Mechatronics & Robotics Research Papers (original) (raw)

2025, IFAC Proceedings Volumes

C()p~ri g hl © IFA( . Inlorl ll;tlioll C()llIrol Prohl t'Tll s in \Ianu t'a cturill g T {'( hTl oiog\ . \Ltdrid . Spain I ~Ho\4 COMPUTER-AIDED PROGRAMMING TOOL FOR ROBOTICS J. Warczynski /lI.Il illllf uj ('rilllru/ ElIg ill f aillg. T eclllll ca / l: lII i'f rslly of PUWOII, Powall. Po/and Abs t ra c t . There is a growing interest in the development of software tools for off -l ine r o bo t programming in the field of robotics aplication. The use of such tools could simplify the time-and-labour-consuming task of robot pr ogram development as compared with classical programming methods . This co uld be particularly promising within a CAD CAM allowing in t egra tio n r o b o ti cs into the c ommon planning and control system. The paper des c ribes su c h a s o ftware package aimed t o assist o ff-line development and debugg i ng rob o t programs as well as model-based evaluation o f robot perf o rman c e wi th respect t o the movement dynamic phenomena. The system opera t es in the framework of three main modes which are modelling , programmlng and simulation . Also the workcell layout and verification of c o n tro l strategies are possible . Ke ywo rds . Ro b o t ; r o b o t system modelling, off-line programming, simulation , r o b o t dynamics .

2025, Proceedings of the 4th Civil Engineering & Architecture Conference (ICEARC'25)

Istanbul is confronted with a considerable seismic hazard, since analysts anticipate the likelihood of a substantial earthquake occurring within this century. The precise time of this event is indeterminate; however, its potential severity necessitates immediate preparedness to mitigate loss of life and infrastructural damage. This research examines the creation of an earthquake reaction robot, a notion currently implemented in nations such as Japan to improve rescue operations during seismic occurrences. The proposed robot is engineered to execute many essential tasks, such as locating survivors ensnared in debris and evaluating the structural stability of edifices. Furnished with sophisticated sensors, high-definition cameras, and autonomous navigation systems, it can traverse debris, identify humans requiring rescue, and assess the safety or peril of structures. This robot utilizes advanced technology to enhance the speed and effectiveness of emergency responses in disaster-affected regions, thereby saving lives and mitigating the effects of earthquakes. The robot's design integrates fundamental ideas of civil engineering and disaster management, enabling effective operation in hazardous and complex conditions. This paper presents a novel and pragmatic answer to the rising global incidence of earthquakes, with the capacity to revolutionize disaster response operations and improve public safety.

2025, IFAC-PapersOnLine

In this paper, we will introduce a new concept to reduce the non value added process in the manufacturing industry. This concept is based on the combination of transportation and machining tasks with mobile robots. The reason behind this concept is to reduce the waste of production time, cost and effort. To realize this concept, a demonstration system has been built. The first step to accomplish this system is to synchronize an automated guided vehicle (AGV) to a moving object. The position data of the AGV and the moving object are collected by using an optic measurement system and used to control the movement of the AGV. An external control system including a Proportional-Integral-Derivative (PID) controller has been built to control the AGV. Experimental validation was performed using an AGV and an optical measurement system for the proposed control system. The results show that the accuracy of the optimized control system has been improved in comparison with the control system without the use of the PID controller.

2025, Indian Journal of Urology

Objective: Objective: Prospective randomized study to compare the effi cacy and safety of alfuzosin and tamsulosin in patients suffering from acute urinary retention caused by benign prostatic hyperplasia (BPH). Methods: Methods: Patients with acute urinary retention (AUR) due to BPH (total 150) were catheterized and randomized into three groups: Group A: alfuzosin 10 mg (50 patients), Group B: tamsulosin 0.4 mg (50 patients), Group C: placebo (50 patients). After three days, catheter was removed, and patients were put on trial without catheter (TWOC). Patients with successful TWOC were followed up for three months, taking into account the prostate symptom score (AUA Score), postvoid residual urine volume (PVRV), and peak fl ow rate (PFR). ANOVA was used for statistical analysis. Results: Results: Both group A (alfuzosin) and group B (tamsulosin) had similar results of TWOC (group A -66%, group B -70%), which were signifi cantly superior than group C (placebo) -36%. In follow up, three (9.1%) patients in group A, three (8.6%) patients in group B and eight (44.4%) patients in group C had retention of urine, requiring recatheterization. These patients were withdrawn from the study. After three months, alfuzosin-or tamsulosin-treated patients showed a signifi cant decrease in AUA score and PVRV; and a signifi cant increase in PFR as compared to placebo. Conclusions: Conclusions: TWOC was more successful in men treated with either alfuzosin or tamsulosin and the subsequent need for recatheterization was also reduced. Tamsulosin was comparable to alfuzosin in all respects, except a small but signifi cant side effect of retrograde ejaculation.

2025, International Journal of Pure and Apllied Mathematics

Background. Many orthopaedic operations involve drilling before the insertion of screws into the bone. Usually drilling is executed manually, which brings problems. Bone overheating is the most important one. To avoid such problems and... more

2025, IOP Conference Series: Materials Science and Engineering

Shortage of workers in manufacturing industry has become one of the critical issues in every industry nowadays. Valves manufacturing process is involved forging and trimming process of brass workpieces which are hazardous and able to harm the workers. The aim of this project is to develop an automatic handling of valves in trimming system for replacing human workers. A 6-DOF articulated robotic arm is integrated with vision system for effectively picking the workpieces from the feeder and placing them to the rotating die for being trimmed. One of the challenging problems is the uncertainties of the shape of the forged workpieces related to flash. The specially designed impactive gripper and machine vision are developed to resolve those uncertainties. The gripper is a parallel jaws gripper designed to grip and hold an object with irregular geometries. For the selected model of valve, the system is able to work at 1,033 pieces hour at 96.67% success rate which is comparable to the capacity of the current human workers.

