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1
Noritsugu, Toshiro. "Special Issue on Assistive Device Technologies." Journal of Robotics and Mechatronics 11, no. 4 (August 20, 1999): 237. http://dx.doi.org/10.20965/jrm.1999.p0237.
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Mechatronics is one of the most powerful technologies to overcome various industrial and social problems arising in the 21st century, for example, realization of the recycle manufacturing system, global consideration on the environment, development of human-oriented technology. The 3rd International Conference on Advanced Mechatronics (ICAM’98)-Innovative Mechatronics for the 21st Century hass been held in Okayama August 3-6, 1998, following the 1st and 2nd held in Tokyo in 1988 and 1993, sponsored by the Japan Society of Mechanical Engineers. The purpose of the conference is to promote the creation of new technologies and industries such as advanced robotics and human-oriented technology for the coming 21st century. Two plenary talks and 35 technical sessions including 11 specially organized sessions were opened. In technical sessions, a total of 149 papers was presented, of which 61 papers were in organized sessions and 88 papers in general sessions. Some 47 papers came from 17 countries abroad and 102 papers from Japan. A number of registered participants excluding invited guests was 40 from other countries and 163 from Japan. After the technical program, the Advanced Robotics and Mechatronics symposium was held for tutorial reviews of future robotics and mechatronics, mainly focusing on ""human collaboration"" technology. More than 100 persons attended the symposium. Organized sessions included Analysis and Control of Robot Manipulators, Modeling and Control of Nonholonomic Underactuated Systems, Human Perspective Characteristics and Virtual Reality, Robotic Hand Design Grasping and Dexterous Manipulation, Healthcare Robotics, Advanced Fluid Power Control Technology, Advanced Robot Kinematics, Human Directed Robotics, Computer Support for Mechatronics System Design, Robotic Control, and Motion Control of Special Motors. Robotics was a main subject, but fluid power technology, fundamental motion control technology, and so on were also discussed. “Human collaboration” technology dealing with interaction between humans and robots attracted great attention from many participants. General sessions included Manufacturing, Vision, Micro Machine, Electric Actuator, Human-Robot Interface, Processing Technology, Fluid Actuator, Legged Locomotion, Control Strategy, Soft-Computing, Vehicle, Automation for Agriculture, Robot Force Control, Vibration, and Robot Application. Many studies have been presented over comprehensive subjects. This special issue has been organized by editing the papers presented at ICAM’98 for widely distributing the significant results of the conference. I would like to thank the authors in this special issue who have contributed their updated papers. Also, I would like to thank to Prof. Makoto Kaneko (Hiroshima University), whose work has been indispensable in organizing this special issue.
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Serebrennyj, V. V., A. A. Boshlyakov, and A. S. Yuschenko. "To the Anniversary of the Department of "Robotic Systems and Mechatronics" of the Bauman Moscow State Technical University." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 11 (November 9, 2021): 563–66. http://dx.doi.org/10.17587/mau.22.563-566.
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This year we celebrate the 70-th year of the chair founded in BMSTU in 1951 which name today is "Robotic Systems and Mechatronics". Evolution of the chair during the last 70 years is completely reflected the technical progress in the field of automation. From automatic drives to autonomous robots. Again with the improvement of the educational programs in accordance with the vital demands the chair managed to keep the basic traditions of the Russian engineering school based on the combination of the fundamental scientific background with the practical competence in the new technical systems design. The prominent scientists and engineers made a major contribution to the content and methods of training of future specialists in robotics and mechatronics which are acknowledged both in Russia and abroad. Nowadays robotics is transforming from perspective direction to urgent needs. The chair "Robotic Systems and Mechatronics" is completely ready to reply the new challenge of time.
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Asama, Hajime. "Special Issue on Distributed Robotic Systems." Journal of Robotics and Mechatronics 8, no. 5 (October 20, 1996): 395. http://dx.doi.org/10.20965/jrm.1996.p0395.
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Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T.Fukuda, T.Arai and I.Endo eds.,Distributed Autonomous Robotic Systems 2 , Springer-Verlag, Tokyo, (1996). 3) Robotics Society of Japan, Advanced Robotics 10,6, (1996). 4) T.Fukuda and T.Ueyama, Cellullar Robotics and Micro Robotic Systems,World Scientific, Singapore, (1994). 5) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,2,(1992). 6) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,3,(1992).
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Lamata, Lucas, Marco B. Quadrelli, Clarence W. de Silva, Prem Kumar, Gregory S. Kanter, Maziar Ghazinejad, and Farbod Khoshnoud. "Quantum Mechatronics." Electronics 10, no. 20 (October 12, 2021): 2483. http://dx.doi.org/10.3390/electronics10202483.
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Mechatronics systems, a macroscopic domain, aim at producing highly efficient engineering platforms, with applications in a variety of industries and situations. On the other hand, quantum technologies, a microscopic domain, are emerging as a promising avenue to speed up computations and perform more efficient sensing. Recently, these two fields have started to merge in a novel area: quantum mechatronics. In this review article, we describe some developments produced so far in this respect, including early steps into quantum robotics, macroscopic actuators via quantum effects, as well as educational initiatives in quantum mechatronics.
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Ollero, A., S. Boverie, R. Goodall, J. Sasiadek, H. Erbe, and D. Zuehlke. "Mechatronics, robotics and components for automation and control." Annual Reviews in Control 30, no. 1 (January 2006): 41–54. http://dx.doi.org/10.1016/j.arcontrol.2006.02.002.
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Zelensky, A. A., N. V. Gapon, M. M. Zhdanova, V. V. Voronin, and Y. V. Ilyukhin. "Depth Map Reconstruction Method in Control Problems for Robots and Mechatronic Systems." Mekhatronika, Avtomatizatsiya, Upravlenie 23, no. 2 (February 6, 2022): 104–12. http://dx.doi.org/10.17587/mau.23.104-112.
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In modern robotic and mechatronic systems, technologies are in demand that makes it possible to build an optimal trajectory of movement of their actuators. Such technologies are formed by combining navigation methods and building a 3-D map of the surrounding space based on vision systems and are successfully used in robotics and mechatronics. But there is a problem, consisting of a decrease in the accuracy of planning the trajectory of movement, caused by incorrect sections on the map (depth map) due to incorrect determination of the distance to objects. Such defects appear as a result of poor lighting, specular or fine-grained surfaces of objects. This leads to the impossibility of obtaining reliable information about the depth. As a result, the effect of increasing the boundaries of objects (obstacles) appears, and the overlapping of objects makes it impossible to distinguish one object from another. This problem can be solved using image reconstruction methods. The article presents an approach based on a modified algorithm for searching for similar blocks using the concept of quaternions and anisotropic gradient. The analysis of the research results shows that the proposed method allows you to correctly restore the boundaries of objects on the depth map image when reconstructing 3-D scenes, which contributes to an increase in the accuracy of planning the trajectory of motion of the actuators robotic and mechatronic systems.
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Fukuda, Toshio, Kenji Inoue, and Shoji Maruo. "Special Issue on Advances in System Cell Engineering by Multiscale Manipulation." Journal of Robotics and Mechatronics 22, no. 5 (October 20, 2010): 567. http://dx.doi.org/10.20965/jrm.2010.p0567.
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Recent advances in micro- and nano-robotics and mechatronics have led to the discovery of new bioscientific knowledge and the development of new methods of medical treatments and examinations. Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation” (Head Investigator: Toshio Fukuda), was begun in 2005 to promote interdisciplinary research among engineering, biological, and medical fields and to promote progress in these fields. System cell engineering seeks to understand communication and control principles of a single cell focusing on multiscale manipulation - manipulation ranging from nanoscale to macroscale. By controlling the local environment around a single cell, we actively induce chemical and physical interaction inside and outside the cell and measure changes. We then clarify the mechanism behind the cell system, realize an artificial cell model based on gene expression control, and regenerate tissue by function control. Using innovative engineering, we obtain new scientific knowledge on life sciences and develop medical engineering, ultimately contributing to the good of society. Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation,” was successfully concluded in March 2010. This special issue presents the latest achievements in system cell engineering and multiscale manipulation, following up on the special issue on System Cell Engineering by Multiscale Manipulation in Journal of Robotics and Mechatronics Vol.19, No.5 (October 20, 2007). Two reviews introduce challengingwork in themedical and biological fields, presenting suggestions to robotics and mechatronics engineers. Three papers develop microfluidic devices and embedded sensors. Three more papers present methods of fabricating micropatterns and microstructures using biological cells. Five papers propose novel actuators, tools, devices, and manipulation systems useful in bioscience and cell engineering. The second to the last paper in the series presents a method for micro teleoperation. The final paper discusses the simulation of self-reproduction of cells. We thank the authors for their invaluable contributions to this issue and the reviewers for their precious time and effort. We also thank the Editorial Board of JRM for making this issue possible.
