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Kinematic and Dynamic Analysis of a 3-■US Spatial Parallel Manipulator

Chinese Journal of Mechanical engineering 2020年第1期33卷 114-130页

作者： Mervin Joe Thomas M.L.Joy A.P.Sudheer Mechatronics/Robotics Lab Department of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia

Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector *** are found in medical,assembly and manufacturing industries where accuracy is *** is often desired to have a compact and simple architecture for the robotic *** this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is *** kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive *** kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free *** analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system *** gravity and inertial forces of all links are considered in the mathematical *** analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.

关键词： Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis

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Motion Planning of Mobile Robot with Non-holonomic Constraints 18

Motion Planning of Mobile Robot with Non-holonomic Constrain...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhang, Kewen Liu, Weilong Wang, Jin Chen, Leijie Lu, Guodong Zhejiang University of Technology Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education College of Mechanical Engineering Hangzhou310023 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China

ISBN: (纸本)9798350312201

This paper proposes a modified spatio-temporal A∗ path planning algorithm for the trajectory planning of mobile robots with non-holonomic constraints. Most path planning algorithms treat mobile robots as to be with holonomic constraints. However, wheeled mobile robots are affected by non-holonomic constraints, which leads to trajectory unreachability. To solve this problem, an improved spatio-temporal A∗ algorithm based on non-holonomic constraints is given, which considers the efficiency, completeness and smoothness of the path. At the same time, by improving the construction form of collision constraint and adding spatio-temporal constraints to the path, the success rate and solving speed of the path planning algorithm for non-holonomic constrained mobile robot are increased. Finally, simulation experiments are given to indicate that the proposed planning algorithm provides an optimized path, while improving the planning success rate and reducing the computational time. © 2023 IEEE.

关键词： Motion planning

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Multilingual Transliteration based Urdu Chatbot using Rasa Framework

Multilingual Transliteration based Urdu Chatbot using Rasa F...

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International Conference on Open Source Systems and Technologies (ICOSST)

作者： Hira Mohiuddin Bakhtiar Kasi Anayat Ullah Control Automotive and Robotics Lab National Center of Robotics and Automation Rawalpindi Pakistan Faculty of Information and Communication Technology Balochistan University of IT Engineering and Management Sciences Quetta Pakistan

Chatbots, which emulate human conversation, are meeting the rising demand for efficient customer service by reducing the need for manual intervention and alleviating the challenges of timeconsuming human interactions. This paper introduces Ubot, a domain-specific chatbot fluent in both Urdu and English transliteration, designed to reduce the need for human intervention and lower service costs. We address the challenge of low-resource languages by creating a dataset comprising 750 utterances, 28 intents, and 45 entities, validated by 36 participants. Ubot, powered by the Rasa framework, achieves remarkable accuracy in intent detection 94.1% and entity extraction 95.4%, offering efficient multilingual conversational AI solutions. Our approach holds promise for similar script-sharing languages such as Persian and Arabic, contributing to advanced language applications and intelligent virtual assistants.

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Zero-Shot Kidney Stone Segmentation Based on Segmentation Anything Model for Robotic-Assisted Endoscope Navigation 16th

Zero-Shot Kidney Stone Segmentation Based on Segmentation A...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Meng, Hui Chen, Lingkai Zhu, Shiqiang Fei, Chentao Zhang, Yong Zheng, Miaojuan Han, Jianda Song, Wei School of Intelligent Science and Technology Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences 1 Sub-lane Xiangshan Hangzhou310024 China Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Hangzhou ElephantChain Network Technology Co. Ltd. Hangzhou China Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech University Hangzhou310018 China College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9789819964888

Biomedical robotics has had a significant impact on flexible ureteroscopy (FURS) for the management of nephrolithiasis. The biomedical robots provide a suitable and safe platform for FURS. However, operating the robots expertly still represents a challenge for surgeons. Vision-based navigation is an effective means to simplify the operations of robots by surgeons, which has great potential to improve surgical efficiency. To achieve vision-based navigation, the localization of kidney stones in endoscopic images is the first step. In this paper, we propose a stone segmentation method (SSM) based on zero-shot learning, which consists of segmentation anything model (SAM), an image preprocessing module, and a mask postprocessing module. The SAM segments all objects in endoscopic images, which lack semantic information. The preprocessing module is designed to suppress interference of reflective area in endoscopic images, and the mask postprocessing module is used to filter noise masks. The experimental results on our collected endoscopic images indicate that our method achieves close accuracy on stone segmentation compared with supervised U-Net and VGG_U-Net, which significantly outperforms the Ostu and the SAM. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Endoscopy

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Revolutionizing Intrusive Neural Interfaces: Vascular Stent-Based Neural Electrodes

Revolutionizing Intrusive Neural Interfaces: Vascular Stent-...