2025, Lecture Notes in Mechanical Engineering

Vibration-driven locomotion systems offer potential advantages for robots operating in complex environments, but their performance on inclined surfaces requires detailed investigation. This paper studies the influence of the supporting surface inclination angle (α) and the imbalanced rotor inclination angle (β) on the locomotion characteristics of a vibration-driven capsule robot. A mathematical model incorporating dry anisotropic friction is developed, and the differential equations are solved numerically using Wolfram Mathematica software, employing the "StiffnessSwitching" method. Results demonstrate that the surface inclination angle significantly impacts motion; a critical climbing angle (about 30°) exists, beyond which forward motion ceases. Downhill motion enhances displacement and velocity. The rotor angle strongly affects performance on a horizontal surface: optimal locomotion (maximal displacement and peak velocity) occurs at β = 0°, while performance degrades as the angle increases, halting completely at β = 90°. This study provides quantitative insights into these dependencies, which are valuable for the design optimization and control of vibration-driven robots intended for navigating varied terrains.

2025, DergiPark (Istanbul University)

Bu makalede parçacık sürü optimizasyon algoritması kullanarak endüstriyel robotlar için çok önemli olan yörünge optimizasyonu gerçekleştirilmiştir. Yörünge algoritması olarak trigonometrik splin kullanılmıştır. Trigonometrik splinler yüksek dereceli polinomlar ve kübik splinler gibi yörünge algoritmalarıyla karşılaştırıldığında daha yumuşak bir yörünge üretilebilmekte ve sadece dördüncü derecede sürekli jerk sağlayabilmektedirler. Düşük derecede sürekli jerk eklemlerdeki titreşimi minimize ederek mekanizmanın ömrünü artırmakta ve ayrıca yörüngenin en az hatayla takip edebilmesini sağlamaktadır. Optimizasyon algoritması olarak kolay uygulanabilmesi ve başarıyla test edilmiş optimizasyon performansından dolayı Parçacık Sürü Optimizasyon (PSO) algoritması kullanılmıştır. Bu makalede önerilen yöntemi test etmek için bir örnek yörünge PUMA 560 robotu için çalıştırılıp optimizasyon sonuçları grafikler halinde verilmiştir.

2025, Journal of Robotics and Mechatronics

This paper presents a study on cricket behavior using an interdisciplinary robot/insect mixed society setup. Field crickets of the species Gryllus bimaculatus were allowed to interact with micro-robots equipped with decoys. This allows the stimulation of insect behaviors that are usually difficult to bring out evoke insects alone, allowing consistent behavioral research. We performed a set of experiments focused on the comparative study of the behavior of dominant and subordinate male crickets after a dominance dispute is settled. From these experiments we were able to collect evidence on the differences between subordinate and dominant behavior towards different decoys.

2025

Robots are widely used in a variety of industrial applications. The recent earliest applications were in materials handling, welding, and spray painting. Robots were initially applied to jobs that were hot, heavy, and dangerous such as die casting, forging, and spot welding. In all types of applications determination of position is the important phenomena, there are two different analysis used for determining the position ie., direct and reverse kinematics analysis when comparing the both reverse kinematics gives the best solution. The reverse kinematics problem can be solved by various methods, such as inverse transform and screw algebra. These methods often require lot of computation and it does not guarantee convergence to accurate solution. Traditional methods like geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. As the link and joint of robot increases, getting the reverse kinematics is requiring effort. In this paper,...

2025, Ingenieria Solidaria

Este proyecto se dirige a encontrar un desplazamiento óptimo en el cual el robot MoveMaster, de cinco grados de libertad, pueda mover sus eslabones y determinar una trayectoria apropiada para alcanzar un punto fi nal. Para lograr este objetivo se implementó un sistema inteligente basado en una red neuronal que almacena todas las posibles rotaciones del manipulador para llegar a un punto deseado, determinando el movimiento óptimo, sin que el robot colisione en su trayectoria. Fue desarrollado un modelo matemático para obtener las ecuaciones que identifi carán el manipulador, y serán usadas para el entrenamiento de la red neuronal y el control del sistema.

2025

Worm gear mechanism transmits power in very small volumes at very high gear ratios. However, their efficiency is very low compared with other gear mechanisms. They have also wear and overheating problems because of force transmission with sliding. On the other hand, bronze is an expensive material used in the manufacture of the worm wheel due to wear. Various designs, that provides the contact between the worm gear and the worm wheel by balls have been developed to eliminate the disadvantages of worm gear mechanisms. In this study, the efficiency of the conventional worm gear mechanism and newly designed ball worm gear mechanism which have the same gear ratio and same center distance have been compared experimentally under the same lubrication conditions. Results showed that the efficiency of both mechanisms increases with increasing brake torque at a constant speed. In addition, under constant speed and brake torque, the ball worm gear mechanism showed higher efficiency than the wo...