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Cuevas, Erik, Daniel Zaldivar, and Marco Pérez-Cisneros. "Low-Cost Commercial Lego™ Platform for Mobile Robotics." International Journal of Electrical Engineering & Education 47, no. 2 (April 2010): 132–50. http://dx.doi.org/10.7227/ijeee.47.2.4.
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This paper shows the potential of a Lego™-based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall set-up aims to explain mobile robotic issues, including mechatronics, robotics and automatic control theory. The capabilities and limitations of Lego robots are studied within two experiments: the first shows how to eliminate a number of restrictions in Lego robots using some programming alternatives; the second addresses the complex problem of multi-position control. Algorithms and their additional tools have been fully designed, applied and documented, and the results are shown throughout the paper. The platform was found to be suitable for teaching and researching key issues related to the aforementioned fields.
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Tanaka, Takayuki. "Mini Special Issue on Human Sensing, Modeling, and Augmentation." Journal of Robotics and Mechatronics 30, no. 5 (October 20, 2018): 695. http://dx.doi.org/10.20965/jrm.2018.p0695.
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Human work and life support are areas that provide practical applications for robotics and mechatronics technology. There is great expectation from the industry in these fields, and research and development efforts have been actively undertaken with great social impact. To support human work and life accurately, we must understand the complicated sensory, nervous, and motor control systems that enable design and development of appropriate assistive devices. Therefore, in this mini special issue, we focus on robotics and mechatronics for human sensing, modeling, and augmentation. The editor hopes that this special issue will attract researchers’ interest and contribute to further developments in this field.
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Angelescu, Dorin, and Gheorghe Ion Gheorghe. "Intelligent Platform with BLDC Drives and Microsystems for Mechatronic Applications in Security and Surveillance." Scientific Bulletin of Valahia University - Materials and Mechanics 16, no. 15 (October 1, 2018): 25–29. http://dx.doi.org/10.1515/bsmm-2018-0015.
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Abstract Result of the Scientific Concerns from the Doctoral School of Mechanical Engineering and Mechatronics of the Valahia Târgovişte University and the research project of INCDMTM “INTEGRATED MECHATRONIC SYSTEM FOR HUMAN SECURITY INSURANCE FOR THE SAFETY OF OBJECTIVES AND INTERVENTIONS IN RISK - MISO ZONES” (project ID: PED-2016-0924, code PN-III-P2-2.1-PED-2016-0707) in the field of robotics, the scientific work “Intelligent Platform with BLDC Drives and Microsystems for Mechatronic Applications in Security and Surveillance “ is the completion of the experimental testing of controlling the movement of a security and surveillance robot, as part of the Ph.D. industrial thesis “Studies, research and contributions on the development of a smart mecatronic robot for security and surveillance applications”. The scientific work ultimately results in an intelligent, original platform that will be used to control the movement of the robot. The platform allows communication between the latest generation BLDC engine (embedded in the drive wheel) and it’s controller and a computerized microsystem that will handle the displacement controls and will also provide the link with the human operator through any remote guidance system that is used. Although designed for an intelligent security and surveillance mechatronic robot, this platform is proven to be extensively versatile for any other type of robot or mobile platform that uses BLDC wheel-drive engines. The project harmoniously combines Mechatronics, Cyber-MixMeatronic, Integronics and Artificial Intelligence into an Intelligent Interoperable Construction.
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Flor, Omar, Mauricio Fuentes, and Carlos Toapanta. "Criteria for the design of an educational robotics platform." Athenea 1, no. 1 (September 26, 2020): 29–40. http://dx.doi.org/10.47460/athenea.v1i1.4.
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This document explains the criteria, considerations and formulations used for the design of the main components of a mobile platform with a robotic arm. This type of robot is one of the most used in the educational field, it facilitates learning and allows the incorporation of control strategies for navigation. Aspects of resistance of materials useful for branches of engineering that lack bases on mechanics are raised.
Keywords: Design; robot; platform; educational.
References
[1]O. Flor, W. Hernandez, O. Vargas, A. Mendez, O. Sergiyenko and V. Tyrsa, "Construction of a Robotic Platform of Differential Type for First-Year Students of Electronic Engineering", International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Sorrento, Italy, 2020, pp. 538-543, doi: 10.1109/SPEEDAM48782.2020.9161870.
[2]O. Flor, “Building a mobile robot”, Education for the future, 2020 [Online] Available: https://omarflor2014. wixsite.com/misitio. [Last Access: February 10, 2020].
[3]A. Ollero, “ROBÓTICA: Manipuladores y robots móviles, Marcombo Boixareu Editores, 2001, Chapters 1-2 (pp. 1-37), Chapter 4 (pp. 85-87), Chapter 9 (pp. 258-267), and Chapter 10 (pp. 303-327).
[4]K. Pitti, L. Muñoz, I. Moreno, J. Serracín, “La robótica educativa, una herramienta para la enseñanza-aprendizaje de las ciencias y tecnologías”, Researchgate, pp. 74-90, 2012.
[5]E. Ruiz, R. Acuña, N. Certad, A. Terrones and M. E. Cabrera, "Development of a Control Platform for the Mobile Robot Roomba Using ROS and a Kinect Sensor", 2013 Latin American Robotics Symposium and Competition, Arequipa, 2013, pp. 55-60. doi: 10.1109/LARS.2013.57J.
[6]J. Wu, C. Lv, L. Zhao, R. Li and G. Wang, "Design and implementation of an omnidirectional mobile robot platform with unified I/O interfaces," 2017 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, 2017, pp. 410-415. doi: 10.1109/ICMA.2017.8015852.
[7]M. Ali, W. Yusoff, Z. Hamedon, M. Yussof and M. Mailah, Mechatronic design and development of an autonomous mobile robotics system for road marks painting, IEEE Industrial Electronics and Applications Conference, 2016, pp. 336-341, doi: 10.1109/IEACON.2016.8067401.
[8]H. Guo , K. Su , K. Hsia , and J. Wang , Development of the mobile robot with a robot arm, Proceedings IEEE International Conference on Industrial Technology (ICIT), Taipei, Taiwan, 2016, pp. 1648-1653.
[9]R. A. Orozco-Velázquez et al., Ackerman Mobile Robot with Arm,International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), Cuernavaca, 2016, pp. 55-60, doi: 10.1109/ICMEAE. 2016.019.
[10]A. Razak et al., Mobile robot structure design, modeling and simulation for confined space application, 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA), 2016 Ipoh, 2016, pp. 1-5. doi: 10.1109/ROMA.2016.7847808.
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Fujita, Toyomi, Takayuki Tanaka, Satoru Takahashi, Hidenori Takauji, and Shun’ichi Kaneko. "Special Issue on Vision and Motion Control." Journal of Robotics and Mechatronics 27, no. 2 (April 20, 2015): 121. http://dx.doi.org/10.20965/jrm.2015.p0121.
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Robot vision is an important robotics and mechatronics technology for realizing intelligent robot systems that work in the real world. Recent improvements in computer processing are enabling environment to be recognized and robot to be controlled based on dynamic high-speed, highly accurate image information. In industrial application, target objects are detected much more robustly and reliably through high-speed processing. In intelligent systems applications, security systems that detect human beings have recently been applied positively in computer vision. Another attractive application is recognizing actions and gestures by detecting human – an application that would enable human beings and robots to interact and cooperate more smoothly when robots observe and assist human partners. This key technology could be used for aiding the elderly and handicapped in practical environments such as hospital, home, and so on. This special issue covers topics on robot vision and motion control including dynamic image processing. These articles are certain to be both informative and interesting to robotics and mechatronics researchers. We thank the authors for submitting their work and for assisting during the review process. We also thank the reviewers for their dedicated time and effort.
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Liao, Yuan Jiang, Ming Li, and Chang Kai Xu. "The Design of Two-Wheel Mobile Platform Using Digital DC Servo Motor Based on CompactRIO." Advanced Materials Research 181-182 (January 2011): 92–98. http://dx.doi.org/10.4028/www.scientific.net/amr.181-182.92.
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This paper describes some main design methods of the mechatronics system and control system of the self-balancing two-wheel mobile platform based on a CompactRIO embedded controller, two digital DC servo motors with two odometry encoders, etc. We use mechatronics-oriented virtual prototyping tools to design the mechatronics system using SolidWorks and LabVIEW. And we use fuzzy controller to control this mobile platform. Through several experiments of self-balancing, linear running, it was confirmed that the mobile platform could realize stable mobile motion in a flat surface environment by the fuzzy controller. Using these methods, we have designed a two-wheel mobile platform to keep itself balancing in order to carry something from someplace to another in the future. The two-wheel mobile platform has been manufactured successfully by CIMS & Robotics Center of Shanghai University. The self-balancing control software and the other software have been developed.
