2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)最新文献_第4页

No Code AI: Automatic Generation of Function Block Diagrams from Documentation and Associated Heuristic for Context-Aware ML Algorithm Training 无代码人工智能:从文档和相关启发式中自动生成功能块图，用于上下文感知ML算法训练

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097820

O. Ogundare, Gustavo Quiros Araya, Yassine Qamsane

{"title":"No Code AI: Automatic Generation of Function Block Diagrams from Documentation and Associated Heuristic for Context-Aware ML Algorithm Training","authors":"O. Ogundare, Gustavo Quiros Araya, Yassine Qamsane","doi":"10.1109/ICMERR56497.2022.10097820","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097820","url":null,"abstract":"Industrial process engineering and PLC program development have traditionally favored Function Block Diagram (FBD) programming over classical imperative style programming like the object oriented and functional programming paradigms. The increasing momentum in the adoption and trial of ideas now classified as “No Code” or “Low Code” alongside the mainstream success of statistical learning theory or the so-called machine learning is redefining the way in which we structure programs for the digital machine to execute. A principal focus of “No Code” is deriving executable programs directly from a set of requirement documents or any other documentation that defines consumer or customer expectation. We present a method for generating Function Block Diagram (FBD) programs as either the intermediate or final artifact that can be executed by a target system from a set of requirement documents using a constrained selection algorithm that draws from the top line of an associated recommender system. The results presented demonstrate that this type of No-code generative model is a viable option for industrial process design.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"38 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116084966","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}

引用次数: 4

Prolonging Robot Lifespan Using Fatigue Balancing with Reinforcement Learning 基于强化学习的疲劳平衡延长机器人寿命

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097795

Francesco Costa, Saeed Mozaffari, Reza Alirezaee, M. Ahmadi, S. Alirezaee

引用次数: 0

Twisted String Mechanism for Shape Adjustable Laryngoscopy 形状可调喉镜的扭弦机构

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097791

Chawakorn Raparjittikul, Pitha Jirapattarasilp, Tatchadon Wattanapornpongsuk, T. Chanthasopeephan

{"title":"Twisted String Mechanism for Shape Adjustable Laryngoscopy","authors":"Chawakorn Raparjittikul, Pitha Jirapattarasilp, Tatchadon Wattanapornpongsuk, T. Chanthasopeephan","doi":"10.1109/ICMERR56497.2022.10097791","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097791","url":null,"abstract":"Anesthetists use a device called the laryngoscope to open the airway of patients as part of an intubation process. In some cases, typical laryngoscopy appeared to be challenging to use. The rigid blade can injure a patient's airway and the surrounding tissue. In this paper, a shape adjustable video laryngoscope is designed. The novel design consists of a flexible blade where the angle of the module can be adjusted. As a result, the anesthetists are allowed to view with a broader angle, depending on each patient. The benefit of a wide-angle view during intubation helps increase the success rate and reduce the risk. The device replicates the design of Macintosh Laryngoscope size 3 as the model and the blade is redesigned so that the angle can be adjusted within $pm 10^{circ}$ angle compared to the original model. A twisted string actuated mechanism is applied to actuate the system. To twist the strings, an Arduino controller is used to control a stepper motor. The prototype shows the adjustable blade along with the camera system, which is covered with soft silicone. The measurement revealed that the tip of the Macintosh blade can be adjusted to $37^{circ}$ from the horizontal plane, and the result presents that the device can achieve an angle ranging between $27^{circ}$ and $47^{circ}$ from the horizontal plane. The developed prototype showed that the prototype can help increase the success rate of an intubation process and therefore benefit the medical specialists.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122937492","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}

引用次数: 0

A Practical Framework for Multi Agent Experiments in Aerial Robotics 航空机器人多智能体实验的实用框架

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097803

Samuel J C Knox, Verdon J Crann, Peyman Amiri, William J Crowther

{"title":"A Practical Framework for Multi Agent Experiments in Aerial Robotics","authors":"Samuel J C Knox, Verdon J Crann, Peyman Amiri, William J Crowther","doi":"10.1109/ICMERR56497.2022.10097803","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097803","url":null,"abstract":"A framework is presented for distributed control of rotary wing aerial robots using open-source flight controller firmware, commercial communication and computing hardware in an outdoor visual line of sight test environment. The work builds upon existing documented frameworks that focus mainly on laboratory based experiments. The research context is evaluation of novel rules for safe intersection of high-density aerial traffic flows. The framework is based on the use of a PX4 flight controller, Linux onboard computer running bespoke flight management code, MAVlink WiFi Bridge and WiFi module on each flight vehicle, and a ground control station running QGroundControl and a bespoke graphical user interface for interaction with vehicles and control of the overall experiment. SITL functionality is provided using Gazebo for physical simulation. Communication is via WiFi, with an individual radio control transmitter for each vehicle provided as backup. The developed framework was evaluated using a fleet of 10 multirotor vehicles based on 1kg class racing drones operating in a test volume approximately 100x100x100m. Engineering evaluation results are presented in the form of an technical issue register which highlights the engineering challenges that had to be solved to achieve a practical working system. Results are then presented for an example drone traffic intersection experiment in which two helical traffic flows are joined without conflict using flight rules running local to each drone. The proposed framework has been shown to be scalable to up to 10 vehicles, with addition of further vehicles being limited by WiFi router performance. The framework is hardware agnostic as far as possible and is extensible to use for a range of different distribute control experiments.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133628371","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}

