Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)最新文献

{"title":"A Block-Based Arduino Programming Platform for Developing Computational Thinking Skills for K-12 Students","authors":"Binsen Qian, Harry H. Cheng","doi":"10.1115/detc2021-68148","DOIUrl":"https://doi.org/10.1115/detc2021-68148","url":null,"abstract":"\u0000 As a critical set of skills in the 21st century, computational thinking has attracted increasing attention in K-12 education. Microcontrollers, combined with LEDs, actuators, and a variety of sensors, provide students countless real-world projects, such as autonomous vehicles, smart homes, and robotics. By solving those projects through programming, students will not only learn computational skills but also benefit from the hands-on activities to get some experience on solving real-world problems. It makes microcontroller projects a perfect tool to develop the computational thinking skills of K-12 students. Our previous work has proposed a solution for higher graders to program Arduino through Ch, a C/C++ interpreter. It is necessary, however, to develop a platform for lower graders (K-6) since most of them do not have the ability to type through the keyboard. This paper extends our previous work such that students can program Arduino on RoboBlockly, a block-based programming platform. In the paper, we will present two case studies to demonstrate how to build blocks to control the Arduino board and what concepts students will learn from those projects. In addition, the proposed platform also provides an interactive way of transitioning students from the block-based program to a text-based program in Ch.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"196 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131854186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Effective Approach to Model Parallel Robots With Flexible Links","authors":"Brillarelli Stefano, M. Palpacelli","doi":"10.1115/detc2021-69983","DOIUrl":"https://doi.org/10.1115/detc2021-69983","url":null,"abstract":"\u0000 This paper is focused on the development of an effective hardware and software architecture that is useful to improve the performance of slender parallel manipulators. The latter can perform high acceleration in fast pick and place applications, but their features can be also exploited in more advanced operations, where path following is a central issue. A simple and effective approach to model the elastodynamic behavior of flexible parallel manipulator is proposed, conceived to be fast and easy to implement in model-based control schemes. Moreover, a workbench architecture based on camera acquisitions is essential to calibrate the elastodynamic model and provide all the required information that are needed to improve path following of flexible mechanims.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115568896","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design of a Self Balancing Vehicle as a Test Rig for Safety Control Strategies Investigations","authors":"P. Righettini, R. Strada, Jasmine Santinelli","doi":"10.1115/detc2021-70305","DOIUrl":"https://doi.org/10.1115/detc2021-70305","url":null,"abstract":"\u0000 The present paper is related to a research activity concerning self-balancing vehicles, with particular reference to the interaction between driver and vehicle’s dynamics, at the aim to investigate safety management and strategies. In particular, the paper presents the design process of a self-balancing vehicle with the target to be used as a test rig for safety investigations. Besides the definition of the mechanical configuration, the design process includes also the choice of the motor/transmission unit, the design of the control system and the design of sensors related to vehicle/driver interaction. For design purposes, a simplified two dof planar model has been considered with the driver fixed with the vehicle chassis. Through a proper linearisation of such model, the dynamics of the system has been described by means of a state space approach, used to tune the controller, not only for stability but also for optimal response. In order to test the suitability of the designed vehicle for safety investigations, the paper presents also a Multibody model of the vehicle designed and of a driver with three driven joints. Such model allows to simulate the interaction between human (driver) and machine (vehicle), taking into consideration also the coupling between longitudinal motion and turn. By means of co-simulations between the multibody model (developed with MSC.Adams) and the controller (modelled with Matlab/Simulink), tests have been performed showing the possibility to detect influence of the driver’s behavior on the vehicle’s dynamics.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128135035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A New Triangle: Fractional Calculus, Renormalization Group, and Machine Learning","authors":"Haoyu Niu, Y. Chen, Lihong Guo, Bruce J. West","doi":"10.1115/detc2021-70505","DOIUrl":"https://doi.org/10.1115/detc2021-70505","url":null,"abstract":"\u0000 The emergence of the systematic study of complexity as a science has resulted from the growing recognition that the fundamental assumptions upon which Newtonian physics is based are not satisfied throughout most of science, e.g., time is not necessarily uniformly flowing in one direction, nor is space homogeneous. Herein we discuss how the fractional calculus (FC), renormalization group (RG) theory and machine learning (ML) have each developed independently in the study of distinct