2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)最新文献_第4页

Practical range of applicability of a linear stiffness model of an elliptical flexure hinge 椭圆型柔性铰链线性刚度模型的实际适用范围

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004480

Simir Moschini, M. Palpacelli

引用次数: 0

Prediction of users trajectories to mimic / avoid the customer behaviour during mapping tasks of an autonomous robot in retail environment 预测用户轨迹以模仿/避免零售环境中自主机器人映射任务中的客户行为

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004396

Jacopo Maiolini, L. Rossi, Rocco Pietrini, A. Mancini, E. Frontoni, P. Zingaretti

{"title":"Prediction of users trajectories to mimic / avoid the customer behaviour during mapping tasks of an autonomous robot in retail environment","authors":"Jacopo Maiolini, L. Rossi, Rocco Pietrini, A. Mancini, E. Frontoni, P. Zingaretti","doi":"10.1109/MESA55290.2022.10004396","DOIUrl":"https://doi.org/10.1109/MESA55290.2022.10004396","url":null,"abstract":"Stores today are complex spaces where the availability of information related to the behaviours of shoppers plays a key role to optimize the sales. It is also strategic to gather data in order to monitor the availability and right placement of products on the shelves. In this context, mobile robotics could support the retailers to map the current status of a store using autonomous platforms. Of course full mapping strategies could be easily implemented considering well consolidated approaches. Regarding this context, we explore the capability to mimic / avoid the customer behaviour during mapping tasks of an autonomous robot. Mapping tasks are designed to get images from cameras installed on the mobile platforms to check the planogram integrity also identifying out-of-stock issues. We propose a strategy to predict the trajectory of shoppers inside a store that could be used by the navigation planner of a robot to map highly visited areas. The approach could be also used to avoid the user(s) during their shopping in order to minimize the bother caused by the presence of a mobile platform.","PeriodicalId":410029,"journal":{"name":"2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130531993","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 Novel Infill Strategy to Approach Non-Planar 3D-printing in 6-Axis Robotized FDM 六轴机器人FDM非平面3d打印的一种新型填充策略

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004465

Federico Insero, V. Furlan, H. Giberti

{"title":"A Novel Infill Strategy to Approach Non-Planar 3D-printing in 6-Axis Robotized FDM","authors":"Federico Insero, V. Furlan, H. Giberti","doi":"10.1109/MESA55290.2022.10004465","DOIUrl":"https://doi.org/10.1109/MESA55290.2022.10004465","url":null,"abstract":"Additive Manufacturing (AM) is a class of processes with a remarkable growth and evolution during the last years. Those allow to fabricate components deposing a great variety of raw materials with a layer by layer approach. Conventional material deposition strategy is identified by the slicing process layering the 3D component with planes. Although convention slicing enables common Cartesian 3D-printers, is constraining the fabrication of near-net shape components featuring overhangs and particularly to free-form geometries without the use of dedicated supports. Conventional slicing is also limiting industrial 6-axis robots which are more flexible, providing larger working area and introducing more degrees of freedom than Cartesian 3D-printers. Non-planar slicing unlocks such features changing deposition direction according to multi-directional surface. On the other hand, non-planar slicing generalization is a challenging problem due to its own intrinsic complexity. Hence, the goal to achieve a flexible non-planar slicer software is still not reached. This work considers a quarter of torus as representative of a free-form part which only the external surface is known analytically. The aim of this work is to provide a new method to define a non-planar infill to fabricate filled-solid parts starting from the data on the contour. It is a first and preparatory step of problem generalization. An experimental activity is pursued showing the non-planar infill strategy introduced. The printed results are discussed and evaluated, underlining the capabilities of the proposed solution.","PeriodicalId":410029,"journal":{"name":"2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131358765","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

Fractional Order Backpropagation Neural Network for Battery Capacity Estimation with Realistic Vehicle Data 基于真实车辆数据的分数阶反向传播神经网络电池容量估计