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Morishita, Takeshi. "Creating Attraction for Technical Education Material and its Educational Benefit (Development of Robotic Education Material Characterized by 3D CAD/CAM and Compact Stereo Vision)." Journal of Robotics and Mechatronics 23, no. 5 (October 20, 2011): 665–75. http://dx.doi.org/10.20965/jrm.2011.p0665.
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This paper describes an attractive technical education program and material for engineering students that consists of 3D CAD/CAM technology, CAD/CAM circuit board manufacture, an image information processing system, stereo vision technology and control experiments involving a simple and compact robot equipped with a stereo vision system. In addition, this material, which incorporates 3D attraction, can provide an interesting experience in constructing robot mechatronics and programming for students. Results show that this technical education program can have an excellent effect in enabling students to acquire both hardware and software technology and to obtain control experience with actual robots. Finally, these results indicate that this education program is effective with technical students seeking to learn about system technology including robotics and mechatronics technology
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Gutiérrez, Ricardo Enrique, João Maurício Rosário, and José Tenreiro Machado. "Fractional Order Calculus: Basic Concepts and Engineering Applications." Mathematical Problems in Engineering 2010 (2010): 1–19. http://dx.doi.org/10.1155/2010/375858.
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The fractional order calculus (FOC) is as old as the integer one although up to recently its application was exclusively in mathematics. Many real systems are better described with FOC differential equations as it is a well-suited tool to analyze problems of fractal dimension, with long-term “memory” and chaotic behavior. Those characteristics have attracted the engineers' interest in the latter years, and now it is a tool used in almost every area of science. This paper introduces the fundamentals of the FOC and some applications in systems' identification, control, mechatronics, and robotics, where it is a promissory research field.
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Blinov, A. O., A. V. Borisov, L. V. Konchina, and K. S. Maslova. "Model of the supporting leg of an anthropomorphous robot or exoskeleton with two movable links taking into account the dynamics of the electric drive. Power engineering: research, equipment, technology." Power engineering: research, equipment, technology 24, no. 2 (June 13, 2022): 147–59. http://dx.doi.org/10.30724/1998-9903-2022-24-2-147-159.
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Currently, the direction associated with the development of exoskeletons and anthropomorphic robots is experiencing rapid growth due to the increase in the computing power of microprocessors and the breakthrough development of the theory of control of complex systems, including electromechanical systems that simulate the biomechanics of the human musculoskeletal system. This paper presents a controlled mechatronic robotic model of the support leg of an anthropomorphic robot or exoskeleton with two moving links.GOAL. Mathematical modeling of the dynamics of the supporting leg of an exoskeleton or an anthropomorphic mechanism in the form of two moving links.METHODS. The main difference between the model presented in this study and those created earlier is the use of angles counted between links corresponding to the case of real operation of electric drives. To achieve the goal of the work, the methods of robotics, mathematical modeling, mechatronics, theoretical mechanics, the study of systems of ordinary differential equations, control theory, empirical data for the human musculoskeletal system were applied.RESULTS. For the model of the mechanism, a system of Lagrange equations of the second kind is written, direct and inverse problems of dynamics are solved for a given program control of the motion of a mechatronic robotic system. The results are presented graphically and as an animated visualization of the movement of the links. Calculations were carried out both without taking into account the dynamics of electric drives, and taking into account the rotation of the rotors of electric motors. It has been established that the influence of the dynamics of the rotor of the electric motor on the mechanism is significant.CONCLUSION. The developed methods for setting the program movement of the supporting leg of an exoskeleton or an anthropomorphic robot made it possible to solve direct and inverse problems of dynamics and establish the need to take into account the rotating rotor of an electric motor.
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Fukuda, Toshio, and Kenji Inoue. "Special Issue on System Cell Engineering by Multiscale Manipulation." Journal of Robotics and Mechatronics 19, no. 5 (October 20, 2007): 499. http://dx.doi.org/10.20965/jrm.2007.p0499.
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Recent advancements in micro/nano robotics and mechatronics technology have contributed to the discovery of new scientific knowledge in bioscience and the development of new treatments and examinations in medical fields. To promote interdisciplinary research among the engineering, biological, and medical fields and to promote further progress in these fields, Scientific Research on Priority Areas, ""System Cell Engineering by Multiscale Manipulation (Head Investigator: Toshio Fukuda),"" was begun in 2005. In this research area, we study system cell engineering seeking an understanding of communication and control principles of bare and integration functions of cells. We focus on manipulation technology for work from nano- to macro-scale, i.e., multiscale manipulation. By controlling the local environment around a single cell, we actively induce chemical and physical interaction inside and outside the cell and measure changes. We then work to clarify the mechanism behind the cell system and to realize an artificial cell model based on gene expression control and regenerate tissue by function control. Using innovative engineering technology, we obtain new scientific knowledge in the life sciences and develop medical engineering, ultimately contributing to the good of society. This special issue presents 2 reviews and 13 papers on the latest achievements in this research area. The reviews introduce challenging work in medical and biological fields, presenting suggestions on robotics and mechatronics engineers. Eight of the papers propose novel sensors, actuators, and other devices useful in bioscience and cell engineering. Two papers present methods of manipulating micro/nano-scale objects based on laser manipulation, and 2 concern the teleoperations of micro-hands and micro-manipulators for micromanipulation. The final paper discusses the interaction between living neuronal networks and the outer world. We thank the authors for their invaluable contributions to this issue and the reviewers for their precious time and effort. We also thank the Editorial Board of JRM for making this issue possible.
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Esashi, Masayoshi, Shuji Tanaka, Seiji Aoyagi, Takashi Mineta, Koichi Suzumori, Tetsuji Dohi, and Norihisa Miki. "Special Issue on MEMS for Robotics and Mechatronics." Journal of Robotics and Mechatronics 32, no. 2 (April 20, 2020): 279–80. http://dx.doi.org/10.20965/jrm.2020.p0279.
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MEMS (Micro Electro Mechanical Systems) is a technology that is used to incorporate sensors, actuators, microstructures, and circuits on chips by using a combination of various technologies with semiconductor process. MEMS are also used in robotics and mechatronics since they can provide compact, low-cost functional components that play crucial roles in their respective systems. We would like to elaborate on the history of MEMS technology, whose initial development started around 1970. In 1960s, Dr. Isemi Igarashi of Toyota Central R&D Labs., Inc. in Japan developed a semiconductor pressure sensor of piezo-resistance type. In 1980s, the pressure sensors were used to control automobile engines to clear exhaust gas regulations and thus contributed to solving environmental issues. In 1990s, semiconductor acceleration sensors were used for passive safety technologies to detect collision of automobiles and activate air bags, which resulted in decrease in traffic fatalities. In 2000s, an active safety system with gyro sensors was developed to detect and control spinning of a vehicle. In future, space recognition sensors with optical scanners to measure light propagation time and detect distance to an object will be used for autonomous driving. For smartphones, a microphone, an acceleration sensor, and a gyro sensor are used in user interface, and a film bulk acoustic wave resonator (FBAR) is used in a wireless communication filter. For projectors, the built-in circuit of a mirror array system is used to move mirrors placed in an array. After the development of projectors, films have not been used in movie theaters. MEMS are also widely used in medical and biological fields, such as blood pressure measurement. Esashi began research on a semiconductor ion sensor ISFET (ion sensitive field effect transistor) in 1971. ISFET detects ion concentration in electrolyte by exposing the insulating film of an insulated gate transistor to the liquid. He set up a prototyping facility when he was a graduate student and wrote only one paper on this research, although the prototyping facility was used afterwards. The ion sensor was certified under the Pharmaceutical Affairs Law after a 12-year application process and was used as catheter-type pH sensor to diagnose reflux esophagitis. MEMS are widely used for minimally invasive medical treatment, which causes minimum damage to human body. Moreover, MEMS are used as disposable sensors to prevent infection or as implanted devices. In addition, MEMS are used for production inspection and scientific instrument, including scanning probe microscopes (SPMs), which observe atoms using extremely small nano-probes, and probe cards that simultaneously test several integrated circuits on a wafer using aligned probes. When he was an associate professor, Esashi improved the prototyping facility that he made when he was a student and made a large scale integrated circuit (LSI). After he became a professor, he accepted researchers from more than 130 companies and developed MEMS using the prototyping facility to develop a product through the academia-industry collaboration. He realized integrated MEMS by combining LSI and MEMS. This includes a system of many tactile sensors attached on the body surface of a safe robot for real-time detection of contact through packet communication. After he retired from the university, he developed a “prototype coin laundry,” which enables companies to do develop without having their own prototyping facility. The prototype coin laundry is a system where engineers can use the prototyping facility to develop devices, and the system has been managed by successors. Unlike integrated circuits for which standardization is easy, standardization of MEMS is challenging because of difficulty in development. It is necessary to access various knowledge for the development of MEMS, and he has made efforts to provide the knowledge. Finally, we would like to thank authors who submitted papers to this Special Issue on MEMS for Robotics and Mechatronics as well as those who were involved in editing and reviewing the papers. We sincerely hope for further development in this field of research.
