Showing papers on "Mechatronics published in 2022"

Anatomical Engineering and 3D Printing for Surgery and Medical Devices: International Review and Future Exponential Innovations

Abstract: Three-dimensional printing (3DP) has recently gained importance in the medical industry, especially in surgical specialties. It uses different techniques and materials based on patients' needs, which allows bioprofessionals to design and develop unique pieces using medical imaging provided by computed tomography (CT) and magnetic resonance imaging (MRI). Therefore, the Department of Biology and Medicine and the Department of Physics and Engineering, at the Bioastronautics and Space Mechatronics Research Group, have managed and supervised an international cooperation study, in order to present a general review of the innovative surgical applications, focused on anatomical systems, such as the nervous and craniofacial system, cardiovascular system, digestive system, genitourinary system, and musculoskeletal system. Finally, the integration with augmented, mixed, virtual reality is analyzed to show the advantages of personalized treatments, taking into account the improvements for preoperative, intraoperative planning, and medical training. Also, this article explores the creation of devices and tools for space surgery to get better outcomes under changing gravity conditions.

Towards Multidisciplinary Delta-Oriented Variability Management in Cyber-Physical Production Systems

Abstract: Cyber-Physical Production Systems (CPPSs) are complex systems comprised of software and hardware interacting with each other and the environment. In industry, over time, a plethora of CPPSs are developed to satisfy varying customer requirements and changing technologies. Managing variability is challenging, especially in multidisciplinary environments like in CPPS engineering. For instance, when supporting the automatic derivation and configuration of control software, one needs to understand variability from not only a software perspective, but also a mechatronic, electrical, process, and business perspective. It is unrealistic to use a single model or even one type of model across these perspectives. In this paper, we describe a Multidisciplinary Delta-Oriented Variability Management approach for CPPSs that we are currently developing. Our approach aims to express CPPS variability in different disciplines using heterogeneous variability models, relating models via cross-discipline constraints, and automatically generating control software based on variability models. We implemented a prototype of our approach by realizing delta-oriented variability modeling for IEC 61499-based distributed control software and a configuration tool to enact the configuration options from multiple variability models. We performed a feasibility study of our approach using two systems of different size and complexity. We conclude that, despite current limitations, our approach can successfully and automatically generate control software based on related multidisciplinary variability models. We think that our approach is a good starting point to manage CPPS variability in practice.

Fault Detection of Bearing by Resnet Classifier with Model-Based Data Augmentation

Abstract: It is always an important and challenging issue to achieve an effective fault diagnosis in rotating machinery in industries. In recent years, deep learning proved to be a high-accuracy and reliable method for data-based fault detection. However, the training of deep learning algorithms requires a large number of real data, which is generally expensive and time-consuming. To cope with this, we proposed a Resnet classifier with model-based data augmentation, which is applied for bearing fault detection. To this end, a dynamic model was first established to describe the bearing system by adjusting model parameters, such as speed, load, fault size, and the different fault types. Large amounts of data under various operation conditions can then be generated. The training dataset was constructed by the simulated data, which was then applied to train the Resnet classifier. In addition, in order to reduce the gap between the simulation data and the real data, the envelop signals were used instead of the original signals in the training process. Finally, the effectiveness of the proposed method was demonstrated by the real bearing experimental data. It is remarkable that the application of the proposed method can be further extended to other mechatronic systems with a deterministic dynamic model.

Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach

Abstract: Enabling technologies that drive Industry 4.0 and smart factories are pushing in new equipment and system development also to prevent human workers from repetitive and non-ergonomic tasks inside manufacturing plants. One of these tasks is the order-picking which consists in collecting parts from the warehouse and distributing them among the workstations and vice-versa. That task can be completely performed by a Mobile Manipulator that is composed by an industrial manipulator assembled on a Mobile Robot. Although the Mobile Manipulators implementation brings advantages to industrial applications, they are still not widely used due to the lack of dedicated standards on control and safety. Furthermore, there are few integrated solutions and no specific or reference point allowing the safe integration of mobile robots and cobots (already owned by company). This work faces the integration of a generic mobile robot and collaborative robot selected from an identified set of both systems. The paper presents a safe and flexible mechatronic interface developed by using MBSE principles, multi-domain modeling, and adopting preliminary assumptions on the hardware and software synchronization level of both involved systems. The interface enables the re-using of owned robot systems differently from their native tasks. Furthermore, it provides an additional and redundant safety level by enabling power and force limiting both during cobot positioning and control system faulting.

