K.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-714410120241201A Biomechatronic Approach to Evaluating the Security of Wearable Devices in the Internet of Medical Things110197544ENYasVaseghiDepartment of Systems and Control, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, IranBehnazBeharaFaculty of Electrical Engineering, K. N. Toosi University of TechnologyMehdiDelrobaeiFaculty of Electrical Engineering, K. N. Toosi university of technology, Tehran, Iran0000-0002-4188-6958Journal Article20240427The Internet of Medical Things (IoMT) has the potential to revolutionize healthcare by reducing human error and improving patient health. For instance, wearable smart infusion pumps can accurately administer medication and integrate with electronic health records. These pumps can alert healthcare professionals or remote servers when an operation fails, preventing distressing incidents. However, as the number of connected medical devices increases, so does the risk of cyber threats. Wearable medication devices based on IoT attached to patients' bodies are particularly vulnerable to significant cyber threats. Since they are connected to the internet, these devices can be exposed to potential harm, which can disrupt or degrade device performance and harm patients. Therefore, it is crucial to establish secure data authentication for internet-connected medical devices to ensure patient safety and well-being. It is also important to note that the wearability option of such devices might downgrade the computational resources, making them more susceptible to security risks. We propose implementing a security approach for a wearable infusion pump to mitigate cyber threats. We evaluated the proposed architecture with 20, 50, and 100 users for 10 minutes and repeated the evaluation 10 times with two infusion settings, each repeated five times. The desired volumes and rates for the two settings were 2 ml and 4 ml/hr and 5 ml and 5 ml/hr, respectively. The maximum error in infusion rate was measured to be 2.5%. We discuss the practical challenges of implementing such a security-enabled device and suggest initial solutions.https://ijr.kntu.ac.ir/article_197544_f710fd2c04c1bea477ea0d2cfc61767f.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-714410120241201Modeling and Sensitivity Analysis of Stick-Slip Piezoelectric Rotary Inertia Motor1121206059ENMohammadAzadkhaniMechanical Engineering Department, Amirkabir University of TechnologyFatemehKarimiMechanical Engineering Department, Amirkabir University of TechnologyHamedGhafariradMechanical Engineering Department, Amirkabir University of TechnologyMohammadZareinezhadNew Technologies Research Center, Amirkabir University of TechnologyJournal Article20240618This paper presents a comprehensive investigation about piezoelectric inertia motors. The study progressed with the meticulous fabrication of a rotational piezomotor, allowing for empirical data collection. A mathematical model was then developed, and system parameters were identified. A comparative analysis revealed significant improvements in model accuracy when Lu-Gre friction was employed, reducing the root mean square error (RSME) by approximately six-fold compared to previous models using Coulomb friction. Following model validation, a sensitivity analysis assessed the impact of parameter variations—specifically voltage, frequency, friction coefficient, and duty ratio—on the motor's performance. It provides valuable insights into how the physical parameters influence the motor's movement. Results indicated that the duty ratio had the most substantial effect on rotor speed, followed by frequency and voltage, while an inverse relationship was found between the friction coefficient and rotational speed.https://ijr.kntu.ac.ir/article_206059_63b17787c14d33a2dd71ca4e267db914.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-714410120241201Automatic Path Planning for GMAW Welding on Locomotive Bogie in Low Contrast by Welding Robot2231212358ENAlirezaRezaeeDepartment of Mechatronics Engineering, School of Intelligent Systems, College of Interdisciplinary Science and Technology, University of Tehran, Tehran, Iran0000-0001-6628-5545AmirhosseinSafdariDepartment of Mechatronics Engineering , School of Intelligent Systems, College of Interdisciplinary Science and Technology, University of Tehran,Tehran,Iran0009-0007-4689-6518Mohammad JavadFazliSchool of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran0009-0007-4303-2589Journal Article20240626A locomotive is a rail vehicle that provides the driving power for a train. Railway vehicles consist of multiple components, among which bogies play a critical role as key load-bearing parts. They support the weight of the vehicle body and mitigate the impact of track irregularities to ensure smooth and safe operation. To achieve a lightweight assembly, bogie frames are typically constructed using welded structures. Welding is one of the most crucial methods in modern industrial manufacturing and is widely employed in the design of lightweight structures. However, during the welding process, major defects such as weld deformation and residual stresses are inevitable, which can affect assembly accuracy and increase production costs. Traditionally, this welding process is carried out manually, requiring high operator expertise and significant time to execute. This paper presents a welding path planning algorithm aimed at achieving higher welding quality, reducing the overall welding process time, eliminating the production process's dependence on the skills of specific operators, and enhancing the precision in manufacturing various structures used in the rail industry, such as locomotive bogies. The use of image processing for the identification and path planning of welding joints reduces the high costs associated with procuring online laser tracking devices. Moreover, this paper introduces a comprehensive method for processing the entire image and providing the welding path for offline robot programming without any prior knowledge of the joint location. Automatically and accurately determining the seam locations via the robot represents a significant advancement toward automating the arc welding process. The proposed methods have been tested and validated using a laboratory prototype of a 2DOF planar welding robot. The results confirm an accuracy of 2 mm for parabolic joints and 3 mm for straight joints, meeting the precision requirements of small and medium-sized industries.https://ijr.kntu.ac.ir/article_212358_9e86272bd93c0b9a94f27b9671153b40.