引用次数: 1

Multi-robot Systems Using Broadcast Control Framework with Visual-Based Tracking 基于视觉跟踪的广播控制框架多机器人系统

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097802

Bhuvendhraa Rudrusamy, Chun Wei Tan, Mun Ping Yang, Rohindaran Ramunathan, Yu Jin Ng, Florence Choong, Mohamad Hafizulazwan Mohamad Nor

{"title":"Multi-robot Systems Using Broadcast Control Framework with Visual-Based Tracking","authors":"Bhuvendhraa Rudrusamy, Chun Wei Tan, Mun Ping Yang, Rohindaran Ramunathan, Yu Jin Ng, Florence Choong, Mohamad Hafizulazwan Mohamad Nor","doi":"10.1109/ICMERR56497.2022.10097802","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097802","url":null,"abstract":"The multi-robot application is becoming more critical in achieving complex collaborative tasks. This requires an efficient multi-agent robot system that supports distributed tasks, time and energy consumption. One of the developing control methods is the broadcast control framework. We found that variants of broadcast control techniques were validated on simulation only and lacked experimental work. Therefore, this paper focus-on the experimental investigation of a variant of the broadcast control framework. To create a similar environment to the application, we developed the system using Raspberry Pi, AlphaBots, a webcam, and Bluetooth as the central controller, robots, visual tracking, and wireless communication. We successfully validated the system in an indoor environment. The experimental finding shows the travelling trajectory of the robots differs from the MATLAB simulation results. Nonetheless, the broadcast control framework system was able to achieve the final target accurately. This paper provides implementation details and challenges for future research and development of a broadcast control framework. We propose to include obstacle avoidance in robots as a new study direction.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115699725","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}

引用次数: 0

Programming Methods Comparison in Mitsubishi MELFA Robots 三菱MELFA机器人编程方法比较

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097817

B. Kostov, V. Hristov

引用次数: 2

Modal Analysis of a Multi-cracked FG Shaft Using Finite Element Method 多裂纹FG轴的有限元模态分析

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097792

P. Gaur, G. Pamnani

引用次数: 0

Vision-Based GNSS-Free Localization for UAVs in the Wild 野外无人机基于视觉的无gnss定位

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-10-18 DOI: 10.1109/ICMERR56497.2022.10097798

Marius-Mihail Gurgu, J. P. Queralta, Tomi Westerlund

引用次数: 1

Optimised Design and Performance Comparison of Soft Robotic Manipulators 柔性机械臂的优化设计与性能比较

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-09-08 DOI: 10.1109/ICMERR56497.2022.10097790

Arnau Garriga-Casanovas, S. Treratanakulchai, Enrico Franco, Emilia Zari, Varell Ferrandy, Vani Virdyawan, F. Baena

{"title":"Optimised Design and Performance Comparison of Soft Robotic Manipulators","authors":"Arnau Garriga-Casanovas, S. Treratanakulchai, Enrico Franco, Emilia Zari, Varell Ferrandy, Vani Virdyawan, F. Baena","doi":"10.1109/ICMERR56497.2022.10097790","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097790","url":null,"abstract":"Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their designs tend to be relatively similar, and generally offer a relatively low force. This limits the payload they can carry and therefore their usability. A comparison of force of the different designs is not available under a common framework, and designs present different diameters and features that make them hard to compare. In this paper, we present the design of a soft robotic manipulator that is conceived to maximise its force while respecting typical application constraints such as size, workspace, payload capability, and maximum pressure. The design presented here has the advantage that it morphs towards an ideal design as it is pressurised to move in different directions, and this leads to higher lateral force. The robot is designed using a set of principles and thus can be adapted to other applications. We also present a non-dimensional analysis for soft robotic manipulators, and we apply it to compare the performance of the design proposed here with other designs in the literature. We show that our design has a higher force than other designs in the same category. Experimental results confirm the higher force of our proposed design.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128401829","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}

引用次数: 2