Mechatronics

7th International Conference on Artificial Intelligence and Applications (AI 2021) will provide an excellent international forum for sharing knowledge and results in theory, methodology and applications of Artificial Intelligence and its applications. The Conference
looks for significant contributions to all major fields of the Artificial Intelligence, Soft Computing in theoretical and practical aspects. The aim of the Conference is to provide a platform to the researchers and practitioners from both academia as well as industry to meet and
share cutting-edge development in the field. Authors are solicited to contribute to the conference by submitting articles that illustrate research results, projects, surveying works and industrial experiences that describe significant advances in the following areas, but are not limited to.

Measuring blood hematocrit noninvasively is reviewed in this paper. Although there is an inclination to
measure the hematocrit by determining the bioelectrical impedance of the blood, in vitro experimental
methods still remain practically inapplicable. The blood sample size is determined when blood samples
are examined. Determining the impedance and volume of blood is the biggest challenge in measuring
the hematocrit noninvasively without drawing a blood sample. Calculating the blood impedance in vivo
requires developing an impedance measurement using a multi-frequency method and also calculating
the change in pressure simultaneously during the heart’s pulsatile cycle.

9
th International Conference of Artificial Intelligence and Fuzzy Logic (AI & FL 2021)
provides a forum for researchers who address this issue and to present their work in a peerreviewed forum. Authors are solicited to contribute to the conference by submitting articles that
illustrate research results, projects, surveying works and industrial experiences that describe
significant advances in the following areas, but are not limited to these topics only.
Authors are solicited to contribute to this conference by submitting articles that illustrate
research results, projects, surveying works and industrial experiences that describe significant
advances in the areas of Artificial Intelligence & applications

The International Journal of Artificial Intelligence & Applications (IJAIA) is a bi monthly open access peer-reviewed journal that publishes articles which contribute new results in all areas of the Artificial Intelligence & Applications (IJAIA). It is an international journal intended for professionals and researchers in all fields of AI for researchers, programmers, and software and hardware manufacturers. The journal also aims to publish new attempts in the form of special issues on emerging areas in Artificial Intelligence and applications.

Authors are solicited to contribute to the journal by submitting articles that illustrate research results, projects, surveying works and industrial experiences that describe significant advances in the areas of Artificial Intelligence & applications.

The International Journal of Artificial Intelligence & Applications (IJAIA) is a bi monthly open access peer-reviewed journal that publishes articles which contribute new results in all areas of the Artificial Intelligence & Applications (IJAIA). It is an international journal intended for professionals and researchers in all fields of AI for researchers, programmers, and software and hardware manufacturers. The journal also aims to publish new attempts in the form of special issues on emerging areas in Artificial Intelligence and applications.

Conventional mechanism (i.e. rigid link mechanisms) has limited accuracy and repeatability because of friction, backlash. Mechanism offers a relative motion between rigid links via joints. Conventionally these joints are pin, sliding, rolling, liquid film etc. These joints have inherent nonlinear frictional characteristics which are creating difficulty in control micro-nano positioning in precision mechanisms. To achieve high resolution and precision problems of friction, backlash in mechanism needs to be removed. These joints are replaced by flexible elements such as flexural hinge, flexural links which offers advantage of frictionless and smooth motion. Flexural mechanisms are developed using basic building blocks such as hinges and planar type. Flexural building blocks should be such that it offers lesser / zero resistance to motion in desired direction and maximum / infinite resistance in orthogonal direction. Motion generated in orthogonal direction is called parasitic motion. Double Flexural Manipulator (DFM) is a planar type building block which offers theoretically zero parasitic error motion with negligible amount of rotation of motion stage. This article presents design, development, system integration, system identification and PID control implementation on DFM. Developed flexural stage is integrated with desktop PC via dSPACE micro-controller. System identification (Static and Dynamic) is carried out and performance parameters such as stiffness, natural frequency, damping characteristics and frequency characterization of DFM are estimated and validated via due experimentations. Estimated transfer function of DFM is further used for development of control system, and PID control parameters are tuned. Real time PID implementation gives a position accuracy of few microns at high scanning speed of 2.5 mm/s.