2025, JOURNAL OF COMPUTERS AND DIGITAL BUSINESS

This study explores the escalating cybersecurity challenges in the banking sector and the potential of large language models (LLMs) to enhance digital defense mechanisms. Employing a qualitative methodology that includes a systematic literature review, expert interviews, and case study evaluations, the research investigates the integration of LLMs in cybersecurity operations such as threat detection, automated incident response, and user authentication. The findings reveal that LLMs offer significant advantages in real-time anomaly detection, predictive analytics, and natural language-based security training. However, their adoption is hindered by concerns over algorithmic transparency, data privacy, and the need for specialized technical expertise within financial institutions. A key contribution of this work is the development of an integrated cybersecurity framework that combines AI-driven technologies, blockchain-based transaction security, digital forensic tools, and human-centered security practices. The proposed framework aims to guide financial institutions in implementing adaptive, intelligent cybersecurity strategies aligned with evolving global regulatory standards. This research offers both theoretical insights and practical recommendations for enhancing cyber resilience in digital banking environments. It emphasizes the importance of a multidimensional approach that addresses technical innovation, organizational preparedness, and regulatory compliance. Future studies are encouraged to validate the proposed framework through empirical testing across diverse banking infrastructures. JCBD is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

2025, Semantika (Seminar Nasional Teknik Informatika)

Tanaman rambutan (Nephelium lappaceum) family Sapindaceae adalah tanaman asli Indonesia dan negara jiran Malaysia. Selain rambutan, ada lebih kurang 1999 jenis anggota keluarga tanaman rambutan di dalam filum keluarga Sapindaceae. Terdapat banyak varietas rambutan yang tersebar di seluruh wilayah Indonesia, untuk itu diperlukan suatu cara untuk mengidentifikasi jenis buah rambutan tersebut dengan mudah. Sistem pakar adalah salah satu cara untuk memecahkan permasalahan tersebut. Sistem pakar adalah cabang kecerdasan buatan yang menggunakan pengetahuan (knowledge) khusus untuk memecahkan masalah pada level human expert/pakar. Metode bayes merupakan salah satu metode yang digunakan untuk ketidakpastian data yang dihitung menjadi data pasti dengan membandingkan antara data dan tanpa data. Hal ini yang mendasari penulis untuk menganalisis metode bayes dalam mengidentifikasi varietas buah rambutan. Dari hasil penelitian didapatkan hasil bahwa Metode bayes dapat diterapkan dalam sistem pakar untuk mengidentifikasi varietas buah rambutan dengan tepat serta dapat mengatasi ketidakpastian dalam penyelesaian masalah. Pengujian dengan membandingkan hasil perhitungan metode secara manual dengan perhitungan dengan sistem menunjukkan persentase perbedaan 0% yang menandakan tingkat keakurasian sistem sebesar 100%.

2025, Mathematical Modeling and Computing

This paper investigates the dynamic behavior and locomotion characteristics of vibrationdriven robots with wheeled chassis, focusing on the comparison of two types of vibration exciters: a solenoid-type actuator and a centrifugal (inertial) exciter. The research methodology involves 3D modeling using SolidWorks software to design the robots, numerical modeling in Mathematica software to simulate their motion and predict kinematic characteristics, and computer simulation in SolidWorks Motion software to validate the modeling results. The robots utilize overrunning clutches to ensure unidirectional wheel rotation and achieve forward motion through the principle of pure vibratory and vibroimpact locomotion. The influence of excitation frequency and operational parameters on the robot's speed, acceleration, and displacement is analyzed for both types of exciters. The results demonstrate the effectiveness of both solenoid and centrifugal exciters in achieving locomotion, with the centrifugal exciter generally providing lower speeds due to utilizing pure vibration excitation and the solenoid-type actuator offering larger speeds due to operating at vibro-impact conditions. The findings of this study are valuable for researchers and engineers working on the design and optimization of vibration-driven robots for various applications, including pipeline inspection, cleaning, and navigation in challenging environments.

2025, Journal of emerging technologies and innovative research

IoT has profuse demand; in which one of them is solar power spooring and superintending the nexus. Energy austerity modus operandi can be delineated in IoT, which can attenuate both energy exhaustion and human pummel indispensible to do the task. The proposed system has been extended to confess the efficient MPPT based solar charge controller and its riposte by employing web servers and the Laptops/cell phones. The utensil has been used is w5100, the web serverwhich will be gathered together and combine on W5100 module is engaged as an IoT platform. As web servers are unlimited of platforms, they can be endorsed in cell phones/laptop which is urged by relays and sequentially web servers assess the solar charge controllers through W5100 module. The tendered system allocated with solar power tracking and dispatches the information to laptop/cell phones with the aid of web servers for energy assuage. The proposed system is competent of enlightening the battery charging state under dissimar whenever required and can be additionally ameliorated to track other appliances. There are motley of modules employed in solar charge controller which fabricate it as an IoT based device like Arduino Ethernet Shield (W5100), Atmega 328p, Solar Panel, which is Palpably cost effective and also low energy utilization.