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Angelescu, Dorin, and Gheorghe Ion Gheorghe. "Intelligent Cyber-Mixmechatronic Micro-System for Monitoring and Controlling the Security and Surveillance Robots." Scientific Bulletin of Valahia University - Materials and Mechanics 16, no. 14 (April 1, 2018): 52–59. http://dx.doi.org/10.1515/bsmm-2018-0008.
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Abstract As a result of the scientific concerns of the Doctoral School of Mechanical Engineering and Mechatronics at Valahia Târgovişte University in the field of robotics dedicated to security and surveillance, the scientific work "Intelligent Cyber- Mixmechatronic Micro-System for Monitoring and Controlling the Security and Surveillance Robots" is in the testing and experimentation phase, within the doctoral (industrial) thesis "Studies, research and contributions regarding the realization of a smart mecatronic robot for security and surveillance applications". The scientific work results in a highly efficient cybermixmecatronic system, unique in Romania, which will be used to control the mechatronic security and surveillance robot, respectively the propulsion and control of its displacement. The robot is controlled through Artificial Intelligence, using the Internet of Things (IoT), which is why the Intelligent Motion Control system must be optimized both in terms of response speeds and energy. At the same time, due to the varied and possibly unstable conditions of the displacement field, the system must meet stringent criteria of reliability, resilience, weather, stability and redundant solutions for on-site repair of potential failures during missions. The cybermixmecatronic system designed to move the robot must carry it safely at the mission site so that it can then return it back to the Command and Control Center. In the paper will be presented the original solution, applicable with minimum of specific modifications (according to the chassis used), to any type of robot requiring both operator-controlled or autoguid control. Thus, a complex project will be realized combining into a unitary Mechatronics, Integronics, Cyber-Mixmechatronics, Artificial Intelligence and Information Technology.
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Ammar, Randa, Moncef Hammadi, Jean-Yves Choley, Maher Barkallah, Jamel Louati, and Mohamed Haddar. "Narrowing the set of complex systems’ possible design solutions derived from the set-based concurrent engineering approach." Concurrent Engineering 27, no. 3 (June 28, 2019): 233–48. http://dx.doi.org/10.1177/1063293x19855115.
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Nowadays, complex systems are dominating our contemporary as well as professional lives. These modern technical products are considered as mechatronic systems which incorporate mechanics with electronics, software, and control in various domains mainly transport, medicine, and robotics. The development of these modern technical products is thus so tough. Hence, mechatronics’ critical challenges are to be not only well understood but also supported by practical models and tools in order to overcome this difficulty. Moreover, using the traditional design method which is point based is inefficient as it leads to a huge decrease in the innovation potential through limiting the design space to few solutions, an important increase in the cost of the product as well as production delay due to the great number of iterations. Some product development practices have shifted from using the “fixed-point design” approach to the “set-based design” one. Indeed, the set-based concurrent engineering widely considers a set of possible solutions and then shrinks the number of possibilities in order to converge toward a final solution. Yet, since this approach is too difficult to be put into action, a small number of industries in the field of mechatronics use the set-based concurrent engineering concept. Accordingly, this work aims to develop a novel method for the purpose of facilitating the development of a complex product based on the set-based concurrent engineering method and its implementation in an industrial setting by developing an algorithm to find the set of possible solutions to the design problem and narrow this set to merge toward the final solution. Finally, this algorithm is implemented using “Python” language.
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Ottaviano, Erika, and Marco Ceccarelli. "Optimal design of CaPaMan (Cassino Parallel Manipulator) with a specified orientation workspace." Robotica 20, no. 2 (March 2002): 159–66. http://dx.doi.org/10.1017/s026357470100385x.
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CaPaMan (Cassino Parallel Manipulator) is a 3-Degree Of Freedom spatial parallel manipulator that has been designed at the Laboratory of Robotics and Mechatronics, in Cassino. In this paper we present a formulation for an optimum design for CaPaMan architecture when the orientation workspace is suitably specified.
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Kawaji, Shigeyasu, and Junji Oaki. "Special Issue on Motion Control and its Applications in Robot Technology (RT)." Journal of Robotics and Mechatronics 16, no. 4 (August 20, 2004): 345. http://dx.doi.org/10.20965/jrm.2004.p0345.
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Robot Technology (RT) now surpasses information technology (IT) in strategic importance. With robot applications leading to expansion beyond manufacturing into the bioindustrial, medical/welfare, and lifesciences fields, conversion from an industrial to a solutions business is critical. This requires that we define new robot concepts that push the envelope beyond conventional consideration into intellectualization that functions throughout the real world through robotic technologies. This further emphasizes the importance of motion control as a major robotic innovation. Advances in high-function hardware, flexible information processing, and real-time image processing are expected to launch new trends in addition to the above. This special issue presents papers and technical reports featuring a wide academic and industrial repertoire. Topics cover aspects of motion viewed through RT. We thank Prof. Kazuhiro Kosuge of Tohoku University, the contributors, and the reviewers who made this special issue possible. Thanks also go the editor-in-chief of the Journal of Robotics and Mechatronics, Prof. Makoto Kaneko of Hiroshima University, who provided the opportunity for editing this special issue.
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Tada, Eisuke. "Special Issue on Robotics and Mechatronics for Fusion Experimental Reactor (ITER)." Journal of Robotics and Mechatronics 10, no. 2 (April 20, 1998): 69–70. http://dx.doi.org/10.20965/jrm.1998.p0069.
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Engineering design activities (EDA) demonstrating the science and technology for the International Thermonuclear Experimental Reactor (ITER), are being conducted based on the four-party international collaboration of Japan (JA), the U.S.A (US), Europe (EU), and Russia (RF). EDA basically concerns engineering design required for ITER construction and technical development confirming design feasibility. In engineering R&D design, the central role is being played by an International Joint Design Team (JCT) consisting of scientists and engineers from the four parties, conducting work on detailed component design, buildings and plant facilities design, safety analysis and evaluation, and comprehensive overall system design. In engineering R&D, whose final objective is to demonstrate engineering technology necessary for ITER construction, a wide variety of technical development ranging from data acquisition on material characteristics to verification of system performance is being conducted through equal participation of the four parties. Because of the importance of principal ITER components, such as superconducting coils, vacuum vessel, in-vessel components such as diverters and blankets, and remote maintenance equipment, a large-scale project has been set up for manufacturing prototypes, including full-scale models, and for demonstrating performance. In-vessel components such as blankets and divertors are exposed radioactivity of 14 MeV neutrons due to DT operation, and therefore must be maintained or replaced remotely. Plansbased on stage-by-stage ITER operation call for shielding blankets to be replaced by blankets for breeding tritium. Diverters require scheduled maintenance and replacement because they are subjected to severe plasma heat and particle loads. For in-vessel components that undergo scheduled maintenance, remote maintenance is an important technical issue that may affect the performance of ITER, so component structures and layout consistent with remote handling receive top priority and will be subjected to remote maintenance demonstration-testing of using full-scale models. Remote ITER maintenance focuses on technologies involving radiation-hard devices designed for a gamma radiation environment, remote operation and metrology and control for precisely handling heavy in-vessel payloads, and welding and cutting and inspection in narrow confines. Thus, use must be made of robot technologies in Japan and a design concept conceived that meets unique ITER needs. Because device handling precision, the working environment, and other factors surpass conventional technical levels, technical data on large-scale tokamaks, experience in handling heavy payloads in industry, and nuclear field environmental resistance must be studied and system development, including technical demonstrations, conducted on a full engineering scale. This is the backer of ITER device design and development. Good prospects exist for developing a large number of remote maintenance equipment satisfying ITER specifications through the development of a new remote maintenance concept that calls for the handling of heavy payloads with high precision, the acquisition of technical data confirming concept feasibility, the development of components having 2 to 3 times higher resistance to radiation than anything available previously, and the development of remote maintenance based tools that cut, weld, and inspect in narrow confines. In final development, steady progress is being made in fabricating, testing, and demonstrating full-scale remote maintenance. This Special Issue summarizes these achievements and provides an overview of the remote maintenance design on in-vessel components, introducing current status and plans on remote maintenance technology in which the Japan Home Teams is engaged in. Topics covered include the following: 1. Remote Maintenance Development for ITER 2. Blanket Remote Maintenance Development 3. Diverter Remote Maintenance Development 4. In-Vessel Metrology and Viewing Development 5. Pipe Welding and Cutting Tool Development 6. Pipe Inspection Tool Development 7. Thick-Plate Welding and Cutting Tool Development 8. Radiation-Hard Component Development 9. Standard Component Development 10. Data Acquisition and Control
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Pransky, Joanne. "The Pransky interview: Dr Jun Ho Oh, Professor and Director of Humanoid Robot Research Center, KAIST; Cofounder, Rainbow Robotics Co." Industrial Robot: An International Journal 44, no. 6 (October 16, 2017): 695–99. http://dx.doi.org/10.1108/ir-08-2017-0141.