Slosh-Free Positioning of Containers with Liquids and Flexible Conveyor Belt This paper describes a method for slosh-free moving of containers with a liquid at which the conveyor belt is flexible. It shows, by means of experimental results, that a container filled with a liquid can be regarded as a damped pendulum. Upon parameter identification of the two single-mode subsystems, theoretical modelling of the complete system is described. With respect to industrial application, feedforward control is used to transfer the container in horizontal direction without sloshing. The applied method requires deterministic and hard real time communication between the PLC and the servo amplifier which is realized here with Ethernet POWERLINK. The principle structure, calculations, time duration and the robustness of the basic types of input shaper are described and compared with each other. Additionally the positioning results of the two-mode system are presented. Finally, a possibility of the p...

The state estimation and the analysis of load flow are very important subjects in the analysis and management of Electrical Power Systems (EPS). This article describes the state estimation in EPS using the Extended Kalman Filter (EKF) and the method of Holt to linearize the process model and then calculates a performance error index as indicators of its accuracy. Besides, this error index can be used as a reference for further comparison between methodologies for state estimation in EPS such as the Unscented Kalman Filter, the Ensemble Kalman Filter, Monte Carlo methods, and others. Results of error indices obtained in the simulation process agree with the order of magnitude expected and the behavior of the filter is appropriate due to follows adequately  the true value of the state variables. The simulation was done using Matlab and the electrical system used corresponds to the IEEE 14 and 30 bus test case systems. State Variables to consider in this study are the voltage and angle magnitudes.

This paper discusses discrimination and implementation of emotions on a zoomorphic robot aiming at designing emotional robot movements and improving robot friendliness. We consider four emotions; joy, anger, sadness, and fear. Two opposite viewpoints, performer and observer, are considered to acquire emotional movement data for analysis. The performer subjects produce emotional movements and movements that are easy to be recognized as expressions of the intended emotion are selected among the measured movements by the observer subjects. Discriminating the emotion embedded in a movement is tried using feature values based on the Laban movement analysis (LMA) and the principal component analysis (PCA). By the discrimination using PCA, the resultant rates of the correct discrimination are about 70% for all four emotions. The features of emotional movements are presumed from the coefficients of the discrimination function obtained in the emotion discrimination using PCA. Emotions are implemented by converting a setup for basic movements by employing the design principle based on the movement features. The result of the verification experiment suggests that four emotional movements are divided into two groups; the joy and anger group and the sadness and fear group. The emotional movements of joy or anger are dynamic, large-scale and frequent being relatively easy to interpret the intended emotion, while the emotional movements of sadness or fear are static, small-scale and little making difficult to understand the feature of movements.

Multipole magnet arrays have the potential to achieve greater forces than homogeneous magnets for linear spring applications. This paper investigates the effects of varying key parameters of linear multipole magnet arrays in relation to their force bearing potential. Equal sized arrays in repulsive configurations are vertically displaced to each other; only vertical forces are compared. The force versus displacement characteristic is dependent on the aspect ratio of the arrays, the wavelength of magnetisation, and the total number of magnets used in the array. Some general design guidelines for optimising the repulsive forces are established based on the results.

We propose a set of methods to classify vendors based on estimated CPU performance and predict CPU performance based on hardware components. For vendor classification, we use the highest and lowest estimated performance and frequency of occurrences of each vendor to create classification zones. These zones can be used to identify vendors who manufacture hardware that satisfy a given performance requirement. We use multi-layered neural networks for performance prediction, which account for nonlinearity in performance data. Various neural network architectures are analysed in comparison to linear, quadratic, and cubic regression. Experiments show that neural networks obtain low error and high correlation between predicted and published performance values, while cubic regression produces higher correlation than neural networks when more data is used for training than testing. An analysis of how the neural network architecture affects prediction is also performed. The proposed methods can be used to identify suitable hardware replacements.

ABSTRACT The paper presents design, simulation, implementation and testing of an inductive displacement sensor based on a Linear Variable Differential Transformer (LVDT) controlled by a single chip electronic module with 16 bit RISC microcontroller. LVDT device is widely used in hydraulic and pneumatic mechatronic systems for measuring physical quantities like displacement, force or pressure; it consists of two magnetic coupled coils with a common moving core; its displacement is converted in reluctance variation of magnetic circuit. Standard electronics for LVDT sensor conditioning is analog - quadrate oscillator, synchronous demodulator and amplifiers - but has its drawbacks - relative complex, hard to adjust, many components and packages, no connection to computer systems. The originality aspects of the work come from the unique method of finding displacement information by switching supply voltage in the coils of inductive device. This method uses only peripherals from a microcontroller so is low cost and easy to adjust. Present paper focuses on modelling and simulation of displacement measuring method but analyzes also implementation aspects for a real application (an electro hydraulic position control system).

