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International Conference on Mechanical Design, ICMD 2023

作者： Nie, Zhiqi He, Bin Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9789819709212

This study explores the combination of unmanned aerial vehicle (UAV) and ground monitoring for real-time carbon footprint mapping technology in low-carbon smart parks. Addressing the conflict between sampling rate and monitoring efficiency in UAV monitoring, we propose a spatial data thickening algorithm based on moving window spline interpolation and time series fusion with inverse distance weighting. Meanwhile, a comprehensive carbon monitoring algorithm is proposed by combining ground and spatial carbon emission calculation methods. Furthermore, the concept of carbon nephogram is introduced to depict the spatial distribution and intensity of carbon emissions. By establishing an integrated monitoring system and conducting simulation experiments in a small-scale smart park scenario, the results show that the collaborative monitoring system has superiority in improving monitoring efficiency and affording intuitive insights. It provides an effective methodology for the intelligent design and maintenance of smart parks. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Carbon footprint

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A Robotic Skin Using Low-density FBGs for Human-robot Interaction

A Robotic Skin Using Low-density FBGs for Human-robot Intera...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Dong, Xiyue Lam, Chin-Kiu Chen, Wei Yang, Bohan Liu, Yun-Hui Hong Kong Center for Logistics Robotics Hong Kong The Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong

ISBN: (纸本)9781665481090

In collaborative robotic arms, tactile sensing is crucial for enhancing interaction accuracy and safety. Robotic skins play an vital role in tactile sensing by mimicking the human sense of touch, enabling robots to detect and respond to physical interactions. Fiber Bragg gratings (FBGs), with their high sensitivity, environmental adaptability, and real-time response are increasingly adopted in the design of robotic skin systems. However, current FBG-based research has not resolved the issue of the high-density FBG usage and the large number of optical fibers required, limiting their widespread application in practical scenarios. In this work, we present a design of a soft robotic skin with efficient use of FBGs to estimate the location and magnitude of external forces. Our prototype features a cylindrical shape with a total area of 720 cm2 and incorporates one optical fiber with 16 evenly spaced FBGs. We optimized the structure through finite element analysis (FEA) and designed experiments to characterize its properties. Using data-driven methods, we achieved root mean square errors (RMSEs) of 4.29 mm and 4.05 degrees in estimating locations along the axial and radial directions, respectively, and 0.17 N for force magnitude. By achieving high sensitivity and an effective area per unit of 50 cm2, this approach shows promise for future applications in robotic skin. © 2024 IEEE.

关键词： Fiber Bragg gratings

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Real-Time Geometric Joint Uncertainty Tracking for Surgical automation on the dVRK System

Real-Time Geometric Joint Uncertainty Tracking for Surgical ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Li, Bin Lin, Hongbin Zhong, Fangxun Liu, Yunhui T Stone Robotics Institute The Chinese University of Hong Kong The Department of Mechanical and Automation Engineering Hong Kong

ISBN: (纸本)9781665481090

Accurate control of surgical robotics under uncertainty is crucial for achieving surgical autonomy. This uncertainty arises from sensor or model inaccuracies in surgical platforms, e.g., dVRK system, where joint bias in positioning and complex transmission effects caused by backlash and cable stretch. Previous approaches usually rely on depth sensors or additional offline calibration steps, making them difficult to deploy in real-world laparoscopy surgeries. In this paper, we propose a real-time geometric approach for calibrating joint errors on-the-fly combined with geometric features. An efficient visual detector is employed to identify the shaft mask and wrist keypoints. Based on the extracted features, we introduce a geometric model to recover the shaft axis pose and determine the first two joints uncertainty. Additionally, we develop a geometric model for wrist joints in projection space, calibrating remaining joint uncertainty through spatial geometry and the analytical structure of dVRK platform. Experimental results in simulation show that our approach significantly reduces joint error from 15° to 0.02°, with end-effector pose accuracy improving from centimeter to sub-millimeter level. This greatly enhances the accuracy and success rate of surgical automation. We also demonstrate robust control performance in diverse surgical tasks, highlighting the effectiveness of our geometric model in achieving accurate control despite joint offsets. © 2024 IEEE.

关键词： End effectors

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Ensemble-based Offline Data-driven Evolutionary Optimization for Operation Parameter of Blast Furnace 20

Ensemble-based Offline Data-driven Evolutionary Optimization...