2025

This paper introduces new techniques and tools to draw, manipulate and animate stylised brush strokes in computer assisted animation production. We focus on eliminating the time-consuming and tedious process of drawing and managing the... more

2025

Optimisation of controlled motion of closed-loop chain manipulator robots with different degree and type of actuation J. Stability and Control: Theory and Application, (SACTA)., 4(2): 56-73 N.B. When citing this work, cite the original... more

2025, Proceedings Konferensi Nasional Sistem dan Informatika (KNS&I)

Kata kunci: robot humanoid, pemain bola, Arduino Nano, CMUcam5, Model kendali Robot humanoid, khususnya robot pemain bola dibangun dari serangkaian aktuator yang berupa motor servo dan bracket [2] penyangga dan penyambung antar servo, dan menghubungkannya satu sama lain . Hubungan tersebut menentukan jumlah derajat kebebasan pergerakan dari robot humanoid yang dibangun. Tidak ada batasan berapa minimal jumlah derajat kebebasan atau Degree of Freedom [4] dari sebuah robot humanoid, namun umumnya adalah sekitar 18 DOF . Dalam pergerakannya masing-masing aktuator dikendalikan secara terintegrasi oleh sebuah kontroler, yang dalam penelitian ini menggunakan CM-530 dari Bioloid. Dengan CM-530 ini gerakan dari bagian-bagian robot, diantaranya adalah gerakan kaki (pinggul, paha, pergelangan kaki), gerakan lengan (bahu, dan lengan atas, lengan bawah), dan gerakan kepala . Menggunakan CM-530 ini gerakan-gerakan dasar yang diperlukan bisa diprogram dan atau diatur sesuai keperluan. Kombinasi gerakan semisal untuk berjalan juga diatur dengan kontroler CM-53 ini. Hal ini dimaksudkan agar kestabilan robot dalam berdiri , ataupun dalam berjalan secara seimbang dan tidak terjatuh tanpa sebab, kecuali terjadi tubrukan dengan benda lain. Karenanya sangat penting memperhatikan bagaimana perhitungan gravitasi pada robot agar dapat dengan seimbang bergerak dari satu titik ke titik lainnya . Kemudian sebuah robot biasanya dilengkapi dengan berbagai sensor, untuk robot humanoid ini sendiri ada beberapa sensor yang digunakan, diantaranya adalah sensor kamera dan gyro sensor . Hal ini dikarenakan masukan utama pada robot humanoid adalah berupa informasi yang diperoleh dari camera (CMUCam5) . Karena CMUcam5 ini tidak bisa terbaca secara langsung oleh kontroler CM-530 sebagai pengendali aktuator (motor servo), maka dicari alternatif lainnya agar data yang diperoleh dari kamera ini dapat dibaca, diolah, dan kemudian dikomunikasikan ke CM-530 sebagai bagian dari proses pergerakan robot secara keseluruhan. Untuk itu pilihan jenis kontroler lainnya berdasarkan kompatibilitas dari CMUcam5 tersebut yaitu Arduino berbasis mikrokontroler Atmel, dan dalam hal ini karena pertimbangan ukuran dari controller board tersebut maka digunakanlah Arduino Nano dengan mikrokontroler ATMega328 dengan ukuran yang relatif paling kecil dikelasnya (Arduino board) . Penelitian ini menguji salah satunya adalah komunikasi serial antara Arduino Nano ke CM-530 dimana Arduino Nano sebagai master controller dan CM-530 selaku slave controller. Seperti disampaikan sebelumnya, maka fokus penelitian ini adalah membangun model kendali yang dalam hal ini digunakan dua buah kontroler yaitu: CM-530 dan Arduino Nano. Sedangkan sensor yang digunakan adalah gyro sensor dari Bioloid dan juga CMUcam5. Kemudian aktuator yang digunakan adalah jenis motor servo AX-12A sebanyak 18 buah, 1 buah motor servo mini, dan bracket standar dari Bioloid.

2025, The Journal of Internet Banking and Commerce

The Internet Banking is the new method with significant growth in the banking industry because it offers better services to customers and the cost of providing services in banks has also been reduced. The purpose of this study is to investigate the relationships of adoption, satisfaction and Word of Mouth in the internet banking users in Iran. Data was collected by conducting a field survey questionnaire completed by 385 users of internet banking service of Iran's private banks. Structural equation modeling was used to analyze data and test research hypotheses. Findings indicated that Ease of use, Website content, Accessibility, Privacy, Transmission speed, and Security have positive effects on the Internet Banking Adoption. And Internet Banking Adoption leads to increased Satisfaction and Word of Mouth. Furthermore, research limitations and future directions have been discussed in the last section.

2025, Conference: 3rd National Conference on Smart AgricultureAt: University of Tabriz, Iran

This paper presents preliminary results of a study on the development of a simulation framework designed to investigate and evaluate various path tracking control strategies for agricultural mobile robots. The study focuses on the effect of different steering mechanisms on path tracking performance and explores methods for finding the shortest path covering multiple randomly assigned waypoints. Differential drive, Ackermann steering, and articulated steering mechanisms are examined, highlighting their advantages and limitations in various agricultural field conditions. As a case study, we demonstrate the design and implementation of a PID controller for regulating the steering angle and speed of a differential drive robot to track a reasonable shortest path that connects several random waypoints. Future work on applying model predictive control (MPC) for path tracking tasks is also outlined. Through simulations conducted in MATLAB and CoppeliaSim, insights are provided into the effectiveness of various path tracking control strategies, aiming to enhance the navigation capabilities of agricultural mobile robots in dynamic and unstructured environments. Experimental results and performance evaluations demonstrate the robustness and adaptability of the proposed control strategies, offering valuable insights for the development of autonomous agricultural robotics systems.