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International Winter Workshop on Brain-Computer Interface (BCI)

作者： Liang Shen Bo Wen Zihua Chen Minjie Wang Linlin Han Bo Shen Kai Cao Lihua Zhang Jianjun Wu Xiaoyang Kang Shanghai Engineering Research Center of AI & Robotics MOE Frontiers Center for Brain Science State Key Laboratory of Medical Neurobiology Laboratory for Neural Interface and Brain Computer Interface Engineering Research Center of AI & Robotics Ministry of Education Institute of AI & Robotics Institute of Meta-Medical Academy for Engineering & Technology Fudan University Shanghai China Department of Neurology and National Research Center for Aging and Medicine & National Center for Neurological Disorders State Key Laboratory of Medical Neurobiology Huashan Hospital Fudan University Shanghai China Yiwu Research Institute of Fudan University Chengbei Road Yiwu City Zhejiang China

This review delves into the emerging field of endovascular stent electrodes in the realm of brain-computer interfaces, highlighting advancements in their fabrication methods, signal acquisition performance, electrical stimulation effects, and research progress in electrochemical characteristics, mechanical stability, and biocompatibility. In comparison to traditional invasive procedures, endovascular stent electrodes, implanted through minimally invasive means, mitigate the risks associated with extensive trauma and tissue inflammation, demonstrating commendable signal acquisition capabilities. While exhibiting a slight deficiency in visual evoked potentials, they showcase accuracy in the acquisition and decoding of motor perception signals, rivaling or surpassing traditional surgical methods. Additionally, the technology shows potential therapeutic efficacy in electrical stimulation applications. Nevertheless, challenges such as electrical stimulation thresholds and visibility issues warrant further research and refinement. In summary, endovascular stent electrodes, as an emerging avenue in brain-computer interfaces, hold promise for significant breakthroughs in future research, opening up new possibilities in the field of neuroscience.

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Design and Development of a Shopping Assistance Robot 23

Design and Development of a Shopping Assistance Robot

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6th International Conference on Advances in robotics, AIR 2023

作者： Ilampooranan, Niranjan Kumar Damodaran, Gokula Vishnu Kirti Rajagopal, Prabhu Narasimhan, Shankar Maitra, Anutosh Sriram, Senthilkumar Center for Nondestructive Evaluation Indian Institute of Technology Madras Chennai India Department of Chemical Engineering Indian Institute of Technology Madras Chennai India Technology Research Senior Principal Accenture Bangalore India Robotics Lead Accenture Bangalore India

ISBN: (纸本)9781450399807

This paper discusses the design and development of a robot for use in environments that require interactive actions and decision-making, such as assistance in hospitals, airports, and hotel lobbies - the 'Shopping Assistance Robot' or SAR. The core SAR unit consists of a mobile base platform that has sensors for safe navigation in a complex environment along with a humanoid-inspired superstructure designed for friendly interactions with human agents, with in-built electronics, sensor control units, and an arm for manipulation actions such as grasping and pick-and-place tasks. The SAR is then proposed to work in tandem with in-store cameras, integrated with a server, which provide cues to the SAR regarding customers of interest and potential coordinates to target locations and navigation guidance. We also describe the design aspects of SAR and provide an analysis of the design of SAR in terms of structural integrity, human-robot interaction comfort, and cost. Finally, we discuss the results obtained from design analysis and describe the final fabrication and assembly of SAR with demonstrations of some of its basic capabilities in a test arena facility built at our laboratory. Subsequent trials demonstrate the feasibility of the proposed robot and help us identify key bottlenecks and directions for further work. © 2023 ACM.

关键词： Retail stores

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Optimal Design Optimization of a Hybrid Rigid–Soft Robotic Hand Using an Evolutionary Multi-objective Algorithm 1

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2nd Conference of Innovative Product Design and Intelligent Manufacturing System, IPDIMS 2020

作者： Mahanta, Golak Bihari Deepak, B.B.V.L. Rout, Amruta Biswal, B.B. Department of Robotics Engineering Karunya Institute of Technology and Sciences Tamil Nadu Coimbatore641114 India Department of Industrial Design National Institute of Technology Rourkela Rourkela769008 India

ISBN: (数字)9789811902963

ISBN: (纸本)9789811902956

Conventional rigid bodied robotic gripping systems have established their presence in the industrial applications are challenged by the rapid advances in the soft material robotic systems. Soft material robotic manipulators are progressively infiltrating to the market due to their capability of safe interaction with the human operators and objects to be grasped, which leads to the economical operation of the robotic systems. In this study, we presented a geometric model of a hybrid soft–rigid robotic gripper that uses the benefits of both rigid and soft materials. A multi-objective optimal design approach for an underactuated hybrid soft–rigid three fingers with three phalanges in each finger actuated by tendon is introduced to find the optimum grasping condition using improved multi-objective antlion optimization algorithm (I-MOALO) evolutionary algorithm. A mathematical model is formulated to find the contact forces of the proposed robotic hand while grasping the object followed by the development of the two fitness functions and several geometric constraints incorporated into the proposed model. The obtained Pareto optimal fonts by solving the proposed gripper optimization model using I-MOALO are analyzed by a designer to select the optimal design parameters and also present a significant relation between the objective function and design variables. A sensitivity analysis of the system is conducted to verify the effect of the design variables with the change in the systems. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Anthropometric Gripper Optimization Underactuated