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20th International Conference on Natural Computation, Fuzzy Systems and Knowledge Discovery, ICNC-FSKD 2024

作者： Ye, Qiucheng Cai, Hongxia Bian, Yunqi School of Mechatronic Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9798350356328

Stable control of the iron-making process through the adjustment of operating parameters is essential to improve blast furnace productivity. However, due to the complex and dynamic nature of the reaction process, it is difficult to perform accurate modeling and simulation experiments for a blast furnace. This poses great difficulties in performing the evaluation of control strategies in real-time. Offline evolutionary optimization, as an optimization technique that relies only on historical data, enables the search for optimal operation parameters through the introduction of surrogates. Based on the characteristics of historical time-series data of the iron-making process, this study proposes an offline evolutionary optimization method based on advanced time-series surrogates. Ensemble strategy combining surrogates with different prediction time windows contributes robustness during the optimization process. Additionally, multiple sub-regions are maintained to enable extensive searching of the decision space with a multi-objective nature. The efficiency of the proposed pooling method is demonstrated through verification in actual production cases. © 2024 IEEE.

关键词： Blast furnaces

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Tele-Operated Robotic Manipulator based Contactless Heartbeat Measurement Mechanism

Tele-Operated Robotic Manipulator based Contactless Heartbea...

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

作者： Ali, Abdullah Haider Kazmi, Syed Murtazza Hassan Uddin, Riaz Haptics Human-Robotics and Condition Monitoring Lab National Center of Robotics and Automation NED University of Engineering and Technology Karachi Pakistan

ISBN: (纸本)9781665464727

Use of tele-operated robotic manipulators for performing various medical tasks have become significant due to concerns regarding the spread of contagious diseases. The area that we have specifically targeted in this paper is the frequently taken heartbeat measurements. The key to accurately measuring patient's heartbeat using a robotic manipulator is adjusting the stethoscope by exerting correct amount of force through the end-effector. In this paper, we have designed a setup using a 6-Degree of Freedom (DOF) tele-operated robotic arm coupled with a force sensor, buzzer and a stethoscope. The idea is that the robot embedded with force sensor will palpate the patient for heartbeat reading and that force signal will generate sound feedback for the doctor operating at master site. Signal from the force sensor helps to achieve appropriate exertion force and adjustment of stethoscope on patient's body so as to get accurate heartbeat waveform on doctor's mobile phone. For this, manual experiments are performed to establish baseline force range. Experiments are also performed using both pendant and haptic device at master end. As a result, Force-Time graph are obtained in all experimental configurations while the heartbeat is monitored using stethoscope's mobile application. Thus, a contactless heartbeat measurement is achieved. Results from the setup shows the validity of the proposed procedure. © 2023 IEEE.

关键词： End effectors

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Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

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Chinese Journal of Mechanical engineering 2024年第4期37卷 243-257页

作者： Hao Lu Zhiqiang Yang Deliang Zhu Fei Deng Shijie Guo College of Electronic Information and Automation Tianjin University of Science and TechnologyTianjin 300222China Academy for Engineering&Technology Fudan UniversityShanghai 200433China Shanghai Engineering Research Center of AI&Robotics Shanghai 200433China School of Mechanical Engineering Hebei University of TechnologyTianjin 300130China

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a *** its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these ***,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical *** study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal *** on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to *** experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction *** method establishes a mapping relationship between the friction force and motor *** addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic *** tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic *** study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

关键词： Nursing-care robot Coupled-drive joint Dynamic modeling Parameter identification

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Design and Control of High Precision Buoyancy Adjustment System for Small AUVs 4

Design and Control of High Precision Buoyancy Adjustment Sys...

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4th International Conference on Computer Science, Electronic Information engineering and Intelligent Control Technology, CEI 2024

作者： Wang, Yongyao Sui, Tao Yan, Shuxue Chen, Cong Li, Zhigang School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Marine Robotics Department Shenyang China

ISBN: (纸本)9798350378542

This paper addresses the issue of buoyancy variation caused by differences in seawater density at varying operational depths for small AUVs working within 200 meters. To tackle this, a buoyancy adjustment system is designed that uses a piston-type oil cylinder to take in and release oil. The system integrates a digital-to-analog converter with a cable sensor to achieve precise measurement and control of the oil volume by accurately measuring the piston position. A mathematical model of the buoyancy adjustment system is established, and a fuzzy PID control strategy optimized by the Beetle Antennae Search (BAS) algorithm is proposed. Through Simulink simulation analysis, the system's precision adjustment capability and stability are validated. The simulation results demonstrate that the system exhibits good control performance in terms of adjustment time, overshoot, and disturbance rejection, thereby proving its reliability and feasibility. © 2024 IEEE.

