Papers by Keyword: Robotics

Abstract: Across land, sea and air, nature has inspired researchers in countless ways, showcasing unique approaches to enhance grasping and manipulation techniques within robotics. The Flora and Fauna have served as ideas for enhanced flexibility, bending, maneuverability and adaptability for various grippers and manipulators in recent times. This study intends to explore the various fabrication methods, material choices and actuation processes used for these bioinspired robotic structures, as well as highlight the different applications, advantages and challenges. As traditional robots lacked the ability to work in unstructured environments and handle delicate operations, this triggered the need for bioinspired design. Through this paper, we connect the principles from nature to engineering, identifying the gap to achieve more efficient, versatile and durable robotic manipulators.

Abstract: This study investigates the deployment of adaptive neural network-based control strategies for nonlinear dynamic systems, emphasizing the integration of Echo State Networks (ESNs) into a feedforward-feedback control architecture. Traditional controllers relying on precise mathematical modeling often fail to cope with the complexity of systems exhibiting high nonlinearity, time-varying parameters, and external disturbances. The proposed ESN-based approach harnesses reservoir computing to construct a lightweight, data-driven model capable of accurately capturing system dynamics in real time. The feedforward module provides anticipatory control actions, while the feedback loop compensates for deviations, enabling rapid convergence and robustness against parametric drift. Comparative analysis with conventional PID and LQR controllers reveals superior performance in terms of tracking accuracy, stability, and noise resilience. Preliminary simulations predict reduced steady-state error and improved dynamic response even under uncertain operating conditions. This architecture presents a scalable and efficient alternative for advanced applications in robotics, aerospace, and industrial process control. The findings affirm the viability of ESNs in redefining adaptive control paradigms by combining interpretability, computational efficiency, and real-world adaptability. Reference to this paper should be made as follows:MCE 2025, MCE825. (2025) ‘Adaptive neural network-based feedforward-feedback controller for nonlinear dynamic systems.

Abstract: The increasing adoption of automation and robotics to ease the complexities and stress involved in the transportation sector of the world has given birth to autonomous driving vehicles. It began with automating some parts of the system, such as the brake system, the gear system, navigation, and the like; these have grown to full autonomous systems of automobiles. However, autonomous vehicle designs available to date were all designed for urban communities where there are paved roads with signs. There is therefore a need to extend the technology to rural environments. The unique challenges presented by rural areas, such as complex and dynamic terrains, varying road conditions, limited infrastructure, and sparse population density, necessitate a dedicated focus on simulation. This study aims to contribute by designing and implementing a 3D simulation platform tailored to Nigerian road challenges. The methodology involves the design and simulation of an autonomous vehicle (AV) in a 3D environment using Unity Engine technology and C# programming. It covers the creation of a virtual environment that accurately represents Nigerian landscapes, the design of the AV, including the integration of virtual components, and the programming of vehicle dynamics. The programming of the autonomous vehicle involves path finding through Unity's NavMesh, sensor detection using ray casting, and a system for adjusting speed and steering based on sensor data. The methodology also outlines the development of a user interface for real-time information display. The modeled autonomous driving vehicle was tested by introducing obstruction from a 1m to 5m range while the vehicle was at a steady speed of 50 mph, and it stopped within an average period of 0.3 s. The distance of the obstruction was also fixed at 5m, while the speed of the vehicle was varied as 10mph, 20mph, 30mph, 40 mph, and 50 mph, and it stopped at 0.1 0.1s, 0.18s, 0.26s, 0.29 s, and 0.31 s, respectively. This study has shown the possibility of using autonomous driving vehicles in rural communities and on unpaved roads, which are common in developing countries of the world.

Abstract: This paper presents the design and development of a biomimetic robot utilizing peristaltic locomotion as a method of movement. Inspired by nature, the robot addresses key limitations encountered in conventional robotic systems, such as imbalance affecting the center of mass and restricted adaptability to complex terrains. Integration of Internet of Things (IoT) technology enables real-time data collection, contributing to enhanced performance and efficiency across diverse environments. The utilization of advanced 3D printing techniques facilitates rapid prototyping and customization of robot components. Experimental evaluation demonstrates the effectiveness of the biomimetic approach, highlighting its potential for applications in exploration, disaster response, and healthcare. Analysis of results informs future research directions, focusing on further optimization and integration of emerging technologies to advance robotic capabilities.

Abstract: Technological progress introduces new ideas and methods that eventually end up being in another technology. One technology can not provide a solid ground for the future and, thus, technologies intervene with each other. A combination of technologies allows the achievement of greater application in different fields and areas and better performance and functionality. The Internet of Things is not a new idea, but due to the improvement of other technology can be used in different industries to achieve better optimization. Internet of Things can be found in different industries, but the focus of this work is in the field of robotics. Therefore, the following work will try to illustrate the use of technology in this field. A brief definition of the Internet of Things will be covered. The application of the technology in robotics will be outlined with its future perspectives. The advantages and drawbacks of the Internet of Things in the field of robotics will be discussed at the end.