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Generating Realistic VRU-AV Scenarios via Social Force-Based Gradient Optimization 27

Generating Realistic VRU-AV Scenarios via Social Force-Based...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Long, Tingting Zong, Mengru Zhang, Chi Liu, Yuehu Ma, Shuangxun Li, Li National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University National Key Laboratory of Human-Machine Hybrid Augmented Intelligence Shaanxi Xi'an China School of Electrical Engineering Xi' An Jiaotong University Shaanxi Xi'an China School of Future Transportation Changan University Xi'an710064 China BNRist Tsinghua University Department of Automation Beijing100084 China

ISBN: (纸本)9798331505929

Validating safe and reliable interaction with vulnerable road users (VRUs) is imperative for autonomous vehicles, especially in simulation testing procedures before on-road applications. However, existing VRU agents are either with predefined routes or with collision-oriented behaviors, which limits the fidelity and diversity of scenarios. Bridging the gap between the simulated world and reality requires realistic VRU behaviors. In this paper, we apply social force to capture natural human behavior, considering how individuals are influenced by their surroundings and adhere to real-world rules. To this end, we propose HybridSFM, an improved social force model designed for characterizing human-vehicle interacting behavior. Specifically, the steering and acceleration of the VRUs are parameterized and integrated with social norms to forecast trajectories. Based on this, we further implement a gradient optimization framework for generating VRU-AV safety-critical scenarios. Firstly, VRUs are positioned randomly around the ego-agent. Differentiable simulation updates states and unrolls trajectories while backpropagation optimizes the actions of VRUs. The modified scenario is further optimized in the subsequent time step until a collision happens. The experiments demonstrate that our approach can enhance realistic safety-critical scenarios at intersection scenarios, facilitating the testing of interaction capabilities for autonomous vehicles. © 2024 IEEE.

关键词： Autonomous vehicles

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Wi-Fi Attendance System in the IoT Era

Lecture Notes on Data Engineering and Communications Technol...

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Lecture Notes on Data engineering and Communications Technologies 2022年 130卷 19-29页

作者： Abidemi, Sarumi Usman Oghenetega, Omoraka Gershion Daniel, Sekyere-Asiedu Al-Turjman, Fadi Artificial Intelligence Engineering Department Research Center for AI and IoT AI and Robotics Institute Near East University Mersin 10 Nicosia Turkey Department of Computer Information Systems Near East University Mersin 10 Nicosia Turkey

Traditionally, attendance is marked manually by students writing down their name on a paper. This whole process wastes some of lecture time and might even get lost. Maintaining the attendance of the students in an institution is a hefty task. This project aims at designing a smart attendance system that automatically monitors and manages attendance of the students in an institution efficiently. The system is developed with an Arduino ESP8266 Wi-Fi microcontroller deployed in the class room. Further, Wi-Fi communication modules was used to make convenient communication between the student’s devices e.g. phone or laptop and the ESP8266 Wi-Fi microcontroller. Database was created where the attendance submitted will be logged and saved. Internet is utilized to transfer the information collected by the micro controller to the database and from the database to the front-end web page GUI graphical user interface. The students and admin will make one-time registration and subsequently establishing a Wi-Fi connection between the student’s device and the microcontroller in the class to mark an attendance. This system will arrange the attendance in a list with a real time timestamp and save it to database, and also be accessible to the lecturer/Admin over internet any time with uses of web browser e.g. Google chrome through the front end graphic user interface (GUI). This system is useful to reduce manual method of attendance by teachers and to alleviate the spread of COVID-19. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Students

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Improving the Efficacy of Binary Communication Security in Communication Networks of Smart Cities

Improving the Efficacy of Binary Communication Security in C...

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3rd International Conference on Internet of Things, Communication and Intelligent Technology, IoTCIT 2024

作者： Salama, Ramiz Al-Turjman, Fadi Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT Near East University Mersin 10 Nicosia Turkey Artificial Intelligence Software and Information Systems Engineering Departments AI and Robotics Institute Near East University Mersin 10 Nicosia Turkey

ISBN: (纸本)9789819627660

Recently, smart cities have become more and more popular as a way to enhance society and the standard of living for its people. These are the results of the increased social and economic prospects that the advancement of information and communication technology (ICT) has brought about. But there are certain issues with our presumptions about privacy and security. The usage of cellphones and other technologies has already enhanced people’s engagement and sense of connection. Gadgets, smart energy meters, and security appliances are commonplace these days. The Internet of Things will soon be fully connected to homes, public spaces, healthcare systems, and other social institutions. In this work, we improve the security performance of communication networks in smart cities by implementing a novel framework and scheme to guarantee strong data secrecy and authentication. The smart city system can set up shared session key procedures and mutual authentication to secure a two-way communication channel between the control center and smart meters. Our comprehensive simulation was used to test and evaluate the security performance of the smart city communication network both with and without our suggested technique. Throughput, latency, load, and traffic received packets per second were all measured. The resources available in our suggested solution were further limited by the fact that we used a network intrusion detection system (NIDS) and a man-in-the-middle (MITM) attack to evaluate and validate the security criteria. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Network intrusion

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