2025, Computers and Electronics in Agriculture

Classical methods for navigation of autonomous mobile robots often fail in orchards with dense inter-row vegetation such as tall grass and protruding branches. Since robustness and ease of use are essential to the adoption of innovative technology, this can be a hindrance for the development of new types of robotic services. At the same time, the use of unmanned aerial systems for monitoring applications in horticulture is increasing. In this study we analyse whether this data can be used to derive navigation maps and graphs of orchards, even in conditions where classical navigation methods fail. To answer this question, we developed and analysed an automated approach that derives maps with distinct levels of detail from unmanned aerial system imagery for robot navigation in orchards. We test our approach on an apple tree orchard with missing plants, and a mixed-berry orchard with strong inter-row vegetation and overarching branches. We generate voxel maps, 2D grid maps and topological maps and introduce the concept of structure maps. These enhance the existing row structure of the orchards. We show that our method for grid map computation generalises to different crop types without retraining, while providing grid maps that are on-par with, or better than current machine learning based approaches with mean IoUs of 0.87 to 0.97. While the structure maps show limitations in areas without any trees or plants, the derived paths show mean absolute errors equal to or less than 0.12 m compared to GNSS-based references, which is accurate enough for many agricultural applications.

2025

Pulverize komur (PC), metalurjik kok komuru ile birlikte yuksek firina sarj edilmekte ancak tamami ile metalurjik kok komuru yerine kullanilamamaktadir. Metalurjik kok komuru yuksek firin icinde sadece yakit olarak degil, ayni zamanda firinin gaz gecirgenligini duzenleme, demir cevheri ve flaks malzemelerinin firin icinde duzgun dagilmasini saglama ve termal stresleri azaltma gibi islevleri de yerine getirmektedir. Pulverize komur enjeksiyon (PCI) sisteminin de yuksek firina, pozitif ve negatif bazi etkileri vardir. Olumsuz etkileri yok etmek veya en az seviyeye indirmek, olumlu etkilerinden de en iyi sekilde yararlanmak gerekmektedir. PCI’unun yuksek verimle kullanabilmesi, yuksek firindaki tum parametrelerin optimizasyonunun saglanmasi ile mumkundur. Pulverize komur enjeksiyonu suresince optimize edilmesi gereken tum faktorlerin ve proses parametrelerinin optimum bir deger araliginda olmasi gerekmektedir. Bu calismada, bir entegre demir celik fabrikasinda yakit olarak PCI kullanim...

2025, Archaeomagnetic Investigations in the Ancient City of Troy

Arkeomanyetizma, pişmiş arkeolojik malzemelerin manyetik özelliklerinin incelenmesi ve yorumlanmasına dayanan bir yöntemdir. Arkeolojik malzemelerin manyetik özelliklerinin incelenmesi, bunların bileşimi, kökeni ve paleoyangın koşulları hakkında da bilgiler edinmemizi sağlar. Bu teknik, demir oksitler açısından zengin olan ve birkaç yüz santigrat dereceye kadar ısıtılan belirli arkeolojik malzemelerin kararlı bir ısıl kalıntı mıknatıslanmayı koruma kapasitesine dayanmaktadır. Bu mıknatıslanma bir sonraki ısıtmaya kadar arkeolojik malzemede saklı kalır ve son ısıtma-soğutma döngüsünün gerçekleştiği yer ve zamandaki geçmiş yer manyetik alanın yönü ve yoğunluğu hakkındaki bilgileri korumaktadır. Bu çalışma kapsamında Troya Ören yerinden uygun lokasyonlardan alınan yönlü ve yönsüz arkeolojik örneklerin manyetik özellikleri laboratuvarda analiz edilmiştir. Yanmış yapılara ait örneklerin  değerleri 120-370×10-8 m 3 /kg arasında iken, sediman örneklerin  değerleri 48-90×10-8 m 3 /kg arasında daha düşük değerlere sahip olduğu görülmüştür. Diğer yandan yönlü örneklerin, Alternatif Alan (AF) demanyetizasyonu sırasında izole edilen vektörlerinin eğimi negatif olarak tespit edilmiştir.

2025, 2013 IEEE International Conference on Robotics and Automation

This paper presents a unified framework to enable automatic exploration with a pretouch sensor to reduce object shape uncertainty before grasping. The robot starts with only the incomplete object shape data it acquires from a Kinect depth sensor-it has no model of the object. Combining the Kinect pointcloud with prior probability distributions for occlusion and transparency, it makes inferences about portions of the object that the Kinect was not able to observe. Operating on the inferred shape of the object, an iterative grasp replanning and exploration algorithm decides when further exploration is required, and where to explore in the scene using the pretouch sensor. The information gathered by the exploration action is added directly to the robot's environment representation and is considered automatically in the next grasp planning iteration. The pretouch sensor used is the first "seashell effect" pretouch sensor fully integrated into a robot (the PR2); the sensor replaces the PR2's touch sensor pads, and uses the PR2's existing hardware interfaces to eliminate all external wires for power and signal. This new non-contact sensor enables the robot to gather local object shape information without disturbing it. The new sensor and framework was validated on the PR2 robot for its usefulness in sensor-driven grasping of un-modeled objects.

2025, Applied Sciences

Assembly tasks executed by a robot have been studied broadly. Robot assembly applications in industry are achievable by a well-structured environment, where the parts to be assembled are located in the working space by fixtures. Recent changes in manufacturing requirements, due to unpredictable demanded products, push the factories to seek new smart solutions that can autonomously recover from failure conditions. In this way, new dual arm robot systems have been studied to design and explore applications based on its dexterity. It promises the possibility to get rid of fixtures in assembly tasks, but using less fixtures increases the uncertainty on the location of the components in the working space. It also increases the possibility of collisions during the assembly sequence. Under these considerations, adding perception such as force/torque sensors have been done to produce useful data to perform control actions. Unfortunately, the interaction forces between mating parts produced ...