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-714410120241201A Novel Path Planning and Obstacle Avoidance Method for Considerable Localizing Error3242212721ENSeyyed SaiedKazemiDepartment of Mechanical Engineering, University of Tehran, Tehran, IranSeyed FoadHosseini MusaDepartment of Mechanical Engineering, University of Tehran, Tehran, IranJournal Article20180717Mobile robots hold significant potential for a broad spectrum of applications in industry and various service domains. Consequently, extensive research efforts have been devoted to addressing deficiencies and improving their performance. Among the critical challenges in robotics is obstacle avoidance, which enables the robot to navigate around unexpected objects encountered along a planned path. Numerous methods and algorithms have been proposed to prevent collisions between robots and detected obstacles. These approaches commonly rely on the crucial assumption of having precise knowledge of the robot's position at every step. This paper introduces a novel method for obstacle avoidance in indoor environments, leveraging an occupancy grid map of a partially known space and the A* algorithm. The proposed method addresses scenarios with imprecise information about the robot's state. Initially, a preliminary occupancy grid map is refined and transformed into an enhanced map using an artificial neural network. Subsequently, the A* algorithm is applied to the modified map. Additionally, an algorithm is developed to guide the robot from a starting point to a target endpoint. When encountering a newly emerged obstacle, the robot dynamically adapts its path to reach the goal while avoiding the obstacle. The proposed method's efficacy is validated through simulations of a two-wheeled robot in three distinct scenarios. Results demonstrate the method’s capability to navigate the robot effectively within an indoor environment, even with imprecise state information. The algorithm ensures the robot maintains a safe distance from obstacles, showcasing its potential for practical applications.https://ijr.kntu.ac.ir/article_212721_84d9c6483eee155b80f287ddda8654a1.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-714410120241201Dynamics, Energetics, and Parameter Study of Double Support Phase in Biped Gait with a Linear Force Increment4350212534ENMahdieTermehMechanical Eng. Dpt., Shahid Chamran University Ahvaz, IranAbolfazlZare-ShahabadiDepartment of Mechanical Engineering, National University of Skills(NUS), Tehran, IranJournal Article20170903This paper is a study on dynamics of a two-link biped in level walking, focusing on the double support phase . For a mechanical model with generality in leg mechanism dynamics is undetermined including one degree of redundancy for planar bipeds, two for spatial ones. Unlike the common optimization-based approaches for solving such distribution problem, we consider a more simple assumption that is computationally light. Dynamics and state behavior of the resultant solution is studied on the phase plane as well as in terms of actuation and energy consumption. The effect of variations in the model and motion parameters as well as initial conditions is investigated on determinant features of gait such as the rear leg force, period of DSP, energy consumption, and step length.https://ijr.kntu.ac.ir/article_212534_5e97cdd6836409f21219a9629a9f1bf7.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-714410120241201Study of Lateral Vibrations of a Prismatic Actuator and Its Effects on the Accuracy of the 6UPS Stewart Robot5160212693ENAminNourianCenter of Excellence on Soft Computing and Intelligent Information Processing, Ferdowsi University of Mashhad, Mashhad, IranAliAkbarzadehCenter of Excellence on Soft Computing and Intelligent Information Processing, Ferdowsi University of Mashhad, Mashhad, IranJournal Article20161210Many robotic mechanisms rely on rotating linear (prismatic) actuators, whose performance and accuracy can be significantly affected by lateral vibration. In this study, the vibrational behavior of a flexible rotating prismatic actuator and its impact on the end-effector accuracy of a 6UPS Stewart robot are investigated. First, an analytical model is developed using the assumed modes method to evaluate the lateral vibration of a single actuator, and its results are compared with a finite element (FEM) analysis in ABAQUS. The close agreement between the two approaches confirms the validity of the numerical model. Next, the entire 6UPS Stewart robot is simulated with elastic actuators, and the resulting trajectory of the end effector (or center of mass of the payload) is compared against the corresponding rigid-robot motion. The analyses show that actuator flexibility and vibration can introduce noticeable deviations; reaching up to 6% in the end-effector’s position; highlighting the need to account for vibrational effects in the design and control of high-precision parallel robots.https://ijr.kntu.ac.ir/article_212693_049d838e5d4e7505b68212c878c7b46a.pdf