The turning of hardened steels has been applied in many cases in production. It is an important process because all manufacturers are continu¬ally seeking ways to manufacture their parts with lower cost, higher quality, rapid setups, lower investment, and smaller tooling inventory while eliminating non-value added activities. Currently, the most important problem is concerned with the properties of the surface finish. This paper investigates the effect on surface finish and tool wear in a continuous dry turning of hardened steel when using a ceramic wiper tools. This report describes about the hard turning of AISI 4340 alloy steel by varying various parameters. The hard turning parameters are: Cutting speed, Feed and Depth of cut. The main objectives of this project, study the effect of parameters such as cutting speed, feed, depth of cut on surface roughness, tool wear and cutting force during the hard turning of AISI 4340alloy steel using ceramic wiper tool and the effect of various process parameters on hard tuning and optimize the cutting parameters. The dry turning experiments were performed on hardened AISI 4340 steel material using ceramic wiper tool .AISI 4340 steel having hardness: 48 (48–52) HRC was used.

Keywords— Hard turning, surface roughness, taguchi’s method.

This paper describes the design and testing of an autonomous omnidirectional robot to be used for moving radioactive materials while minimizing human exposure. The robot, called the OmniMaxbot, uses the Robot Operating System (ROS) to allow the individual components to communicate as well as to control the movement. Details about the hardware and software used in the OmniMaxbot are explained. Test results are presented for the navigation system based on the ROS packages: Global Planner, Base Local Planner, and Adaptive Monte Carlo Localization (AMCL). The test results confirm that the OmniMaxbot is capable of autonomously navigating to a mock ash can, lifting it, navigating to a drop-off location, putting the mock ash can down, backing away until the forks are clear of the mock ash can, and navigating to a standby location. These actions can be performed in areas with both static and dynamic obstacles.

ABSTRACT The Interactive Affect Design Diagram (IADD) transforms the Affect Grid into a tool for design. The process of designing an interactive affective sonic character begins by drawing a path in the IADD to specify the mapping from interaction to affect. The path for ZiZi is on the pleasure side of the diagram. A grumpy character would have a path in the other half, and a more complex character would both positive and negative Valences. The designer then selects a palette of sounds for the character and rates them on the Affect Grid. It takes less than an hour to rate the IADS corpus, so scaling another palette is practical. The next step is to shade regions that group sounds into interaction states. The final stage is to design the physical affordances of the object to guide the user in understanding how to interact (e.g. attract attention, suggest sitting, cue patting, etc.)

The 𝐀𝐗 = 𝐘𝐁 sensor calibration problem is very important in multiple fields such as robotics, computer vision or machine vision. In this type of problem, 𝐀 and 𝐁 are parameterizations of rigid body motions, while 𝐗 and 𝐘 is an unknown’s transformations. This research proposes a new approach for solving the 𝐀𝐗 = 𝐘𝐁 sensor calibration problem by mapping the 𝑺𝑬𝟑 classic formulation into an orthogonal dual tensors set representation. Using an isomorphism between 𝑺𝑬𝟑 and an orthogonal dual tensors set , these solutions are free of coordinates and can easily be put into practice.

A planetary trains for multi-speed is mainly used for automation in industries of automobile. A planetary
gear train is represented by a graph. It is identified by (i) number of vertices and their connectivity (ii) number of edges and their types and values (iii) fundamental circuits, their size and adjancy. Connectivity of individual link is a property characteristic of kinematic chain. It is possible to identify a planetary gear,therefore of using sets of labele (decimal numbers representing connectivity ) of individual link. The
connectivity of vertices , edges values and circuit values, related to design invariants which in turn indicates the possible behavior of the gear train ( for example capacity of power transmission, speed ratio and power carculation). For a specified degree – of – freedom a number of planetary gear kinematic chain (PGKCs) are selected and hence planetary gear trains (PGTs) can be formed with a given number of links
and joints so that designer must be able to select to select the best train from the view point of say velocity ratio and capacity of power transmission, space requirements etc. Synthesis of planetary gear kinematic chain and planetary gear trains has been studied(1-9). Almost all reported work deals with only
identification of distinct chains. Besides providing an atlus of chains, this in itself does not provide any help to designer in the selection of best possible gear train. In the present paper a simple method based of circuit property ( based on link-link shortest path distance and degree of links) is presented to determine the topology values of power transmission efficiency and topology power transmission capacity of five-links PGKCs and their distinct inversions