2025, Tarım Bilimleri Dergisi

In agriculture, the rapid and accurate identification of plant diseases and pests is crucial for maintaining the quality and yield of agricultural products. This study focuses on detecting diseases and pests affecting Rosa damascena Mill. plants through an ensemble learning approach and deploying the model in an Android mobile application-a rarity in similar research. A new dataset was created using images from the natural habitat and season of Rosa damascena Mill., covering seven different diseases and pests. For this approach, pre-training was performed with mixed- Convolutional Neural Network (CNN) models DenseNet169, ResNet152, MobileNetV2, VGG19, and NasNet. DenseNet169 and MobileNetV2, which are the models with the highest classification success obtained from mixed-CNN models, were combined in the new model by fine- tuning with the ensemble learning method. In the performance tests of the model, an accuracy of 95.17% was obtained. In addition, this study introduces an Android mobile application integrating these models, a distinctive feature compared to other similar studies. The best performances of these models, DenseNet169 and MobileNetV2 in both flat buffered and quantized forms, were performed separately on a computer, a physical mobile device, and an Android emulator. MobileNetV2 outperformed DenseNet169 (2271 ms) by having the lowest average inference time (301 ms) on mobile devices. These results demonstrate the effectiveness of using a mobile device to detect rose plant diseases and pests efficiently in natural environments.

2025, Journal of Control, Automation and Electrical Systems

Trajectory corners generated while generation of a curve from curved fragments using micro-positioning X -Y stages poses serious limitations on their use for smooth motion trajectory applications. In this research, a controller along with its control algorithm is presented which uses a penalized curve fitting-based approach to steer low cost/ low resolution stepper motor driven stage motion so that the cornerization in the trajectory is minimized without any serious degradation to accuracy. The control algorithm is initially implemented in MATLAB to check its fidelity. Subsequently, a complete set up involving ARM-based controller, motor drivers and precision positioning stages is built in order to facilitate the working of the algorithm in real time. The set up is tested for CNC machining application, where material removal takes place in a precise manner according to the trajectory of X -Y positioning stages. A good match was found between simulation and experimental results in trajectory generation. It was further observed that the use of penalized spline trajectory reduces the cornerization in trajectory generation.

2025, Journal of Robotics and Mechatronics

This report describes a map construction and evaluation method based on lane-marker information for autonomous driving. Autonomous driving systems typically require digital high-definition (HD) maps to correct the current position of autonomous vehicles by using localization techniques. However, an HD map is usually costly to generate because it requires a special-purpose vehicle and mapping system with precise and expensive sensors. This report presents a map construction method that uses cost-efficient on-board cameras. We implement two types of map construction methods with two different cameras in terms of range and field of view and test their performances to determine the minimum sensor specification required for autonomous driving. This report also presents a constructed map evaluation method to determine the “usability” of the map for autonomous driving. Given that the system cannot obtain “true” positions of landmarks, the method judges whether the constructed map contains ...

2025

El uso de robots industriales junto con los sistemas de diseño asistidos por computadora (CAD), y los sistemas de fabricación asistidos por computadora (CAM), son la última tendencia en automatización de los procesos de fabricación. Aunque el crecimiento del mercado de la industria Robótica ha sido lento en comparación con los primeros años de la década de los 80´s, de acuerdo a algunas predicciones, la industria de la robótica está en su infancia. Ya sea que éstas predicciones se realicen completamente, o no, es claro que la industria robótica, en una forma o en otra, permanecerá. En la actualidad el uso de los robots industriales está concentrado en operaciones muy simples, como tareas repetitivas que no requieren tanta precisión. En los 80´s las tareas relativamente simples como las máquinas de inspección, transferencia de materiales, pintado automotriz, y soldadura son económicamente viables para ser robotizadas. Los análisis de mercado en cuanto a fabricación predicen que en és...

2025

El texto completo no está disponible en este repositorio. (Solicitar una copia) El proyecto ROBOT-01 propone la construcción de un manipulador de 7 grados de libertad, aplicando las mas modernas técnicas de Simulación, diseño, CAD-3D, materiales compuestos, construcción de micro-mecánica, electrónica y software. Con el diseño detallado finalizado en CATIA se iniciará el modelado de las ecuaciones de movimiento y su simulación en la computadora, la construcción de los componentes mecánicos que serán realizados en empresas locales, se iniciara con las pruebas de los componentes electrónicos drivers de motores y de sistemas de control con sensores y de la interface con una PC que será la que controlará los componentes electrónicos y de simulación del modelo 3D en tiempo real. Finalmente se procederá al ensamblado de todos los componentes mecánicos y electrónicos para el inicio de las pruebas de laboratorio y sus ensayos de funcionamiento y testeos de acuerdo a los requerimientos previstos. El brazo manipulador estará diseñado para ser continuado o asociado con una mano robótica y con una base móvil autónoma, las que serán encaradas en proyectos futuros, o con interacción con otros grupos de investigación similares de otras Universidades.

