also its speed. This paper proposes a dynamic model of a tractor-trailer that treats the system as a finite structure of interconnected multi-bodies subjected to various forces and moments emanating from terramechanics and other non-conservative forces acting on the vehicle. This approach presents are more realistic motion of the vehicle even in confined spaces enabling it to avoid colliding with unintended objects during the maneuver. Simulation results by using such a model show that the vehicle can autonomously perform back up maneuvers in as limited clearances as 5% of the vehicle width at moderate speeds without significant slip. Copyright © 2024 by ASME.

关键词： Truck trailers

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