phenomena in which one or more of the underlying assumptions of Newtonian formalism is violated. FC has been shown to help us better understand complex systems, improve the processing of complex signals, enhance the control of complex networks, increase optimization performance, and even extend the enabling of the potential for creativity. RG allows one to investigate the changes of a dynamical system at different scales. For example, in quantum field theory, divergent parts of a calculation can lead to nonsensical infinite results. However, by applying RG, the divergent parts can be adsorbed into fewer measurable quantities, yielding finite results. To date, ML is a fashionable research topic and will probably remain so into the foreseeable future. How a model can learn efficiently (optimally) is always essential. The key to learnability is designing efficient optimization methods. Although extensive research has been carried out on the three topics separately, few studies have investigated the association triangle between the FC, RG, and ML. To initiate the study of their interdependence, herein the authors discuss the critical connections between them (Fig. 1). In the FC and RG, scaling laws reveal the complexity of the phenomena discussed. The authors emphasize that the FC’s and RG’s critical connection is the form of inverse power laws (IPL), and the IPL index provides a measure of the level of complexity. For FC and ML, the critical connections in big data, wherein variability, optimization, and non-local models are described. The authors introduce the derivative-free and gradient-based optimization methods and explain how the FC could contribute to these study areas. In the end, the association between the RG and ML is also explained. The mutual information, feature extraction, and locality are also discussed. Many of the cross-sectional studies suggest a connection between the RG and ML. The RG has a superficial similarity to deep neural networks (DNNs) structure in which one marginalizes over hidden degrees of freedom. The authors remark in the conclusions that the association triangle between FC, RG, and ML, form a stool on which the foundation to complexity science might comfortably sit for a wide range of future research topics.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122347225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robotic Manipulation System for Multi-Layer Fabric Stitching","authors":"M. Lahoud, G. Marchello, H. Abidi, Mariapaola D’Imperio, F. Cannella","doi":"10.1115/detc2021-70994","DOIUrl":"https://doi.org/10.1115/detc2021-70994","url":null,"abstract":"\u0000 Designing gripping and manipulation systems for soft materials is an interesting but challenging task that has been widely investigated in the robotic field recently. Soft materials require a departure from traditional methodologies proposed for grasping rigid objects. The presented work is step towards manipulating planar soft materials, namely garments. A work-cell to automate the stitching, involving the manipulation of a fabric cloth and a foam pad is described and simulated. The results of the simulation show the feasibility, and speeds comparable to humans. This work is part of SOFTMANBOT project, a cross-sectoral project funded in the EU Horizon 2020 framework.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117206398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Model for the Digital Method of Measuring LED Incident Photocurrent","authors":"Jake D. Campbell, C. Pretty, J. Knopp, P. Bones, J. Chase","doi":"10.1115/detc2021-70651","DOIUrl":"https://doi.org/10.1115/detc2021-70651","url":null,"abstract":"\u0000 Pulse oximeters and other light based sensor types are used to monitor arterial blood oxygen levels, heart rate, and much more that rely on LEDs and photodiodes. The conventional method of using photodiodes to detect light signals is accurate, but requires relatively expensive hardware processing to extract the signal. Digital sensing of light using an LED provides a low-cost alternative by using a voltage threshold timing method. However, the accuracy of this method is dependant on the microcontroller clock speed and suffers from variable sample rate (100 us to 10 ms). This paper develops a model for a digital light sensing method using only a microcontroller’s ADC and timer, and an LED. Using the voltage discharge curve of a reverse biased LED, the sensor is capable of accurately detecting light intensities ranging from 0–3885 mcd at a sample period of 500 us. A linear relationship was found through the incident light intensity ranges of 0 to 3880 mcd. The model fit the expected experimental values, with an estimated photocurrent ranging from 10 pA to 55 nA. With an R2 of 0.9997, the model demonstrates the digital sensing method linearly responds to incident light intensity and can simplify the design of pulse oximeters and similar light based sensor types.