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Purpose The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned-entrepreneur regarding the commercialization and challenges of bringing a technological invention to market. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Jun Ho Oh, Professor of Mechanical Engineering at the Korea Advanced Institute of Science and Technology (KAIST) and Director of KAIST’s Hubolab. Determined to build a humanoid robot in the early 2000s to compete with Japan’s humanoids, Dr Oh and KAIST created the KHR1. This research led to seven more advanced versions of a biped humanoid robot and the founding of the Robot for Artificial Intelligence and Boundless Walking (Rainbow) Co., a professional technological mechatronics company. In this interview, Dr Oh shares the history and success of Korea’s humanoid robot research. Findings Dr Oh received his BSc in 1977 and MSc in Mechanical Engineering in 1979 from Yonsei University. Oh worked as a Researcher for the Korea Atomic Energy Research Institute before receiving his PhD from the University of California (UC) Berkeley in mechanical engineering in 1985. After his PhD, Oh remained at UC Berkeley to do Postdoctoral research. Since 1985, Oh has been a Professor of Mechanical Engineering at KAIST. He was a Visiting Professor from 1996 to 1997 at the University of Texas Austin. Oh served as the Vice President of KAIST from 2013-2014. In addition to teaching, Oh applied his expertise in robotics, mechatronics, automatic and real-time control to the commercial development of a series of humanoid robots. Originality/value Highly self-motivated and always determined, Dr Oh’s initial dream of building the first Korean humanoid bipedal robot has led him to become one of the world leaders of humanoid robots. He has contributed widely to the field over the nearly past two decades with the development of five versions of the HUBO robot. Oh led Team KAIST to win the 2015 DARPA Robotics Challenge (DRC) and a grand prize of US$2m with its humanoid robot DRC-HUBO+, beating 23 teams from six countries. Oh serves as a robotics policy consultant for the Korean Ministry of Commerce Industry and Energy. He was awarded the 2016 Changjo Medal for Science and Technology, the 2016 Ho-Am Prize for engineering, and the 2010 KAIST Distinguished Professor award. He is a member of the Korea Academy of Science and Technology.
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Yuschenko, A. S., and Yin Shuai. "Dialogue Control of Collaborative Robots Based on Artifi cial Neural Networks." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 11 (November 9, 2021): 567–76. http://dx.doi.org/10.17587/mau.22.567-576.
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Collaborative robotics progress is based on the possibility to apply robots to the wide range activity of peoples. Now the user can control the robot without any special knowledge in robotics and safe. The price of such possibilities is complication of control system of robot which now has to aquire an opportunity of autonomous behavior under human’s control, using the necessary sensors and elements of artificial intelligence. In our research we suppose the collaborative robot as mobile robotic device possible to fulfil some work under the human’s speech demands not only in the same space with the human. We also suppose the necessity of bilateral dialogue human-robot to make it clear the task, the current situation, the state as robot as human. The complex task of control, or may be the collaboration of human with his artificial partner need new means of control, situation recognition, speech dialogue management. As a mean to solve the whole complex of problems we propose the combination of different artificial neural networks. Such as convolution networks for image recognition, deep networks for speech recognition, LSTM networks for autonomous movement of robot control in current situation. Investigations in the field of mobile and manipulation robots including the human-robot control have been proceeded for some years in the department "Robotic systems and mechatronics" BMSTU celebrating now it 70th years Jubilee. The reader may find some of the works in the bibliography. In result of all these investigations we obtain the service robot model which may find a wide application.
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Chouinard, Patrick, and Jean-Sébastien Plante. "Bistable Antagonistic Dielectric Elastomer Actuators for Binary Robotics and Mechatronics." IEEE/ASME Transactions on Mechatronics 17, no. 5 (October 2012): 857–65. http://dx.doi.org/10.1109/tmech.2011.2135862.
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Sano, Akihito. "Special Issue on New Actuators." Journal of Robotics and Mechatronics 7, no. 6 (December 20, 1995): 421. http://dx.doi.org/10.20965/jrm.1995.p0421.
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The field of robotics and mechatronics can benefit greatly from the development of its peripheral elements. At the time when the author began studies on legged locomotion robots in 1984, many researchers in the fields of mechanical engineering, control engineering, and electrical engineering became interested in this subject, and it was becoming possible to carry out not only the theoretical discussions on the basis of simulations but also the experimental discussions using actual machines. This is because, at that time, computers were rapidly increasing their performance and were becoming relatively inexpensive so that they were being introduced into work even at research laboratories of universities. Needless to say, without such development of computer technology, the advances not only in the legged locomotion robots but also in a number of mechatronic devices would have been hampered. For us who have gotten hold of high-performance computers, one of the present overriding issues is an appearance of new high-performance actuators. Almost every legged locomotion robot uses either an electric motor or a hydraulic actuator. However, its energy sources are placed outside the robot, and these actuators themselves have not really been miniaturized to any remarkable extent up to now. Computer control is indispensable for mechatronic devices that are equipped with actuators. At present, various control theories are being proposed in an effort to raise control performance by compensating restrictions on hardware (such as power-weight ratio, responsiveness, nonlinearity, etc.) as many as possible. It is necessary to continue such control-theoretic discussions in the future as well. On the other hand, however, rapid progress in hardware involving actuators and sensors may have a possibility of raising such performance drastically all at once. In the future, it is hoped that researchers are not well versed in the robotics or mechatronics may participate to develop the actuators based on new principles. The fact that an electro-rheological fluid may be used as actuators is attracting attention, for example. In actually developing devices incorporating with the electro-rheological fluid, various experimental data must be fed back skillfully to the chemists as developers of the fluids. In other words, the cooperation of both sides is extremely important. The author feels through his own studies the importance of developing high-performance actuators. In addition, since the debugging (improvement) of hardware (actuators) takes a longer time than the debugging of software, a patient and steady R&D is considered necessary. In this special issue, Prof. Takamori (Kobe University) was requested to provide a general overview as an expert engaged in studies of the actuators over a long period of time; he presented an explanation on what are new, hopeful actuators and also on the latest achievements that are considered promising in the future, now that the 21st century is so close. Other researchers were kind enough to introduce their very creative and advanced studies as well.
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Fukuda, Prof Toshio, and Dr Mitsuo Wada. "Special Issue on Self-Organization System." Journal of Robotics and Mechatronics 4, no. 2 (April 20, 1992): 95. http://dx.doi.org/10.20965/jrm.1992.p0095.
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This special issue was planned a year ago by Prof. T. Fukuda and Dr. M. Wada to promote the research works in new robotics and mechatronics fields from the perspective of systems theory and engineering. There have been several leading works in Japan, most of which were published in Japanese. Thus this special issue is aimed at making these works available to the world. Self-organizing systems were once studied in late 1960s and early 1970s by many scientists, who were inspired by the research work, ""Cybernetics"" and ""Perceptron"" (later Neural Networks). However, because of the lack of computational capabilities, those works provided less useful theories and results, and they left obstacles for actual implementation. Today's computational power realizes a new dimension to solve those problems through the advanced technologies and to provide new system concept and architecture based on the ""distributed autonomy"". The ""massive parallel and massive distributed system"" concept, which is made possible by today's technologies, is one of the good examples from the perspective of the computer information, advanced communication, and software technologies. These concepts are creating great incentives to the ""New Self-Organizing System"" in the modern robotic and mechatronics technologies. In this issue, the authors first discuss the relationship between the multiple robot system and the human society from the perspective of the selfevolving system of robotics in the light of information science and sociology. Then, many applications will be described in which the self-organizing system is applied to the system coordination and cooperation of the multiple robot system from the perspectives of sensing, neuro-fuzzy control, system architecture, mobile robots, intelligent communication, multiple manipulator control, and microtechnologies. Because there are many potential application fields for these concepts, including the power supply network and plant control system, we expect that through this special issue there will be more active discussions concerning these topics around the world and that there will be more growing contributions to this field.