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004390

Yanan Wang, Xuebing Han, F. Dai, Jie Li, Daijiang Zou, Languang Lu, Yangquan Chen, M. Ouyang

{"title":"Fractional Order Backpropagation Neural Network for Battery Capacity Estimation with Realistic Vehicle Data","authors":"Yanan Wang, Xuebing Han, F. Dai, Jie Li, Daijiang Zou, Languang Lu, Yangquan Chen, M. Ouyang","doi":"10.1109/MESA55290.2022.10004390","DOIUrl":"https://doi.org/10.1109/MESA55290.2022.10004390","url":null,"abstract":"For battery capacity estimation, machine learning (ML) algorithm has drawn much attention in the intelligent battery management field. The state-of-art ML algorithm cannot describe the inside reactions of LIBs, while electrochemical model with complicated partial differential equations cannot be deployed to realistic applications. On the basis of fractional-order calculus, this paper proposes a fractional-order backpropagation neural network (BPNN) for the capacity estimation. As an enhanced ML algorithm, the proposed fractional-order BPNN combines the fractional-order ML theory with the fractional-order modeling of LIBs, which can reflect the battery diffusion dynamics. The fractional-order gradient is introduced to the gradient descent method, constructing a fractional-order gradient descent (FOGD) method for weight update in backpropagation process. A set of 17 electric vehicles (EVs) data are collected and preprocessed to verify the capacity estimation effects of the proposed algorithm. For the realistic battery data without capacity labels, this paper firstly deduces and provides “pseudo” labels for the algorithm training, then the proposed fractional-order BPNN is trained with FOGD method to learn battery capacity changes. The experiment results show that the fractional-order BPNN can learn the battery degradation trend and maintain estimation accuracy within 4.5% for the whole capacity curve during battery lifetime.","PeriodicalId":410029,"journal":{"name":"2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121397870","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

Path Planning and Predictive Control of Autonomous Vehicles for Obstacle Avoidance 自动驾驶汽车避障路径规划与预测控制

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004405

Duoping Zhang, Bo Chen

引用次数: 0

Feature-Based Object Detection and Pose Estimation Based on 3D Cameras and CAD Models for Industrial Robot Applications 基于三维相机和CAD模型的工业机器人特征目标检测和姿态估计

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004402

Tuomas Seppälä, Janne Saukkoriipi, Taneli Lohi, Samuli Soutukorva, T. Heikkilä, J. Koskinen

引用次数: 1

Disseminating Collaborative Robotics and Artificial Intelligence Through a Board Game Demo 通过桌面游戏演示传播协作机器人和人工智能

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004477

L. Carbonari, Matteo Forlini, C. Scoccia, D. Costa, M. Palpacelli

引用次数: 0

PLC Cyber-Security Challenges in Industrial Networks 工业网络中的PLC网络安全挑战

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004463

Ramiro Ramirez, Chun-Kai Chang, Shunjian Liang

{"title":"PLC Cyber-Security Challenges in Industrial Networks","authors":"Ramiro Ramirez, Chun-Kai Chang, Shunjian Liang","doi":"10.1109/MESA55290.2022.10004463","DOIUrl":"https://doi.org/10.1109/MESA55290.2022.10004463","url":null,"abstract":"Conveyor belts are vital components in production lines driven by Programming Logic Controllers (PLC). Sensors and actuators control with PLCs represents a critical point in the industrial process. Attacks targeting the exploitation of PLC vulnerabilities have been on the rise recently. This study aims to analyze the vulnerabilities of a typical PLC setup and constructs a PLC testbed environment to represent the cyber attack target. The PLC testbed represents an automatic conveyor belt for sorting materials. Two Mitsubishi FX5U-32M PLCs control the conveyor motor and the sorting mechanism, respectively. The network communication adapted Modbus protocol emulated with ModbusPal and components connected via RS-485, Ethernet, and WiFi. In this study, Ethernet is the main network connection. The main components of the network, attacker, and target, host different Operating Systems. On the attacker side, the selected OS is Kali 2022.3. In contrast, the target side host Ubuntu 22.04. The attacker runs Nmap and Metasploit to exploit the target Modbus registers. The selected attack method for this study is Packet Reply. Packet replies can halt operations sending custom data packets to the PLC. This study provides a basic step-by-step offensive strategy targeting register modification.","PeriodicalId":410029,"journal":{"name":"2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121302690","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