6 th International Conference on Advances in Mechanical Engineering (AME 2020) will provide an excellent international forum for sharing knowledge and results in theory, methodology and applications impacts and challenges of Mechanical Engineering. The conference documents practical and theoretical results which make a fundamental contribution for the development of Mechanical Engineering. The aim of the conference is to provide a platform to the researchers and practitioners from both academia as well as industry to meet and share cutting-edge development in the field. Authors are solicited to contribute to the conference by submitting articles that illustrate research results, projects, surveying works and industrial experiences that describe significant advances in the following areas, but are not limited to Topics of interest include, but are not limited to, the following • Advances of Aero space Technology • Artificial Intelligence and Expert Systems

—A tele-operated robotic catheterization system can significantly alleviate the surgeons from radiation exposure and fatigue resulted from long standing time with protective suits. Proximal force/torque signals imply the critical information about the contact forces between the catheter and its surrounding structures. This paper presents a compact, cost-effective force and torque sensing device suitable for catheterization procedures to measure the proximal force/torque signals of the input catheter. The device consists of a rotatable and linear retractable mechanism , a laser mouse sensor, and a coil spring. As the stretched, compressed, and twisted values vary due to the sliding joint, the force and torque signals can be computed based on the Hooke's law. The proposed sensing device has many advantages such as cost-effective, easily miniaturized and customized, and can be extended to the MRI compatible sensors. The experimental results with step response and time-varying loads by comparing to an ATI Nano17 force/torque sensor show that the Root Mean Squared Error (RMSE) for force and torque measurement are 0.042 N and 0.228 mNm respectively.

Questo testo raccoglie parte del materiale didattico utilizzato nei corsi di Meccanica Applicata e Meccatronica svolti presso la Facoltà di Ingegneria di Firenze. Esigenza comune di questi corsi era la necessità di fornire allo studente nozioni minime relative al funzionamento ed alla modellazione di alcuni dei più comuni sistemi di azionamento utilizzati in robotica, automazione e trazione di veicoli. Gli argomenti trattati sono un sotto-insieme di quella disciplina che dagli anni ’70 in poi viene definita meccatronica. In particolare sono inserite nozioni utili alla comprensione del funzionamento ed alla modellazione di alcune tipologie di attuatori elettrici, oleodinamici e pneumatici comunemente utilizzati in automazione. Alcune nozioni introduttive relative a meccanica delle trasmissioni, sensoristica, ed elettronica industriale sono inserite a complemento. In questa seconda edizione del 2015 alcune parti sono state emendate ed ampliate con particolare riferimento alla necessità di aggiornare il testo rispetto ai contenuti del corso. Trattandosi delle prime edizioni di un testo prodotto a partire da materiale didattico eterogeneo gli autori desiderano ringraziare tutti coloro che vorranno segnalare sviste ed inesattezze sicuramente presenti anche in questa seconda edizione che risulta ampliata rispetto alla precedente di oltre 100 pagine.

The paper presented here approaches to solve the complexity of an anthropomorphic robotic hand. Robotics is now the most advancing field and there has always been an intention of mimicking human-like actuation and behavior. An anthropomorphic hand is one of the approaches to imitate human-like operations. In this paper, the idea of developing an anthropomorphic hand with 15 degrees of freedom and 5 actuators has been elaborated as well as the mechanical design, control system, composition, and peculiarities of the robotic hand have been discussed. The hand has an anthropomorphic appearance and also can perform human-like functionalities, for example, gripping and hand gestures representation. The results reveal that the hand is designed as one part and does not need any kind of assembly and it exhibits an excellent weight lifting capacity, since it is made of flexible thermoplastic polyurethane (TPU) material, and its elasticity also ensures that the hand is safe for interacting with humans as well. This hand may be used in a humanoid robot as well as a prosthetic hand. The limited number of actuators makes the control simpler and the hand lighter.

The paper presented here approaches to solve the complexity of an anthropomorphic robotic hand. Robotics is now the most advancing field and there has always been an intention of mimicking human-like actuation and behavior. An anthropomorphic hand is one of the approaches to imitate human-like operations. In this paper, the idea of developing an anthropomorphic hand with 15 degrees of freedom and 5 actuators has been elaborated as well as the mechanical design, control system, composition, and peculiarities of the robotic hand have been discussed. The hand has an anthropomorphic appearance and also can perform human-like functionalities, for example, gripping and hand gestures representation. The results reveal that the hand is designed as one part and does not need any kind of assembly and it exhibits an excellent weight lifting capacity, since it is made of flexible thermoplastic polyurethane (TPU) material, and its elasticity also ensures that the hand is safe for interacting wit...