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Zaitceva, Iuliia, and Boris Andrievsky. "Methods of Intelligent Control in Mechatronics and Robotic Engineering: A Survey." Electronics 11, no. 15 (August 5, 2022): 2443. http://dx.doi.org/10.3390/electronics11152443.
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Artificial intelligence is becoming an increasingly popular tool in more and more areas of technology. New challenges in control systems design and application are related to increased productivity, control flexibility, and processing of big data. Some kinds of systems require autonomy in real-time decision-making, while the other ones may serve as an essential factor in human-robot interaction and human influences on system performance. Naturally, the complex tasks of controlling technical systems require new modern solutions, but there remains an inextricable link between control theory and artificial intelligence. The first part of the present survey is devoted to the main intelligent control methods in technical systems. Among them, modern methods of adaptive and optimal control, fuzzy logic, and machine learning are considered. In its second part, the crucial achievements in intelligent control applications in robotic and mechatronic systems over the past decade are considered. The references are structured according to the type of such common control problems as stabilization, controller tuning, identification, parametric optimization, iterative learning, and prediction. In the conclusion, the main problems and tendencies toward intelligent control methods improvement are outlined.
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Pransky, Joanne. "The Pransky interview: Dr Aaron Edsinger, CEO and cofounder at Hello Robot Inc." Industrial Robot: An International Journal 45, no. 6 (October 15, 2018): 710–14. http://dx.doi.org/10.1108/ir-09-2018-0186.
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Purpose The purpose of this paper is to present a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned entrepreneur regarding the evolution, commercialization and challenges of bringing a technological invention to market. Design/methodology/approach The interviewee is Dr Aaron Edsinger, a proven entrepreneur and inventor in the field of human-collaborative robotics. Dr Edsinger shares his journey that led him from developing humanoids at Rodney Brooks’ Computer Science and Artificial Intelligence Laboratory at MIT, to cofounding four companies, two of which got purchased by Google. Findings Dr Edsinger received a BS degree in Computer Systems Engineering from Stanford, an MS in Computer Science from the Massachusetts Institute of Technology (MIT) and a PhD in Computer Science from MIT and did post-doctorate research in the Humanoid Robotics Group at the MIT Computer Science and Artificial Intelligence Lab. He co-founded his first company Meka Robotics in 2007 and that same year, he started his second company, HStar Technologies. In 2011, he cofounded Redwood Robotics, and in 2013, he sold Meka and Redwood to Google. From 2013 to 2017, he was a Robotics Director at Google. In August of 2017, he cofounded Hello Robot Inc. Originality/value Dr Edsinger’s work in robotics grew out of the San Francisco robotic art scene in the 1990s. Since then, he has collaborated and built over a dozen research and artistic robot platforms and has been granted 28 patents. His world-class robotic systems encompass Dr Edsinger’s innovative research in dexterous manipulation in unstructured environments, force controlled compliant actuation, human safe robotics, integrated mechatronic engineering and the design of humanoid robots. Domo, the humanoid robot he built, was named one of Time magazine’s Best Inventions of the Year for 2007. Out of the eight robot companies Google purchased in 2013, two were cofounded by Dr Edsinger. In 2017, Dr Edsinger left Google to cofound his new company, Hello Robot Inc, a stealth mode consumer robot company.
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NAGASHIMA, Akira, Arisa OSANAI, Yasutaka ITO, and Tadashi EGAMI. "2P1-N06 Attitude Control for Experimental Space Elevator Climber Using Gyroscopic Effect(Space Engineering and Robotics and Mechatronics)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _2P1—N06_1—_2P1—N06_4. http://dx.doi.org/10.1299/jsmermd.2013._2p1-n06_1.
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Tsugawa, Sadayuki. "Special Issue on Fundamental Technologies for ITS." Journal of Robotics and Mechatronics 13, no. 4 (August 20, 2001): 339. http://dx.doi.org/10.20965/jrm.2001.p0339.
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Intelligent transport systems (ITS), a combination of IT(Information Technology) and TS (Transport Systems), solves problems such as accidents and congestion, lessening environmental impact and conserving energy. As conventional solutions to traffic issues became less and less effective, high-tech solutions have been sought. Preceding the term ITS, coined in 1994, were road transport informatics (RTI), advanced transport telematics (AT), and intelligent vehicle-highway systems (IVHS). In the mid-1980s, large ITS projects started in Europe, the US, and Japan, but the use of high-tech solutions emerged in the 1950s. As indicated above, ITS includes systems covering passenger-car safety and freight management, supported by a wide range of technologies including sensing, control, communications, and human factors. This special issue on ITS focuses on ITS technologies that share similarities with robotics and mechatronics. The papers in this issue are classed into sensing, control, simulation, and electric vehicles. Papers in sensing deal with the application of vehicle localization in automated driving, 3-dimensional localization with corner cubes and laser radar, vision-based passage detection, and night-time obstacle detection with machine vision. The technology presented in these papers is expected to play an important role in robotics and mechatronics. The 4 control papers include an overview on control algorithms for automated driving and 3 papers on control algorithms for lateral control, lane changing, and parking assistance. The major difference between mobile robots and automobiles is that, due to speed, the behavior of mobile robots can be described with kinematics, but that of automobiles must be described with dynamics. Nevertheless, control algorithms for automated automobiles are insightful in robotics. Simulation technologies are essential in ITS to present virtually situations difficult or not possible to realize in the real world. One paper deals with a driving simulator and the other with automobile traffic. The last area in this ITS issue is electric vehicles. Their handicaps can be overcome by ITS, leading to new road transport. The paper on electric vehicles introduces an experimental electric vehicle both educational and informative to readers planning electric vehicles to conduct experiments involving ITS. We thank those on the JSME Research Committee 179 for cooperation between human and systems in ITS for reviewing submitted papers.
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Marín Garcés, Josep, Carlos Veiga Almagro, Giacomo Lunghi, Mario Di Castro, Luca Rosario Buonocore, Raúl Marín Prades, and Alessandro Masi. "MiniCERNBot Educational Platform: Antimatter Factory Mock-up Missions for Problem-Solving STEM Learning." Sensors 21, no. 4 (February 17, 2021): 1398. http://dx.doi.org/10.3390/s21041398.
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Mechatronics and robotics appeared particularly effective in students’ education, allowing them to create non-traditional solutions in STEM disciplines, which have a direct impact and interaction with the world surrounding them. This paper presents the current state of the MiniCERNBot Educational Robotic platform for high-school and university students. The robot provides a comprehensive educative system with tutorials and tasks tuned for different ages on 3D design, mechanical assembly, control, programming, planning, and operation. The system is inspired to existing robotic systems and typical robotic interventions performed at CERN, and includes an education mock-up that follows the example of a previous real operation performed in CERN’s Antimatter Factory. The paper describes the learning paths where the MiniCERNBot platform can be used by students, at different ages and disciplines. In addition, it describes the software and hardware architecture, presenting results on modularity and network performance during education exercises. In summary, the objective of the study is improving the way STEM educational and dissemination activities at CERN Robotics Lab are performed, as well as their possible synergies with other education institutions, such as High-Schools and Universities, improving the learning collaborative process and inspiring students interested in technical studies. To this end, a new educational robotic platform has been designed, inspired on real scientific operations, which allows the students practice multidisciplinary STEM skills in a collaborative problem-solving way, while increasing their motivation and comprehension of the research activities.
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Papadimitriou, V., and E. Papadopoulos. "Putting low-cost commercial robotics components to the test - Development of an educational mechatronics/robotics platform using LEGO components." IEEE Robotics & Automation Magazine 14, no. 3 (September 2007): 99–110. http://dx.doi.org/10.1109/mra.2007.901322.
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Kawashima, Kenji, Jumpei Arata, Kanako Harada, and Kotaro Tadano. "Special Issue on Robotics for Medical Applications." Journal of Robotics and Mechatronics 34, no. 6 (December 20, 2022): 1215. http://dx.doi.org/10.20965/jrm.2022.p1215.
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In recent years, the field of robots for medical applications has been expanding rapidly. Robots effectively augment their operators’ skills, enabling them to achieve accuracy and high precision during complex procedures. The use of robots improves the quality of life of patients and the quality of medical research. Therefore, the research and development of robots for medical applications will become more active in aging societies. This special issue focuses on the design and control of robots as well as integrated technologies for robots for medical applications. These include navigation, simulator, image guidance, training, and validation technologies for robots. The special issue consists of 17 papers with various studies related to medical robots. There are 7 papers on assistant robots, including their passive and active controls, devices, and sensors. There are 10 papers related to minimally invasive surgery and neurosurgery involving robots, including papers on sensors, actuators, navigation, haptic display devices, the mechanical design of devices, and other topics. The editors are confident that this special issue will greatly contribute to further progress in robotics We sincerely thank the authors for their fine contributions and the reviewers for their generous contributions of time and effort. We would also like to thank the Editorial Board of the Journal of Robotics and Mechatronics for their help with this special issue.