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114491760","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Contactless Classification Method for Early Detection of Nematodes Using Deep Neural Networks (DNNs) and TensorFlow","authors":"Haoyu Niu, A. Westphal, Y. Chen","doi":"10.1115/detc2021-68557","DOIUrl":"https://doi.org/10.1115/detc2021-68557","url":null,"abstract":"\u0000 Soil-borne plant-parasitic nematodes are microscopic, eellike roundworms. The root-knot nematodes (Meloidogyne spp.) and root-lesion nematodes (Pratylenchus vulnus) are among the most damaging in California, which are difficult to control and can spread easily in soil on tools, boots, and infested plants. Root-knot nematodes can attack many different crops, including nut and fruit trees, usually cause unusual swellings, called galls, on affected plants’ roots. It is not easy to recognize the infestations of these nematodes. For instance, researchers need to dig up walnut trees with symptoms, wash or gently tap the soil from the roots, and examine the roots for galls. The nematode extraction procedures, identification, and enumeration under a microscope are tedious and time-consuming. Therefore, in this article, the authors proposed to use a low-cost contactless radio frequency tridimensional sensor “Walabot,” and Deep Neural Networks (DNNs), to perform the early detection of nematodes in a walnut site. Radiofrequency reflectance of walnut leaves from different nematode infestation levels was measured. The hypothesis was that waveforms generated from walnut leaves can estimate the damage caused by nematodes. DNNs with Tensor-Flow were used to train and test the proposed method. Results showed that the Walabot predicted nematode infestation levels with an accuracy of 82%, which showed great potentials for early detection of nematodes.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115434355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evoked Electromyographic Fatigue Indices During Intermittent Stimulation Towards Dynamic Wrist Contractions","authors":"Lachlan R. McKenzie, Benjamin C. Fortune, Logan T. Chatfield, C. Pretty","doi":"10.1115/detc2021-70962","DOIUrl":"https://doi.org/10.1115/detc2021-70962","url":null,"abstract":"\u0000 Functional electrical stimulation (FES) in stroke rehabilitation is hindered by early patient fatigue. Therefore the study of FES-elicited fatigue is needed to optimise its therapeutic impact. In this study, the reliability of evoked electromyography (EMG) median frequency (MDF) and peak-to-peak (PTP) fatigue indices were investigated during stimulation of the forearm. During isometric constant stimulation the MDF-time and PTP-time waveforms exhibited negative gradients in the ranges (−1.3 to −3.6) Hz · s−1 and (−0.013 to −0.016) V · s−1 respectively, most with coefficients of determination (R2) greater than 0.83. During vEMG-controlled stimulation the MDF-contraction waveforms exhibited negative gradients in the range (−2.4 to −9.0) Hz · Cont−1 while the PTP gradients ranged from (0.0070 to −0.019) V · Cont−1. For these datasets the MDF waveforms’ R2 > 0.62 and most PTP waveforms’ R2 < 0.35. These findings suggest that the MDF and PTP amplitude are suitable fatigue indices during isometric constant stimulation but the PTP-based index becomes unreliable during vEMG-controlled stimulation.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133089623","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Switched Fractional Order Model Reference Adaptive Control for an Automatic Voltage Regulator","authors":"N. Aguila-Camacho, Jorge E. García-Bustos, Eduardo I. Castillo-López","doi":"10.1115/detc2021-68302","DOIUrl":"https://doi.org/10.1115/detc2021-68302","url":null,"abstract":"\u0000 This paper presents the design and implementation of a Switched Fractional Order Model Reference Adaptive Controller (SFOMRAC) for an Automatic Voltage Regulator (AVR). The fractional orders, adaptive gains and switching times of the controller adaptive laws are tuned offline, using Particle Swarm Optimization (PSO). The functional to be optimized contains not only parameters of the AVR response but also the control energy. The obtained controllers are compared to non switched Integer Order Model Reference Adaptive Controller (IOMRAC) and non switched Fractional Order Model Reference Adaptive Controller (FOMRAC) proposed previously for this process, showing that the SFOMRAC can improve both, the system response and the control energy used.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"470 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134549599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Autonomous Transport System With Taxi-Type Automated Guided Vehicles Based on Transport Density","authors":"Takuma Nakatani, Daiki Morikawa, N. Harada, T. Hirogaki, E. Aoyama","doi":"10.1115/detc2021-68097","DOIUrl":"https://doi.org/10.1115/detc2021-68097","url":null,"abstract":"\u0000 The importance of automated guided vehicles in flexible manufacturing systems is increasing because they can flexibly respond to changes in facilities and factory layouts. Herein, we propose an autonomous conveyance system for automated guided vehicles based on the operation of a taxi transportation system to solve indefinite and accidental problems. The system focuses on the application of traffic engineering knowledge to a flexible taxi transportation system. A taxi is a transport unit in a traffic system, with high adaptability to traveling routes and arrival/departure points. We also propose a task linear density based on transport density, which is an indicator of the scale of transport, such as that of rail transport. We evaluated the efficiency of an automated guided vehicle (AGV) transportation system that introduced waiting and cruising operations, which determine the taxi behavior, using the task linear density. The results indicate that the average matching time and task linear density were negatively correlated and that the transport efficiency improved when the P/Ds were frequently transported to a centralized location.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116768642","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}