2025, UGC-Care

गुणवत्ता युक्त शिक्षा में संगीत की भूमिका पर विचार शिक्षा में गुणात्मक सुधार की दिशा में शिक्षकों की भूमिका महत्वपूर्ण हो गई है, जिसमें छात्रों की संज्ञानात्मक और मनोवैज्ञानिक आवश्यकताओं को समझकर पाठ्यक्रमों का विकास किया जा रहा है।... more

2025

This article presents the results of the study of the motion of an electromechanical system in the presence of an elastic link and delay in the negative feedback loop of a servo drive. We propose a model of the drive with a digital angular position control system of the working body. The servo drive model takes into account the dynamics of the processes occurring in the collector of the DC motor, stiffness of the elastic link that transfers torque from the electric motor to the working body, the influence of the digital sensor of the angular coordinate of the working body and delay in the digital control system on the operation of the drive. Results of mathematical modeling of the operation of the studied model are presented.

2025

It is often proposed that the redundancy in choosing a force distribution for multiple arms grasping a single object should be handled by minimizing a quadratic performance index. The performance index may be formulated in terms of joint torques or in terms of the Cartesian space force/torque applied to the body by the grippers. The former seeks to minimize power consumption while the latter minimizes body stresses. Because the cost functions are related to each other by a joint angle dependent transformation on the weight matrix, it might be argued that either method tends to reduce power consumption, but clearly the joint space minimization is optimal. In this paper, a comparison of these two options is presented with consideration given to computational cost and power consumption. Simulation results using a two arm robot system are presented to show the savings realized by employing the joint space optimization. These savings are offset by additional complexity, computation time and in some cases processor power consumption.

2025, Journal of mechatronics and robotics

The aim of this paper is to develope a mechatronic control system to replace mechanical fuel injection system of a four-cylinder automotive diesel engine, to study what are the important electronics fuel injection parameters which have the highest effect on the engine performance. All the paperwork performed on Isuzu engine 4HF1 which is 4 cylinder diesel engine working with fully mechanical fuel injection system. To develop mechatronics fuel system, must install crank sensor which measure the engine speed in RPM and specify the piston position, cam sensor which specifies the injection order, common rail fuel injection system which includes electronic injectors, high pressure pump and common rail, ECU which control all the system inputs and outputs and injectors driver controller which responsible for delivering the required high voltage for the injectors with high speed switching. ECU software will be developed from scratch to develop injection quantity, injection time and injection order output signals to be compatible with the common rail fuel system. Mathworks tools (Matlab-Simulink-Stateflow) will be used for developing ECU software application layer which divided into many models as crankshaft speed model, crankshaft sensor piston position, cam sensor injection order model, pedal speed model, injectors model, torque model and final model which collect all the previous models. Embedded coder toolbox will be used for generating C code which will be integrated with the microcontroller layer and uploaded to the selected ECU.

2025, Journal of Mechatronics and Robotics

2025, International journal of engineering research and technology

Sliding Mode Controller (SMC) have been studied and summarized in this paper. Various advantages of sliding mode controller (SMC) includes robustness, ability to deal with non-linear, time varying and multi-input, multi-output systems. SMC can also be designed for the fast dynamic response and good stability over a wide range. In spite of this, one of the main hindrances in the implementation of the sliding mode controller (SMC) is the chattering. Chattering; most of the times is undesirable, as it excites the unmodeled high frequency dynamics of the system. In order to overcome these drawbacks, this paper contains a brief review of a few techniques in research used for chattering elimination in SMC. Implementations of a few chattering reduction techniques and their validation results over the basic SMC have been proved.

2025

This research developed an application that could tracks and locates human's presence and position in indoor environment using multiple depth-cameras. Kinect as the most affordable device that equipped with depth- camera was used in this work. The application obtains stream data from Kinect and analyzes presence of human using skeletal tracking library on Kinect for Windows SDK v1. The final

2025

In this article it is presented and discussed a library of models of mechanical systems, hydraulics and pneumatics, using the software Matlab/Simulink, with the intention of demonstrating their applicability for the conception and optimization of machines elements, in the most several branches of the industry. To test and to validate the versatility and functionality and its applicability in several areas of the engineering it were performed the modeling and simulation of several typical mechanical systems used in industrial equipment's. In what it refers to the systems purely mechanics took place the modeling and simulation of three translational mechanical systems, namely: suspension, system of two masses, pushcart and a mechanical rotational system (using two disks). In the creation of the library of models of oleo hydraulics technology they were simulated systems of an open tank, a tank with a valve solenoid, a system with two tanks, a basic hydraulic circuit and a more complex hydraulic circuit. Relating with the pneumatic technology, it was completed the simulation of a valve and of a typical pneumatic circuit. For all these systems their results and the structure of the simulated models were analyzed in order to verify or to prove its reliability an accuracy.

2025

Neste artigo é apresentada e discutida uma biblioteca de exemplos de modelação de sistemas mecânicos, óleo hidráulicos e pneumáticos, utilizando o software Matlab/Simulink, com o intuito de demonstrar que este software pode ser aplicado na conceção e otimização de máquinas, nos mais diversos ramos da indústria. Para testar e validar a versatilidade/funcionalidade e a sua aplicabilidade em diversas áreas da engenharia foi efetuada a simulação de vários sistemas mecânicos comummente utilizados em equipamentos industriais. No que refere aos sistemas puramente mecânicos realizou-se a modelação e simulação de três sistemas mecânicos translacionais designadamente: suspensão, sistema de duas massas, carrinho e um sistema mecânico rotacional (sistema de dois discos). Na construção da biblioteca de exemplos dos sistemas óleo hidráulicos foram simulados sistemas de um tanque aberto, de um tanque com uma válvula solenoide, de um sistema com dois tanques, de um circuito óleo hidráulico básico e...