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Achilli, Gabriele Maria, Silvia Logozzo, and Maria Cristina Valigi. "An Educational Test Rig for Kinesthetic Learning of Mechanisms for Underactuated Robotic Hands." Robotics 11, no. 5 (October 19, 2022): 115. http://dx.doi.org/10.3390/robotics11050115.
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Teaching robotics requires interdisciplinary skills and a good creativity, providing instructions and hands-on experiences, exploiting different kinds of learning. Two kinds of learning methods are commonly used: the ‘visual learning’ and the ‘auditory learning’, recognizable by the preference of an approach for images, rather than for texts, or oral explanations. A third possible learning style is the ‘kinesthetic learning’, based on tactile activities, which is generally least exploited, both by teachers in the classroom and by students during individual study. In this perspective, the use of educational test rigs is a good practice and adds an opportunity to share a passion for robotics. The paper focuses on the realization and application of an educational test rig aimed at explaining how a differential mechanism works and how it can be applied to robotic underactuated soft grippers to move multiple robotic fingers independently of each other using just a single actuator. The differential test bench was realized by 3D printing and mounted with the help of students in high school seminaries oriented to encourage students towards robotic or mechatronic studies. This activity was very thrilling for the students and helped them to approach robotics in a natural way, exploiting kinesthetic learning as it is demonstrated by test results.
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Ishihara, Hidenori. "Special Issue on Microrobots." Journal of Robotics and Mechatronics 15, no. 6 (December 20, 2003): 581. http://dx.doi.org/10.20965/jrm.2003.p0581.
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Micromechatronics has become a key issue in engineering. Robotics and mechatronics are a global concern. Micromechatronics contributes especially to the development of electrical and mechanical systems through miniaturization and advanced functions. Micromechatronics was defined by Prof. Fukuda, Prof. Fujita et. al in the 1980's. In 1980's, Microelectromechanical Systems (MEMS) was developed in the USA and then expanded to Japan and Germany. In the same time frame, devices based on precious machining technology were miniaturized in Japan and Switzerland as Michromachine. MEMS combines electronics and mechatronics and promotes new-conceptual devices such as intellectual sensors, e.g., pressure and acceleration sensors. Precious machining has improved manufacturing and achieved the find control. Thorough these development, Micromechatronics was born as an integrated technology. This special issue introduces basic technologies and applications of micromechatronics, which includes such vital technologies as mechanical, electric, and electrical engineering, machining, and MEMS. This issue, which features several topics on micromechatronics, will give readers a welcome chance to acquaint themselves with state-of-the-art information on micromechatronics. This issue contains nine technical papers on micro robots, intelligent microsensors, and their applications, together with related letters. It opens with a paper on microsensors by Fujiyoshi et al. and the application of miniaturized motors to a robotic hand by Nishibori et al. Included also are articles on micro robots by Aoyama, Torii, Wakimoto and Guo, work on unique micromanipulation systems by Nakamura et al., and the application of micro units to robotic systems by Yamada et al. Letters discuss objectives and achievements of micro robot contests held in Japan that serve to popularize and disseminate unique mechanisms and new concepts in this exciting field. I am certain this issue will provide readers with information that is both interesting and informative. In closing, I would like to thank the authors, members of the editorial board, and the publisher, without whose hard work and careful consideration this issue would not have been possible.
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Zhang, Yigong, Huadong Song, Xiaoting Guo, and Chaoqing Tang. "Robust Object Positioning for Visual Robotics in Automatic Assembly Line under Data-Scarce Environments." Machines 10, no. 11 (November 16, 2022): 1079. http://dx.doi.org/10.3390/machines10111079.
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Object positioning is a basic need for visual robotics in automatic assembly lines. An assembly line requires fast transfer to new object positioning tasks with few or no training data for deep learning algorithms, and the captured visual images usually suffer from partial missing and cropping and environmental lighting interference. These features call for efficient and robust arbitrary shape positioning algorithms under data-scarce and shape distortion cases. To this end, this paper proposes the Random Verify Generalised Hough Transform (RV-GHT). The RV-GHT builds a much more concise shape dictionary than traditional GHT methods with just a single training image. The location, orientation, and scaling of multiple target objects are given simultaneously during positioning. Experiments were carried out on a dataset in an automatic assembly line with real shape distortions, and the performance was improved greatly compared to the state-of-the art methods. Although the RV-GHT was initially designed for vision robotics in an automatic assembly line, it works for other object positioning mechatronics systems, which can be modelled as shape distortion on a standard reference object.
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Hashino, Satoshi, and Keiko Homma. "Human Support Technology Division." Journal of Robotics and Mechatronics 10, no. 6 (December 20, 1998): 542–43. http://dx.doi.org/10.20965/jrm.1998.p0542.
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The Human Support Technology Division was established in the Robotics Department October 1, 1994 to strengthen research on assistive technology in the Mechanical Engineering Laboratory. Six researchers gathered from Robotics and other departments. Half a year later, one was promoted to director of the Department of Energy Engineering. Five now carry on, including one part-timer. Our aim is to realize novel mechanisms and control, and to build small, light, powerful mechatronic systems. Improved maneuverability and safety of the human support system and standardization based on ergonomics are also important targets. We are thus conducting the four following projects:
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Sergeyeva, Irina, Yelena Korotkova, Edward Kolos, and Christian Martinez. "Innovative Course of Descriptive Geometry." MATEC Web of Conferences 346 (2021): 03083. http://dx.doi.org/10.1051/matecconf/202134603083.
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The paper deals with the solution to the problems of insufficient preparation of applicants for the study of the Descriptive Geometry course offered to them in the university during their first year of education in such programs of study as Mechanical Engineering, Automation of Technological Production Processes, Mechatronics and Robotics, as well as Oil and Gas Engineering. The relevance, efficiency and advantages of an innovative course using AutoCAD and new teaching material for independent work of both Russian and foreign students were evaluated. Algorithms for the construction of 3D models of intersecting tangent surfaces and surfaces with a common inscribed sphere were developed to control individual tasks. The tasks of two-level complexity of constructing projections of parts with surfaces intersecting along curved lines and their 3D models with sections for monitoring the retained knowledge of students on the subject were developed and the effectiveness of their application was evaluated.
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Ridlwan, Hasvienda Mohammad, Sonki Prasetya, and Musli Min. "2D Mapping Lingkungan Indoor Menggunakan Lidar dan ROS untuk Mobile Robot." Jurnal Mekanik Terapan 3, no. 2 (August 31, 2022): 60–65. http://dx.doi.org/10.32722/jmt.v3i2.4285.
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Currently, the application of control systems has been applied in various scientific fields including mechatronics and robotics. Applications in the branch of robotics are also growing day by day not only with conventional controls but also with intelligent systems. An autonomous robot in carrying out certain missions in an unknown environment requires information about the location itself and the environment through the map. A process to identify a position without a map is called a localization function on the robot. Mobile robots building maps and localization are two fundamental tasks when mobile robots work in indoor environments. With 2D laser scanning (LiDAR) data obtained in real-time, the robot can calculate the area of all empty spaces in a room, then can choose the center of the room as its position for map building. The objective of this research is to implement a two-dimensional mapping method using LiDAR. The algorithm used in this study is the Gmapping Technique on ROS. The main purpose of this research is to map mobile robots with LIDAR sensors using the Robot Operating System for navigation and positioning of mobile robots. Through the actual experimental results, the mobile robot will move with a 2-dimensional mapping process.
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Zhang, Chengguang. "Simulation Analysis of Bionic Robot Fish Based on MFC Materials." Mathematical Problems in Engineering 2019 (June 4, 2019): 1–9. http://dx.doi.org/10.1155/2019/2720873.
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With the development of marine resources, research on underwater robots has received unprecedented attention. The discovery and application of new smart materials provide new ideas for the research of underwater robots, which can overcome the issues of traditional underwater robots and optimize their design. A macro fiber composite (MFC) is a new type of piezoelectric fiber composite that combines actuators and sensors. The material has excellent deflection, good flexibility, and a high electromechanical coupling coefficient. Bionic mechatronics design is an effective way to innovate mechatronics in the future and can significantly improve mechatronics system performance. As an important issue for the design of bionic mechatronics, it is necessary to make robots as soft as natural organisms to achieve similar biological movement with both higher efficiency and performance. Compared with traditional rigid robots, the design and control of a soft robotic fish are difficult because the coupling between the flexible structure and the surrounding environment should be considered, which is difficult to solve due to the large deformation and coupling dynamics. In this paper, an MFC smart material is applied as an actuator in the design of bionic robotic fish. Combined with the piezoelectric constitutive and elastic constitutive equations of the MFC material, the voltage-drive signal is converted to a mechanical load applied to the MFC actuator, which makes the MFC material deform and drives the movement of the robotic fish. The characteristics of caudal fin motion during the swimming process of the bionic robotic fish were analyzed by an acoustic-solid coupling analysis method. The motion control analysis of the bionic robotic fish was carried out by changing the applied driving signal. Through numerical analysis, a new type of soft robotic fish was designed, and the feasibility of using an MFC smart material for underwater bionic robotic fish actuators was verified. The new soft robotic fish was successfully developed to achieve high performance.
