Journal of Robotics and Mechatronics最新文献

{"title":"4D Printing: Technology Overview and Smart Materials Utilized","authors":"Antreas Kantaros, T. Ganetsos, D. Piromalis","doi":"10.3844/jmrsp.2023.1.14","DOIUrl":"https://doi.org/10.3844/jmrsp.2023.1.14","url":null,"abstract":": 4D printing is a cutting-edge technology that allows for the creation of dynamic, self-assembling structures by utilizing cutting edge, newly introduced smart materials. It builds upon traditional 3D printing by adding the dimension of time, allowing printed objects to change shape or behavior over time. This is achieved through the use of smart materials, such as shape memory alloys or polymers, which respond to external stimuli such as heat or moisture. These materials are engineered to have specific properties that can be triggered by specific conditions such as temperature, humidity, light, or other physical forces. 4D printing enables the creation of structures that can adapt to their environment and perform specific functions, such as objects that change shape in response to temperature changes, or structures that can self-assemble in response to a specific trigger. Overall, 4D printing is an exciting and rapidly advancing technology that has the potential to revolutionize the way we design and create structures. The ability to create structures that can change shape or behavior over time opens up new possibilities for a wide range of applications. As the technology continues to evolve, we can expect to see more innovative uses of 4D printing in a wide range of scientific fields such as architecture, aerospace, and biomedical engineering demanding the creation of highly complex and dynamic structures that can adapt to changing environments.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"24 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80905013","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":"Smart Manufacturing in Mining. Adopting Machine Learning to Improve a Copper Milling Process","authors":"Federico Walas Mateo, A. Redchuk, J. Tornillo","doi":"10.3844/jmrsp.2023.42.47","DOIUrl":"https://doi.org/10.3844/jmrsp.2023.42.47","url":null,"abstract":": Nowadays industries like mining are focused in the need of improving processes towards net zero emissions and accomplishing with united nations' sustainable development goals. This article presents a case at a copper mine where an artificial intelligence solution is adopted to optimize industrial processes. The paper illustrates the way a software solution using a low code platform framework can democratize the use of advanced analytical tools in the industrial sector to improve production processes. The low code approach is complemented by lean startup methodology to adapt the solution to the industrial domain and establish a co-creation environment among software engineers and industrial processes experts. This study pretends to highlight the use of industrial data and the way traditional industries are migrating towards the industry 5.0 paradigm, empowering people at the plant and achieving more environmentally friendly processes by the use of digital solutions.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"64 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85059009","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":"Real-Time Fuzzy Logic Control of Two-Link Flexible Manipulators","authors":"J. Pedro, Juan-Paul Hynek","doi":"10.3844/jmrsp.2023.48.62","DOIUrl":"https://doi.org/10.3844/jmrsp.2023.48.62","url":null,"abstract":": This study investigates the development of a Fuzzy Logic Controller (FLC) for tracking a sinusoidal wave trajectory and suppressing the vibration of a Two Link Flexible Manipulator (TLFM). The TLFM was modeled using Lagrange's formalism and the Assumed Mode Method (AMM). A three-part apparatus consisting of a TLFM mathematical model, a real-world TLFM, and control software was designed and implemented. The FLC was applied to both the simulated and real-world TLFM. The robustness of the FLC was investigated by considering variable payload mass and link angular velocity in both constructive and destructive link interference trajectory cases. Simulation and experimental results show the effectiveness and robustness of the proposed FLC.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"2008 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86224919","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":"LiDAR-Based Obstacle Detection and Avoidance for Navigation and Control of an Unmanned Ground Robot Using Model Predictive Control","authors":"Sai Charan Dekkata, Sun Yi, M. Muktadir, Selorm Garfo","doi":"10.3844/jmrsp.2023.27.41","DOIUrl":"https://doi.org/10.3844/jmrsp.2023.27.41","url":null,"abstract":": Unmanned Ground Vehicles (UGVs) have, as of late, been utilized in a wide assortment of utilizations because of their flexibility, diminished expense, and quick response, among other benefits. Search and Rescue (SAR) is quite possibly the most conspicuous zones for the work of UGVs instead of a monitored mission, mainly due to its impediments on the expenses, human resources, and view of the human administrators. An ongoing way of arranging to utilize numerous helpful UGVs for the SAR mission is proposed in this study. This study aims to introduce the initial moves towards a Model Predictive Control (MPC) based peril evasion calculation for UGVs representing the vehicle elements through high constancy models and uses just surrounding data about the environment as given by the available onboard sensors. In particular, the paper presents the MPC definition for peril evasion utilizing a Light Detection and