Small Magnus Wind Turbine: Modeling Approaches

Abstract: Renewables have passed the peak of the inflated expectation hype cycle for emerging technologies, but interest in the design of new energy conversion devices is still high due to widespread distributed energy systems for private households. Magnus effect-based wind turbine combines mechanical and electronic engineering that provides a broader wind speed range and potential maximum power point tracking for deeper grid integration. This paper provides a comparative analysis of Magnus effect-based wind turbine simulation models and the development of the numerical model for the maximum power point tracking algorithm. The advanced model contributes to the reduction of the number of actual tests required for the mechatronics system tuning and deals with sustainability-related challenges, such as climate change and the development of new renewable sources of energy.

Mechatronics Equipment Performance Degradation Assessment Using Limited and Unlabeled Data

Abstract: Advanced mechatronics equipment requires reliable and effective performance degradation assessment to guarantee long-term operations. Current data-driven predictions endow the operation and maintenance of mechatronic equipment flexibly and intelligently. However, the sufficient and labeled data in real industrial scenes may not be satisfied, resulting in negative impacts of overfitting and time-consuming annotations. In this article, we propose a novel prognostic model, namely unsupervised meta gated recurrent unit (UMGRU) containing a dual-cycle learning architecture with the designed clustering assignment module to deal with few-shot prognostics under unlabeled historical data. It integrates the strength of double gradient based optimizations for abstracting general degradation knowledge and offering a sensitive model status for precisely online adaptation with limited on-site data. Besides, mini-batch pseudolabels are automatically assigned within each inner cycle learning and further participate in parameter upgrades. Finally, both experimental and industrial data are used to verify the effectiveness of UMGRU.

Development and Control of an Underwater Vehicle–Manipulator System Propelled by Flexible Flippers for Grasping Marine Organisms

Abstract: Robots have the potential to assist and complement humans in the exploration of hostile environments. For example, underwater vehicle–manipulator systems (UVMSs) have been researched and applied in underwater operations. Motivated by the need for collecting marine organisms cultivated in shallow sea aquafarm, a lightweight and portable UVMS propelled by flexible flippers (named, F-UVMS), rather than typical propellers or jet-based propulsion systems, is investigated. To this end, integrative mechatronic design of F-UVMS is first presented, involving six flipper propulsors for generating thrust in a flapping way, a four-degree-of-freedom arm for grasping, and a certain amount of onboard sensors for environment perception. A thrust–power measurement platform is established to evaluate thrust–power relationship for different sizes and stiffness of flippers. Meanwhile, the locomotion modalities of F-UVMS are analyzed. A framework based on the nonlinear model-predictive control method is implemented to govern autonomous tracking marine organisms. The capabilities of F-UVMS are validated through a series of experiments in laboratory pool and field missions in real sea conditions.

Mechatronics Design and Kinematic Simulation of a Tripteron Cartesian-Parallel Agricultural Robot Mounted on 4-Wheeled Mobile Platform to Perform Seed Sowing Activity

Abstract: In recent years, agriculture in Peru has had a constant increase in its added value, and in order to promote its growth, the use of technology such as robotics is important. For this reason, the innovative research was carried out in 2021 under the supervision of the School of Mechatronics Engineering at Ricardo Palma University consisted in the design of a mobile agricultural robot that can be configured to plant different types of seeds by being able to vary the sowing distance using a parallel manipulator, as well as being proficient to dig into the ground up to 50 mm using a modified drill that has the function of releasing the seed using 2 servo motors. In addition, the robotic system consists of 2 mechanical elements: the car and the tripteron. The first one consists of 4 gearmotors as well as it is responsible for the movement, and the second one has 3 degrees of freedom as well as uses 3 stepper motors of 20 Nm. This study presents mechatronics conceptual design and kinematic analysis simulation, where SolidWorks 2020 is used to design the 3D mechanical structure and Matlab for the simulation and testing of the robot operation. The robot is pretended to be applied to greenhouses in Cusco by August 2022 because there is a serious problem of vegetable production. In conclusion, favorable results were achieved; consequently, the next step of this project is to add a camera in order that it can recognize for itself the route and where to sow seeds.