2025, Journal of Robotics and Mechatronics

This paper addresses sound source detection in an outdoor environment using a quadcopter with a microphone array. As the previously reported method has a high computational cost, we proposed a sound source detection algorithm called multiple signal classification based on incremental generalized singular value decomposition (iGSVD-MUSIC) that detects the sound source location and temporal activity at low computational cost. In addition, to relax the estimation error problem of a noise correlation matrix that is used in iGSVD-MUSIC, we proposed correlation matrix scaling (CMS) to achieve soft whitening of noise. As CMS requires a parameter to decide the degree of whitening, we analyzed the optimal value of the parameter by using numerical simulation. The prototype system based on the proposed methods was evaluated with two types of microphone arrays in an outdoor environment. The experimental results showed that the proposed iGSVD-MUSIC-CMS significantly improves sound source detection performance, and the prototype system achieves real-time processing. Moreover, we successfully clarified the behavior of the CMS parameter by using a numerical simulation in which the empirically-obtained optimal value corresponded with the analytical result. 1

2025, Journal of Robotics and Mechatronics

We have studied on robot-audition-based sound source localization using a microphone array embedded on a UAV (unmanned aerial vehicle) to locate people who need assistance in a disaster-stricken area. A localization method with high robustness against noise and a small calculation cost have been proposed to solve a problem specific to the outdoor sound environment. In this paper, the proposed method is extended for practical use, a system based on the method is designed and implemented, and results of sound source localization conducted in the actual outdoor environment are shown. First, a 2.5-dimensional sound source localization method, which is a two-dimensional sound source localization plus distance estimation, is proposed. Then, the offline sound source localization system is structured using the proposed method, and the accuracy of the localization results is evaluated and discussed. As a result, the usability of the proposed extended method and newly developed threedimensional visualization tool is confirmed, and a change in the detection accuracy for different types or distances of the sound source is found. Next, the sound source localization is conducted in real-time by extending the offline system to online to ensure that the detection performance of the offline system is kept in the online system. Moreover, the relationship between the parameters and detection accuracy is evaluated to localize only a target sound source. As a result, indices to determine an appropriate threshold are obtained and localization of a target sound source is realized at a designated accuracy.

2025, SNATIF

Pada zaman modern saat ini, kursi roda listrik sangat membantu difabel atau penyandang disabilitas dalam melakukan aktifitasnya, selain bertujuan membuat difabel lebih mudah dalam melakukan aktifitas juga diharapkan memiliki sistem keamanan saat kursi roda dioperasikan. Sehingga penelitian ini mengembangkan kursi roda listrik yaitu dengan menambahkan fitur pengereman otomatis. Selain itu, untuk memudahkan penggunaan penyandang disabilitas yang masih dapat menggunakan tangannya perlu ditambahkannya kendali joystick dengan fitur mode kecepatan pada kursi roda listrik yang telah terpasang kendali neurosky mindwave mobile (NMM), dikarenakan pada kendali NMM hanya diperuntukkan bagi penyandang disabilitas total atau yang hanya dapat berinterkasi dengan otaknya. Masukan dari sistem keseluruhan yang dibuat, akan menjadi keluaran berupa arah gerak dan kecepatan kursi roda. Berdasarkan pengujian yang telah dilakukan, kursi roda dengan kendali joystick memiliki kecepatan yang bervariasi setiap mode kecepatannya serta memiliki penyimpangan pengereman otomatis pada kendali joystick sebesar kurang dari 3% dari jarak aktualnya yaitu 60 cm, sedangkan pada kendali NMM kurang dari 2% dari jarak aktualnya yaitu 60 cm.

2025

2025, Seminar Nasional Inovasi dalam Penelitian Sains, Teknologi dan Humaniora - InoBali

STMIK STIKOM Bali merupakan salah satu perguruan tinggi di Bali yang menerapkan e-learning dalam proses pembelajaran. Persepsi user atau dalam hal ini adalah mahasiswa akan sangat diperlukan guna membantu pemanfaatan e-learning secara optimal. Penggunaan e-learning oleh mahasiswa erat kaitannya dengan user experience dan user experience dari website e-learning. Karena dengan interface yang baik maka akan menimbulkan experience bagi user yang baik dan mempermudah user dalam mengakses website e-learning. Peneitian ini akan mengkaji tentang analisis user experience dan user experience website e-learning STIKOM Bali terhadap kemudahan user. Penelitian ini akan difokuskan pada bagaimana pengaruh interface website e-learning STIKOM Bali terhadap experience penggunaan. Variabel yang digunakan terkait user experience dan user experience pada website elearning STIKOM Bali terdiri dari 7 (tujuh) variabel. Adapun variabel tersebut yaitu:usability, pleasure, clasic aesthetics, expressive aesthetics, kualitas informasi dan kenyamanan user. Hasil yang didapat dalam penelitian ini yaitu usability, pleasure, clasic aesthetics, expressive aesthetics, kualitas informasi dan kenyamanan user pada website e-learning STIKOM Bali rata-rata baik.

2025

This is to certify that the thesis entitled, "Understanding the Role of Catalyst Materials and Process Conditions in Biorenewable Transformations" being submitted by Mr. Ejaz Ahmad in the fulfilment of requirements for the award of degree of Doctor of Philosophy to the Indian Institute of Technology Delhi, (India) is authentic record of work carried out by him. Mr. Ejaz Ahmad has worked under my guidance and supervision and has fulfilled the requirements for the submission of this thesis, which to my knowledge has reached the requisite standard. The results contained in this thesis are original and have not been submitted, in part or full, to any other university or institute for the award of any other degree or diploma.