Implementation and Evaluation of 5G MEC-enabled Smart Factory 5G mec智能工厂的实施与评估

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004467

Nadhif Muhammad Rekoputra, Chia-Wei Tseng, Jui-Tang Wang, Shunjian Liang, R. Cheng, Yueh-Feng Li, Wenyang Yang

{"title":"Implementation and Evaluation of 5G MEC-enabled Smart Factory","authors":"Nadhif Muhammad Rekoputra, Chia-Wei Tseng, Jui-Tang Wang, Shunjian Liang, R. Cheng, Yueh-Feng Li, Wenyang Yang","doi":"10.1109/MESA55290.2022.10004467","DOIUrl":"https://doi.org/10.1109/MESA55290.2022.10004467","url":null,"abstract":"The 5G network can provide more comprehensive bandwidth connectivity for the industry 4.0 environment, which requires faster and tremendous data transmission. 5G network engages with Multi-access Edge Computing providing the computing functions dedicated to the users on edge nodes. The MEC network architecture presents the significant facilities, schematic of the network, and routers of data transmission. This work demonstrates the 5G network performance evaluation with MEC and without MEC and compares it with various wired and wireless networks in a machining workshop. The field test performs high-definition streaming video and heavy-traffic load testing to evaluate the performance based on different protocols by comparing throughput, latency, jitter, and packet loss rate. Streaming video performance shows that the 5G with MEC achieved 16.47 ms latency on average. In summary, the 5G network implementation and data transmission performance provide a paradigm for those interested. MEC can help data transmission efficiency, but it requires knowledge of configuration on optimization. Mobile network operators should offer authentication for accessing partial MEC functionality for industrial users.","PeriodicalId":410029,"journal":{"name":"2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115682897","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

Design of an Underwater Robot Propelled by a Novel Class of Bio-Inspired Thrusters 新型仿生推进器推进水下机器人的设计

2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2022-11-28 DOI: 10.1109/MESA55290.2022.10004452

D. Costa, M. Palpacelli, G. Palmieri, L. Carbonari, C. Scoccia, D. Scaradozzi

{"title":"Design of an Underwater Robot Propelled by a Novel Class of Bio-Inspired Thrusters","authors":"D. Costa, M. Palpacelli, G. Palmieri, L. Carbonari, C. Scoccia, D. Scaradozzi","doi":"10.1109/MESA55290.2022.10004452","DOIUrl":"https://doi.org/10.1109/MESA55290.2022.10004452","url":null,"abstract":"In the last three decades, bio-inspired solutions have been investigated by researchers worldwide as a source of improvement for Autonomous Underwater Vehicles. In order to replace the screw propellers traditionally employed on marine vessels with more efficient bio-inspired thrusters, the authors of this paper have developed, manufactured, and tested a series of swimming robots in the last six years. The main design novelty, conceived and fine-tuned through these projects and prototypes, is the replacement of multiple inefficient servomotors, employed to drive the tails and fins of the robotic fish in the literature, with a single, efficient rotary actuator to solve control, encumbrance, and waterproofing issues. In this work, the single-motor design has been exploited to develop a swimming robot while pursuing the highest possible propulsive efficiency and the capability to perform low-speed and stationary turnabouts: the simulation performed on the multiphysics platform developed by the authors through their research have shown that the proposed solution can be applied to any robotic fish embodying a multi-joint tail mechanism regardless of the adopted swimming mode.","PeriodicalId":410029,"journal":{"name":"2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"8 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114128954","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