An attention enhanced dilated CNN approach for cross-axis industrial robotics fault diagnosis

Abstract: Abstract An industrial robot is a complex mechatronics system, whose failure is hard to diagnose based on monitoring data. Previous studies have reported various methods with deep network models to improve the accuracy of fault diagnosis, which can get an accurate prediction model when the amount of data sample is sufficient. However, the failure data is hard to obtain, which leads to the few-shot issue and the bad generalization ability of the model. Therefore, this paper proposes an attention enhanced dilated convolutional neural network (D-CNN) approach for the cross-axis industrial robotics fault diagnosis method. Firstly, key feature extraction and sliding window are adopted to pre-process the monitoring data of industrial robots before D-CNN is introduced to extract data features. And self-attention is used to enhance feature attention capability. Finally, the pre-trained model is used for transfer learning, and a small number of the dataset from another axis of the multi-axis industrial robot are used for fine-tuning experiments. The experimental results show that the proposed method can reach satisfactory fault diagnosis accuracy in both the source domain and target domain.

On the perception and handling of deformable objects - A robotic cell for white goods industry

Abstract: Advancements in mechatronics, perception and computational methods allowed robotics to focus on non-rigid part manipulation, which is characterized by high complexity due to the unpredictable and compliant behavior of flexible materials. This paper presents the automation of a manufacturing process involving linear non-rigid components through the implementation of a robotic system that addresses challenges related to flexible material perception and handling. The corresponding technological approach consists of five steps namely safe material supply, detection, grasping, cross section recognition, and assembly. The proposed robotic cell comprises: (1) a multi-sensor system for flexible part recognition and safe human-robot interaction (2) a collaborative robot equipped with a dexterous gripper for flexible material manipulation, and (3) a control framework for process coordination. The robotic system has been tested on a case study originating from the white goods industry, where rubber gaskets are manipulated and assembled on household appliances. Experimental results proved that the implemented robotic system can tackle the challenges of flexible material manipulation with great consistency in the aspects of robustness and repeatability.

Design Thinking in Digital Innovation Projects—Exploring the Effects of Intangibility

Abstract: The locus of innovation has shifted from mechanical advances to digital solutions. By emphasizing the importance of user needs, Design Thinking is apt to develop human-centered innovation, including digital solutions. Using two representative examples from 21 Design Thinking projects spanning the gamut of mechatronic to fully digital solutions, we report on critical incidents as opportunities and challenges of applying Design Thinking in a digital context. In the case of mechatronic solutions, we identified opportunities related to improved collaboration and higher quality prototyping as well as in innovative business models, which in turn created challenges in managing stakeholders. In the fully digital context, we observed opportunities in improved needfinding and the ability to offer individualized products. Conversely, we uncover difficulties in imagining digital features, estimating their feasibility, and correctly setting the fidelity of prototypes. Based on these observations, we discuss the intangibility of digital artifacts as enabler and inhibitor of Design Thinking in a digital context.