关键词： Disturbance rejection

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Vertical Air Gap Integration in Micromachined Millimeter-Wave Patch Antenna with Inset-Fed Technique for RF Enhancement 3

Vertical Air Gap Integration in Micromachined Millimeter-Wav...

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3rd International Conference for Advancement in Technology, ICONAT 2024

作者： Badrinathan, B. Anitha, G. Saveetha School of Engineering Department of Automation and Robotics Engineering Sciences Saveetha University Saveetha Institute of Medical and Technical Tamilnadu Chennai India

ISBN: (纸本)9798350354171

This work proposes an innovative antenna design for millimeter-wave applications. For improved performance, the proposed antenna employs a bulk micromachining structure combined with an inset-fed technique. The design is fully simulated using the HFSS software using a substrate material having a dielectric constant of 12.9. A vertical air gap is introduced beneath the patch element through the simulated micromachining structure to enhance the RF performance of the antenna. The designed antenna dimensions are 1.2mm × 1.7mm × 0.27mm and are intended to function at 60GHz within the millimeter-wave frequency spectrum. Outstanding performance metrics are shown by the simulation results, such as a maximum gain of 4.82 dBi, a return loss of -60.95 dB and a voltage standing wave ratio (VSWR) of 1 at the desired operating frequency of 60 GHz. The simulated design of the antenna exhibits promising potential for integration into emerging millimeterwave wireless systems and devices. © 2024 IEEE.

关键词： Gallium arsenide

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Design and Analysis of Disc-Spring-Based Cable-Driven Variable Stiffness Joints 23rd

Design and Analysis of Disc-Spring-Based Cable-Driven Variab...

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23rd IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2022

作者： Xiao, Hang Xu, Zengrui Ding, Xilun Lyu, Shengnan Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing100191 China

ISBN: (纸本)9789811993978

Variable stiffness mechanisms perform better compliance during forceful interactions with uncertain environments. This paper proposes a novel disc-spring-based cable-driven variable stiffness joint. Considering the elastic cable and variable stiffness device, stiffness model of a general cable-driven joint is established. Mechanical property of a disc spring is analyzed. A variable stiffness device is obtained by stacking disc springs with different modes. Influence of cable tensions on stiffness of a revolute joint and a Hooke joint is evaluated. Two cases, a RR serial chain and an UR serial chain, are studied to verify the feasibility of stiffness adjustment through regulating cable tensions. Structure of the proposed variable stiffness joint is simple and compact, which can be utilized in cable-driven mechanisms widely. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stiffness

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A study on the multi-sensing of complex environment for smart livestock farming and biometric information measurement method for respective livestock based on BLE

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Transactions of the Korean Institute of Electrical Engineers 2023年第12期72卷 1795-1801页

作者： Kim, Jung-Ju Kim, Gi-Won Choi, Jae-Hoon Kim, Ki-Hyun Bae, Jung-Hyoun Koo, Kyung-Wan Dept. of Automotive ICT Engineering Hoseo University Korea Republic of Dept. of Robotics Hoseo University Korea Republic of Dept. of Robotics and Automation Engineering Hoseo University Korea Republic of Azita Co. Ltd. Korea Republic of

Declining population and aging farmers are causing difficulties in agricultural management. In this study, we propose a system that combines BLE technologies and indoor positioning technologies for smart livestock farming to track the complex environment and the position of respective livestock. sensor data measuring the complex environment is transmitted via the MQTT protocol. BLE beacons and cameras are employed to enable real-time tracking of livestock positions and monitor the body temperature of respective livestock for prompt assessment of their health status. In particular, we develop a new algorithm, adaptive triangulation, to accurately track the location of livestock products using the BLE beacon. The developed adaptive triangulation algorithm shows 90.12 % accuracy because of the experiment, showing higher location recognition accuracy than the existing triangulation method. The smart livestock farming system based on BLE is expected to improve productivity and reduce costs in the agricultural industry and contribute to the stable growth and development of farmers. Copyright ©The Korean Institute of Electrical Engineers.

关键词： Triangulation

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