In this paper a quasi-static model of a parallel HEV powertrain is developed and applied for model based control. An effective set of features have been derived from a city drive cycle to characterize traffic congestion levels. This characterization model was later used with a power management strategy to control the torque split between engine and motor. Simulationswere carried on Indian Urban Cycle and the feasibility andeffectiveness of the control strategy is tested with the stateof charge (SOC) and fuel efficiency. The benefits of the model are demonstrated through simulation results.

Authentication is most important for security. There are many different systems for recognizing the person. The traditional authentication systems such as passwords have drawbacks. It is easy to be stolen. Biometric authentication systems provide the best security. However, a current technique that widely used for identification which is fingerprint has its own disadvantages. Furthermore, current techniques such as facial recognition, iris recognition and voice recognition that used to recognize person still compromise the security walls. In this recent years, electroencephalograph (EEG) signal has been discovered that it has the potential to become one of the biometric authentication systems. It is brain activities for a human. It is unique due to the EEG signal is different from person to person. In this paper, power spectral density analysis was used to analyse the electroencephalography (EEG) signal. K-nearest neighbor classifier was used for classification in this paper. The accuracy results of alpha (8-13 Hz), beta (13-30 Hz), combined alpha and beta (8-30 Hz) and combined theta, alpha, beta and gamma (4-40 Hz) frequency bands were compared. Overall, the percentage of accuracy was above 80%. The most suitable frequency bands for human EEG-based biometric identification in this experiment was the combined theta, alpha, beta, and gamma (4-40 Hz). The percentage of accuracy for this frequency band was the highest among the others which is 89.21%.

In this paper a preliminary analysis of the energetic performance of an industrial manipulator is presented. In particular, the paper investigates the effects of the trajectory planning on the overall energy consumption of the manipulator in a pick & place task, focusing also on the location of the path within the workspace. An electro-mechanical model of the actuators and the inverse dynamic model of the robot have been developed and used to estimate the robot energy consumption when executing a basic motion task. Results are then collected into energy consumption maps, showing how the location of the task within the robot workspace affects the energetic performance of the robot.

This paper describes subjects to address in modularity design for robots to find a practical and useful modular robot system using the present technology. It concerns module granularity, module scaling, hardware interface, and joint structure. The most suitable module granularity is on the simplified function level, where each module is self-contained, independent unit and the joint modular group consists of only joints with 1-DOE The modular manipulators can effectively achieve many tasks in practical applications without scaling on either joints or links, but with a common standard hardware interface. Furthermore, the joint module should be able to achieve rotation and bending in a single joint module of 1-DOE We propose a new design concept, TOMMS (TOshiba Modular Manipulator System), to produce a modular manipulator system that can be assembled into any desired configuration to provide adaptability to tasks, using a few kinds and types of modules as possible, without the weed for special handling such as modification of control software. A trial system, TOMMS-1, was developed to study the design of the hardware and software for TOMMS.

International Journal of Recent advances in Mechanical Engineering (IJMECH) is a peer-reviewed, open access journal that addresses the impacts and challenges of Mechanical Engineering. The journal documents practical and theoretical results which make a fundamental contribution for the development of Mechanical Engineering. This journal aims to bring together researchers and practitioners in all Mechanical Engineering aspects, including (but not limited to):

Autonomous wheelchairs are important tools to enhance the mobility of people with disabilities. Advances in computer and wireless communication technologies have contributed to the provision of smart wheelchairs to suit the needs of the disabled person. This research paper presents the design and implementation of a voice controlled electric wheelchair. This design is based on voice recognition algorithms to classify the required commands to drive the wheelchair. An adaptive neuro-fuzzy controller has been used to generate the required real-time control signals for actuating motors of the wheelchair. This controller depends on real data received from obstacle avoidance sensors and a voice recognition classifier. The wheelchair is considered as a node in a wireless sensor network in order to track the position of the wheelchair and for supervisory control. The simulated and running experiments demonstrate that, by combining the concepts of soft-computing and mechatronics, the implemented wheelchair has become more sophisticated and gives people more mobility.