Ranging (LiDAR) sensor and applies it to a contextual of the effect of model constancy on the calculation's presentation, where execution is estimated principally when to arrive at the objective point. The Robot Operating System (ROS) is used to drive the sensors and visualize the data in RVIZ. This study presents MPC development for navigating Husky A200 by adjusting the longitudinal, lateral, and yaw motion command behaviors. The proposed algorithm for Husky A200 is tested indoors and compared the results with the simulation results plotted using MATLAB and GAZEBO. A novel simulator package is developed for the Husky using RVIZ and GAZEBO. The efficiency of the proposed MPC design is tested through simulation and compared with real world experiments, the real-time longitudinal movement follows the simulation results closely. For MPC's short-term optimization, an optimized control signal from a linear framework is utilized for a linear quadratic controller. According to the Husky position and orientation, applying a transformation to convert the map coordinate system to the Husky coordinate system. Transforming the map coordinate system helped in computing the errors because the initial vector considers position and orientation as zero.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"9 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89231099","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":"Evaluation Model of Mechatronizability","authors":"J. Samon, Brice Landry Tekam Guessom","doi":"10.3844/jmrsp.2022.65.78","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.65.78","url":null,"abstract":": Competitiveness pushes companies to redefine their production units to offer multifunctional products. The integration of several functions requires the marriage of several disciplines of mechatronics that it is necessary to measure its dimension of integration. Because the problem of the designers or the professionals of the mechatronics is the one to know the level or the degree of the mechatronics which reflects equipment conceived or to be conceived for the market remains a necessity. This study seeks to understand the complexity of a mechatronic architecture to identify its constituents and define the parameters of a mechatronic system to estimate the mechatronizability of a product. After defining the utility and objectives of the metric, a methodology for the identification of the influential parameters and the formulation of the metric has been proposed. Drawing on the debatable achievements of the literature, four indicators were defined. In particular, the indicator of functional integration, dematerialization, complexity, and the general degree of mechatronics. These metrics of simple formulation were applied and validated on an electric pruning shear to estimate its mechatronic dimension. These metrics should allow manufacturers to simulate the mechatronic dimension of their production units and their competitive products.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"65 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86919015","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":"Developing a Linear Quadratic Regulator for Human Lower Extremity Exoskeleton Robot","authors":"S. Hasan, A. Dhingra","doi":"10.3844/jmrsp.2022.28.46","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.28.46","url":null,"abstract":"Corresponding Author: Sk Khairul Hasan Department of Mechanical and Manufacturing Engineering, Miami University, USA E-mail: hasansk@miamioh.edu Abstract: During the last two decades, exoskeleton robot-assisted neurorehabilitation has received a lot of attention. The major reason for active research in robot-assisted rehabilitation is its ability to provide various types of physical therapy at different stages of physical and neurological recovery. The performance of the robot-assisted physical therapy is greatly influenced by the robot motion control system. Robot dynamics are nonlinear, but many linear control schemes can adequately handle the nonlinear dynamics with the help of feedback linearization techniques. In this study, the dynamic model of the human lower extremities was developed. A state-space form of the human lower extremity nonlinear dynamic model is presented. LuGre friction model was used to simulate the robot joint friction. A Linear Quadratic Regulator (LQR) was designed to control the human lower extremity dynamics. Dynamic simulations were carried out in the MatlabSimulink environment. The designed controller's tracking performance was demonstrated in the presence of joint friction. The developed controller’s tracking performance is assessed by comparing the results obtained using LQR with other linear and nonlinear controllers (PID, Computed torque control, and Sliding mode control). For performance verification, the same robot dynamics, friction model, and trajectories were used. The stability of the developed control system is also analyzed.