Abstract: Chemical etching is an integral part of metallographic sample preparation. Maintaining precise etch times can be difficult and therefore repeatability is limited. The aim of this work is to improve the repeatability of sample preparation using robotization. Prior to etching, metallographic samples of S355J2 (1.0577) structural steel were finely mechanically polished. For verification, 15 specimens were prepared using an in-house designed automated etching machine with a built-in 5-axis robotic arm and 15 specimens prepared manually by an expert metallographer. The samples were etched with Kourbatoff no. 4 reagent for 8 seconds in a beaker placed in an ultrasonic cleaner at 80 kHz. The samples were then cleaned in 7 beakers of cleaning fluid also placed in the ultrasonic cleaner. The robotic etching and cleaning process was optimized and the quality of the resulting surface is at least as good as that of the samples prepared by an expert metallographer. The surfaces were compared using a light optical microscope (LOM) and a confocal laser scanning microscope (CLSM). The repeatability of the preparation process is a key aspect for obtaining a large dataset of steel microphotographs for training a deep neural network that will be used in future research.

Abstract: Industrial use of composite materials requires an increasingly advanced knowledge of technical textiles mechanical properties to control the manufacturing process and guarantee the performances of the finished products. Among the qualities that influence greatly the shaping process, theshear deformability is key for the forming of complex composite parts with double curves geometries. On the other hand, the stiffening of the behavior as the shearing rise is responsible for the occurrence of the wrinkling defect. This shearing behavior of the textile reinforcement is difficult to determinebecause it is non-linear and it coexists with a tensile stiffness of the fibers that is several orders of magnitude higher. Furthermore, shear and tension are coupled due to the weaving of the textiles. Now, few experimental methods have been proposed to measure the tension behavior of fabric as a function of its shear level because dedicated devices are needed for this investigation, capturing the shear-tension coupled behavior of fabric is then a difficult task. This paper deals with the robotization of the fabric shear-tension effect characterization. A KUKA robot associated with a force/torque sensor is utilized, taking advantage of its benefits in the ability to control the state of yarn tensions during shear tests while keeping track of the desired trajectory as enabled by the hybrid position-force control feature. This ensures precise positioning of a sample fabric and accurate contact forces. An anisotropic hyperelastic constitutive model for fabrics, based on the continuum theory of mechanics that takes into account the shear-tension coupling effect was formulated analytically and numerically simulated using Matlab software. An experimental test was then implemented to validate the proposed model. The results from a uni-axial tensile test and shear test under constant uni-axial tensile loading were obtained and analyzed to characterize the test sample. The model parameter identification was performed and presented in detail.

Abstract: Tungsten Inert Gas welding process (TIG) has been widely used in industries. A robotic arm has been adopted in the industry with objectives to replace or efficiently improved some severe welding conditions where it is dangerous for human and to increase productivity and quality. This research is aimed to find the optimal conditions of TIG welding process on AISI 304 stainless steel. The design of experiments used a statistical method to determine the optimal TIG welding conditions providing the strongest tensile strength across the weldment. The fractional factorial experimental design and then the central composite design were used as a response surface method to find the optimal TIG welding conditions for AISI 304 stainless steel using robotics system. The statistically significant factors and their optimal values are the welding current (136 Ampere), welding speed (13 cm/min), wire feed rate (93 cm/min), and the arc gap (2.5 mm). After that, the residual stress caused by TIG welding at the optimal condition was measured by X-ray diffraction (XRD) technique. The results showed that the weldment obtained from the optimal welding conditions provides compressive residual stresses which cause the materials to be stronger.

Abstract: – Over recent year, robotics has made a drastic impact in a variety of different markets. Although having many advantages from, safer workspace to speed and efficiency there are several drawbacks all ranging from their lack of ability to execute functions and tasks easily performed by humans. This is mainly due to their lack of ability to implement touch and haptic feedback. In this work, we show the use and applicability of ultra-thin graphene foam (GRF), with polydimethylsiloxane (PDMS) embedded into and over the structure, as an active layer in piezoresistive based pressure sensors for use in robotic touch sensing applications. It has been demonstrated in this work that thin GRF/PDMS-GRF consisting of a few layers of graphene is able to present sensitivity to pressures within the range of 0 to >100kPa. Although pressure sensitivities are not yet comparable to those of current work, it must be noted that the GRF used in this work is much thinner in comparison, consisting of only several layers of graphene.

Abstract: In this paper, we propose to use a spectrometer (SCIO) manipulated by a robotic arm to determine the carbohydrates content in fruits and vegetables. The vegetable products are moved on a conveyor belt according to the robotic process. In order to increase the economic efficiency, the robotic system can be placed in a detachable module that can be easily transported in various places for spectrometric analysis. After the analysis, the robotic system will place on the fruit / vegetable packaging a label containing information regarding the carbohydrates concentration in fruits / vegetables.