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Ottaviano, Erika, Marco Ceccarelli, and Francesco Palmucci. "An application of CaTraSys, a cable-based parallel measuring system for an experimental characterization of human walking." Robotica 28, no. 1 (May 15, 2009): 119–33. http://dx.doi.org/10.1017/s0263574709005645.
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SUMMARYIn this paper, an application is presented of a cable-based parallel manipulator as measuring system for an experimental identification of human walking characteristics. Experimental results have been obtained by means of a new version of CaTraSys (Cassino Tracking System), which is a measuring system that has been designed and built at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. The new version of the CaTraSys system has been used to determine the trajectory of the human limb extremity during walking operation and furthermore the system is able to measure forces that are exerted by a limb. Experimental determination of articulation mobility is also presented with numerical and experimental results.
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Castañeda-Miranda, Víctor H., Luis F. Luque-Vega, Emmanuel Lopez-Neri, Jesús Antonio Nava-Pintor, Héctor A. Guerrero-Osuna, and Gerardo Ornelas-Vargas. "Two-Dimensional Cartesian Coordinate System Educational Toolkit: 2D-CACSET." Sensors 21, no. 18 (September 21, 2021): 6304. http://dx.doi.org/10.3390/s21186304.
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Engineering education benefits from the application of modern technology, allowing students to learn essential Science, Technology, Engineering, and Mathematics (STEM) related concepts through hands-on experiences. Robotic kits have been used as an innovative tool in some educational fields, being readily accepted and adopted. However, most of the time, such kits’ knowledge level requires understanding basic concepts that are not always appropriate for the student. A critical concept in engineering is the Cartesian Coordinate System (CCS), an essential tool for every engineering, from graphing functions to data analysis in robotics and control applications and beyond. This paper presents the design and implementation of a novel Two-Dimensional Cartesian Coordinate System Educational Toolkit (2D-CACSET) to teach the two-dimensional representations as the first step to construct spatial thinking. This innovative educational toolkit is based on real-time location systems using Ultra-Wide Band technology. It comprises a workbench, four Anchors pinpointing X+, X−, Y+, Y− axes, seven Tags representing points in the plane, one listener connected to a PC collecting the position of the Tags, and a Graphical User Interface displaying these positions. The Educational Mechatronics Conceptual Framework (EMCF) enables constructing knowledge in concrete, graphic, and abstract levels. Hence, the students acquire this knowledge to apply it further down their career path. For this paper, three instructional designs were designed using the 2D-CACSET and the EMCF to learn about coordinate axes, quadrants, and a point in the CCS.
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B, Patel Mann. "Vibration Suppression of a Fast Filament Fabrication 3d Printer via Resonance Compensation." International Journal for Research in Applied Science and Engineering Technology 9, no. 12 (December 31, 2021): 15–17. http://dx.doi.org/10.22214/ijraset.2021.39158.
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Abstract: Additive manufacturing systems especially 3d printers are made by rigid links which provide sufficient stiffness to give motion to 3d printing head system which are moving at very high speed &acceleration. It has been found out that high-speed manipulators generate vibration problem and 3dprinting head is one of them which encounter significant vibration at high speed and acceleration. Therefore, evolution in mathematical control system is necessary for effective vibration suppression and to allow fast motion of 3d printing head at high speed and acceleration. In this paper we develop experiment where we measure the resonance frequency of our bed swinging 3d printer and with graph we optimized it with mathematical system which allows printer to run 140% faster speed and over 600% higher acceleration with same quality and precision. Keyword: 1. Additive Manufacturing, 2. Complex system development, 3. Mechatronics, 4. Robotics, 5. Physics. 6. Advanced engineering mathematics 7. High speed manipulators.
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Bayar, Gokhan. "Development of a Voronoi diagram based tree trunk detection system for mobile robots used in agricultural applications." Industrial Robot: An International Journal 44, no. 4 (June 19, 2017): 521–31. http://dx.doi.org/10.1108/ir-11-2016-0304.
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Purpose The purpose of this paper is to develop a methodology for detecting tree trunks for autonomous agricultural applications performed using mobile robots. Design/methodology/approach The system is constructed by following the principles of Voronoi diagram method which is one of the machine learning algorithms used by the robotics, mechatronics and automation researchers. Findings To analyze the accuracy and performance and to make verification and evaluation, both simulation and experimental studies are conducted. The results indicate that the tree trunk detection system developed using Voronoi diagram method can be able to detect tree trunks with high precision. Originality/value A novel solution technique to detect tree trunks is proposed. The adaptation of Voronoi diagram method in an agricultural (orchard) task is presented.
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Taguchi, Kan. "Special Issue on Robot with Integrated Locomotion and Manipulation." Journal of Robotics and Mechatronics 9, no. 4 (August 20, 1997): 247. http://dx.doi.org/10.20965/jrm.1997.p0247.
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Recently, demand has risen for outdoor robots in architecture, civil engineering, agriculture, fire fighting, or restorations of earthquake disasters. For such cases, robots should have both locomotion and manipulation to work in unknown and unassisted fields. Since robot locomotion and manipulation have been researched independently, robots with integrated locomotion and manipulation are anticipated. However, problems involve the cooperative control of locomotor and manipulators or their integrated mechanisms. In January 1994, the Robotics Society of Japan set up an integrated locomotion and manipulation robot research committee whose aim is identify different aspects of such robots, such as analysis and synthesis of mechanisms, control theory for integrated locomotion and manipulation, and actual on-job applications. The Committee includes researchers from industry, government laboratories, and academia, who have discussed the possibilities of new type robots. The Committee organized sessions such as ""Robots with Integrated Locomotion and Manipulations"" in the 12th (1994) to 14th (1996) annual conferences of the Robotics Society of Japan and ""Integrated Locomotion & Manipulation"" in International Robotics Symposium IROS96. A special issue of ""Integrated Locomotion and Manipulation"" for the <I>Journal of the Robotics Society of Japan</I> was compiled and published in November 1995 by the Committee. In November 1996, the Committee handed in its final report to the Society and adjourned. The final report is in Japanese. As a Committee member, I have wanted to introduce some of the Final Report in English. Fortunately, the editors of the <I>Journal of Robotics and Mechatronics</I> have given me the opportunity to publish these reports in a special issue. Other Committee members have agreed to contribute as well. I thank the Committee -- especially Chairman Dr. Tatsuo Arai (MEL), who encouraged me in writing this article. Special thanks go to Prof. Yamafuji, who introduced me to the editors who gave me the chance to publish this article.
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SAKAMOTO, Hirofumi, Takumi KANAZAWA, and Shinji HOKAMOTO. "1P1-K06 Autonomous Control of a Space Probe with Wide Field Integration of Optic Flow(Space Engineering and Robotics and Mechatronics (2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _1P1—K06_1—_1P1—K06_4. http://dx.doi.org/10.1299/jsmermd.2012._1p1-k06_1.
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SUZUKI, Masakazu, and Tadashi EGAMI. "2P1-N05 Development and control of experimental space elevator climber with adjustable mechanism of pressing force(Space Engineering and Robotics and Mechatronics)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _2P1—N05_1—_2P1—N05_2. http://dx.doi.org/10.1299/jsmermd.2013._2p1-n05_1.
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Figliolini, Giorgio, and Marco Ceccarelli. "EP-WAR3 biped robot for climbing and descending stairs." Robotica 22, no. 4 (August 2004): 405–17. http://dx.doi.org/10.1017/s0263574704000232.
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A biped walking robot, named EP-WAR3 (Electro-Pneumatic-Walking-Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. EP-WAR3 is provided with a suitable binary pneumatic actuation in order to be controlled through a common PLC (Programmable-Logic-Controller) as an event-based system in an on/off environment. The walking stability of the biped robot is obtained by using suction-cups, which are installed on the underside of each foot. EP-WAR3 is able to walk along a straight line with two different step sizes, turn right and left, and to climb and to descend stairs. A suitable motion analysis and programming technique of the PLC controller is proposed in order to obtain suitable walking capabilities and flexibility of the robot.