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"86 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80867615","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":"Analysis of Mechatronics Degree Evaluation Models","authors":"J. Samon, Brice Landry Tekam Guessom","doi":"10.3844/jmrsp.2022.57.64","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.57.64","url":null,"abstract":": A mechatronic system is an intelligent product that is usually very complex and deserves to be characterized. The complexity comes from the number of integration of functions in a single product. Mechatronizability, which is the ability of the degree of mechatronics of a system, is a remarkable characteristic for designers to decide the level of complexity at the design stage of multifunctional products. The concern is therefore to estimate the multifunctional degree of a mechatronic product. After the description and analysis of a mechatronic system, two methodological approaches are proposed based on three metric models: the functional integration indicator which reflects the degree of collaboration of components in the realization of functions of a product. The functional complexity indicator which reflects the level of interpenetration between the elements belonging to the different domains existing in each of the product functions. The functional dematerialization indicator which measures the degree of integration of electronic \"E\", computer \"I\" and automatic \"A\" areas in a product. These indicators have been applied to a hydraulic pump. The designer will now have to know the mechatronizability of a product to decide on its degree of intelligence.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"27 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83897330","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":"Modeling and Simulation of the Impact of Temperature on Single Point Load Cell using Trnsys 16.0: Measured, Uncompensated and Error Data for Zaria Kaduna State","authors":"A. A. Edet, Afolayan M. O., U. Umar","doi":"10.3844/jmrsp.2022.47.56","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.47.56","url":null,"abstract":"","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"2 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88215353","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":"Development of an Arduino-Based Robotic Arm Yam Heap Maker","authors":"Agbese Raphael, Dagwa Ishaya Musa, Nurudeen Abdulhakeem Hassan, Adekunle Joshua","doi":"10.3844/jmrsp.2022.84.89","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.84.89","url":null,"abstract":": In this study, a prototype robotic arm yam heap-maker using Arduino was developed. Nigeria produces around 75% of global yam production which is widely consumed as staple foods in Africa and Asia and as raw materials for processing into other finished goods. The production of this economic commodity is largely crude and labor-intensive as such the need to adopt a modern approach to farming. The prototype was designed to perform heap-making activities in the cultivation process of yam and utilizes two Degrees of Freedom (2 DOF), it has an overall weight of 2.39 Kg, 350 mm length, 250 mm width, and 240 mm height. A systematic design method of the product design process was adopted in the prototype development. The heap maker was controlled remotely using an android phone. The trial experiments were performed on sandy, loamy, and clay soils. The average effective heap height and depth were best observed on loamy soil with 5 cm height and 7 cm depth.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"147 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77871524","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":"Improved Model Predictive Control System Design and Implementation for Unmanned Ground Vehicles","authors":"Sai Charan Dekkata, S. Yi, M. Muktadir, Selorm Garfo, Xingguang Li, Amanuel Abrdo Tereda","doi":"10.3844/jmrsp.2022.90.105","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.90.105","url":null,"abstract":": Autonomous ground robots autonomously are being used in the places where it is very hazardous for human beings to reach and operate, such as nuclear power plants and chemical industries. The aim of the research presented here is to develop a control system that enables such ground robots navigate autonomously with various sensors as the depth camera, 2D scanning laser, 3D Lidar, GPS, and IMU. The controller uses the current position measured using the sensors on the Husky A200, given the waypoints of the destination. Then it calculates the best possible route based on the recent events provided using IMU data and GPS. The Model Predictive Control (MPC) improves the robot’s motion, by using a path planner for the robot’s trajectory generation. The use of global reference frame waypoints is planned to create the appropriate path and the actions required to follow the motion planner’s direction. The path planner depends on the active sensor data such as locations and size of obstacles. Then, a feasible path is generated based on the sensor data. The desired trajectory consists of a set of waypoints fit in a 3 rd -order polynomial. They determine the path’s feasibility for the ground robot’s dynamics and a series of points generated with a certain velocity and acceleration profile. The MPC adjusts the robot’s lateral, longitudinal, yaw motions and approximates a continuous trajectory with discrete paths to command behaviors. The kinematic model of a robot, Husky is used as the dynamic model for transient and steady-state characteristics. The camera captures the images and other types of data processed through the computational framework used to build machine learning models. TensorFlow is used for deep learning and to identify and classify various objects around the Husky. This research has limitations such as using the linear dynamic model as the LQR method. Also on vehicle models, the vehicle model considered in this research considers a constant value to describe the slope in the most linear region. Detailed discussion on MPC development with a major system design factor has been emphasized with logical steps in MPC.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"1 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83683862","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}