Developing Digital Observer of Angular Gaps in Rolling Stand Mechatronic System

Abstract: Algorithms for monitoring the rolling mill mechatronic system state should be developed on the basis of modern digital technologies. Developing digital shadows (observers) of system state parameters in the periodic measurement mode is promising. This study relevance is defined by frequent emergency breakdowns of rolling stand mechanical transmissions. Most breakdowns are caused by worn end clutches (heads) of countershafts (spindles) transmitting rotation from the motor to the rolls. This is caused by elastic oscillations due to closing angular gaps when the metal enters the stand. The spindle joint angular gap increases over time with the mill operation. Therefore, it is an important diagnostic parameter that allows for an estimation of the transmission serviceability. In this regard, the problem of monitoring the angular gaps in the rolling stand mechatronic systems is relevant. The paper considers developing an observer of angular gaps in the spindle joints of the ‘electric drive-stand’ mechatronic system of the plate Mill 5000 of Magnitogorsk Iron and Steel Works PJSC (MMK PJSC). The monitored signal (angular gap) is calculated with the mathematical processing of the motor’s physical parameters (speed and electromagnetic torque), measured at a given frequency. The gap is determined indirectly by integrating the speed during its closing. To achieve this, the speed is controlled according to the triangular tachogram at no load. The stand’s electromechanical system modes have been studied using mathematical simulation. The observer’s practical use expediency has been reasoned. The structure of the observer-based angular gap monitoring information system is given. The system has been full-scale tested on Mill 5000, which has confirmed the developed algorithm efficiency. The study’s contribution is a justified and implemented concept of a relatively simple technical solution that can be commercially implemented without extra costs. The angular gap calculation algorithm does not involve complex mathematical techniques and can be implemented in industrial rolling mill controllers. Monitoring is automated without human involvement, which eliminates the human factor. The solution has a specific practical focus and is recommended for implementation at operating rolling mills.

Mechanic Design and Kinematic Simulation of Tri-Star Wheeled Mobile Robot for COVID-19 Using UV-C Disinfection for Public Transport

Abstract: Due to the Covid 2020 pandemic, the world has faced several economic and lifestyle changes, which have been reflected in new ways of interacting and acting to avoid the spread of the virus. But these changes have not only brought negative things, due to the nature of social distancing and high contagion, governments and companies have been forced to consider technological and regulatory alternatives that can help reduce or eliminate the risks of contagion, modernizing and improving several technologically deficient sectors to current needs. For this reason, the innovative research was carried out from 2021 under the supervision of the School of Mechatronics Engineering at Ricardo Palma University, it was designed a mobile robot that can disinfect public transport using UV-C rays. This study presents mechatronics conceptual design and kinematic analysis, where SolidWorks 2020 is used to design the 3D structure. In addition, this device can climb small ladders with Tri-star wheels, composed of three 130 mm onmiwheels, as well as mecanum wheels that provide maneuverability to improve its range of displacement. The robot has IR sensors for the detection of obstacles and thermal sensors for the detection of people in the work area. It is programmed on a Raspberry Pi 4. The robot is pretended to be applied on regular public transportation and terminals to automatically disinfect them as long as there are no people around. In conclusion, favorable results were achieved; consequently, the next step of this project is to start developing a prototype applying the SLAM technique to generate 3D maps of the interior of public transport.

Hierarchical Human-Inspired Control Strategies for Prosthetic Hands

Abstract: The abilities of the human hand have always fascinated people, and many studies have been devoted to describing and understanding a mechanism so perfect and important for human activities. Hand loss can significantly affect the level of autonomy and the capability of performing the activities of daily life. Although the technological improvements have led to the development of mechanically advanced commercial prostheses, the control strategies are rather simple (proportional or on/off control). The use of these commercial systems is unnatural and not intuitive, and therefore frequently abandoned by amputees. The components of an active prosthetic hand are the mechatronic device, the decoding system of human biological signals into gestures and the control law that translates all the inputs into desired movements. The real challenge is the development of a control law replacing human hand functions. This paper presents a literature review of the control strategies of prosthetics hands with a multiple-layer or hierarchical structure, and points out the main critical aspects of the current solutions, in terms of human’s functions replicated with the prosthetic device. The paper finally provides several suggestions for designing a control strategy able to mimic the functions of the human hand.

Mechatronics Design and Kinematic Simulation of 5 DOF Serial Robot Manipulator for Soldering THT Electronic Components in Printed Circuit Boards

Abstract: Universities must have properly implemented and qualified laboratories for the comprehensive training of students. There are laboratories with laser cutters and 3D printers but very few with a robotic system that can be used by students. For this reason, the innovative research was carried out in 2021 under the supervision of the School of Mechatronics Engineering at Ricardo Palma University, it was creating a robotic system that allows soldering THT electronic components on printed circuit boards, to help students to perform this process. The robotic system will be able to adapt to different sizes of circuit boards in a specified workspace, defined by $23 \text{cm}\times 17\ \text{cm}$ , and reach the farthest points of the circuit boards due to the 5 degrees of freedom that compose it. This study presents mechatronics conceptual design and kinematic analysis simulation of the structure, which is a set of a translation joint with reference to the cartesian robot movement and rotation joints that compose a manipulator. In addition, the end effector will be a soldering iron beside a pipe for the tin output which will be connected to a pair of gears controlled by a stepper motor to dispense the filler material. The robot is pretended to be applied to laboratories of Ricardo Palma University. In conclusion, favorable results were achieved; consequently, the next step of the project is to apply a camera for the solder path recognition and expand its use for SMD electronic components.

Mechatronics Design and Kinematic Simulation of UTP-ISR01 Robot with 6-DOF Anthropomorphic Configuration for Flexible Wall Painting

Abstract: In the year 2020, countries were in a race against the spread of Covid-19, leading to major deficiencies in the areas of health, economy, and construction. For this reason, the robotics industry emerged as a viable and safe option to perform important and critical tasks in different sectors, one of them is the real estate. For this reason, a robotic arm was designed to wall painting, this study is supported by the mechatronics engineering department of the Universidad Tecnológica del Perú. The designed robot called: “UTP-ISR01” has 6 axes and a linear displacement of 2.8 m with turns of 0.24 sec/60°. For the calculation of the forward kinematics the Denavit Hartenberg method was used, then the homogeneous transformation matrices were used to calculate the rotation and translation movements of the robotic manipulator. With the equations identified in the inverse kinematics, the positions and orientations of the robot were plotted, as well as the dimensions of the working area. The CAD design was carried out with engineering software, such as Autodesk Inventor for the mechanical design and assembly of the parts. In addition, with RoboDK software, kinematic simulations and analysis were performed. In conclusion, the robotic arm will reduce the delivery times of the apartments built by the real estate companies.

Mechatronics Design and Kinematic Simulation of SCARA Robot to improve Safety and Time Processing of Covid-19 Rapid Test

Abstract: Since the beginning of 2020, Peru has been exposed to the inevitable spread of Covid-19, a highly contagious disease that is increasing around the world rapidly. Scientists and researchers propose various solutions to mitigate its effects or reduce infections, from simple procedures to complex systems such as robots or vaccines. For this reason, innovative research was carried out from 2020 to 2021 under the supervision of the school of Mechatronics Engineering at U niversidad Tecnologica del Peru, so, this article, presents a SCARA robot prototype capable of performing rapid tests with blood samples to detect Covid-19. In addition, the robot has 4 servomotors and impactive end effector. In addition, this robot has 4 degrees of freedom, and this type was chosen for its speed and flexibility. This study develops a mechatronics conceptual design and kinematic analysis using the Denavit Hartenberg method using Matlab and, CAD in SolidWorks 2021. In conclusion, the purpose is to decrease the workload and protect the lives of people who perform the lab tests, being able to process them with greater precision.

Intelligence of Autonomous Vehicles: A Concise Revisit

Abstract: Artificial intelligence- (AI-) empowered machines are devised to mimic human actions. In the automotive industry, AI plays a significant role in the development of vehicular technology. AI joins hands with the field of mechatronics to assist in the accurate execution of the vehicle functionalities. Autonomous vehicles get the scene information by using onboard sensors such as laser, radar, lidar, Global Positioning System (GPS), and vehicular communication networks. The data obtained is then used for various path planning and control techniques to make the vehicles capable of autonomously driving in complex environments. Autonomous vehicles use very up-to-date AI algorithms to localize themselves in known and unknown environments. AI algorithms are also exploited for perception, path planning, and motion control. A concise review of the state-of-the-art techniques to improve the performance of autonomous vehicles is presented.