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New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: closed (20 February 2025) | Viewed by 13789

Special Issue Editors

Prof. Dr. Kanstantsin Miatliuk

E-Mail Website
Guest Editor
Department of Robotics and Mechatronics, Faculty of Mechanical Engineering, Bialystok University of Technology, Wiejska 45A, 15-351 Bialystok, Poland
Interests: mechatronic systems design; robotics; design methods; systems sciences
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Henrik Gordon Petersen

E-Mail Website
Guest Editor
The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, 5230 Odense, Denmark
Interests: robotics; motion planning; robotic assembly; grippers
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The creation of a conceptual model of the mechatronic and robotic systems currently being designed is the actual task which is performed in the frames of automation and robotics, mechatronics, engineering design, computer-integrated manufacturing, computer-aided design, and other related subject fields. The conceptual model of the designed mechatronic object is usually created before generating the concrete mathematical models necessary to perform design tasks at the detailed design phase of the object life cycle. Among the widespread models and methods which are usually used at the conceptual and detailed design phases are models of classical mathematics and artificial intelligence, logical–dynamical and hybrid systems, knowledge-based engineering, etc.

The implementation of design approaches and a conceptual model, which take into account the abovementioned methods and allow for connected formal descriptions of a mechatronic system structure, its functional representation as a unit in its environment, mechatronic system environment, and human–computer interactions, is a challenging task. This model should be used at the conceptual design phase to allow for an easy transformation to the concrete mathematical models used at the detailed design phase of robotic and other mechatronic system life cycles. The conceptual model should also take into account the connected descriptions of mechatronic subsystems of different natures, i.e., mechanical, electronic, electromechanical, and computer.

The main aim of this Special Issue is to seek high-quality submissions that highlight emerging methods of the conceptual and detailed design of mechatronic systems and show the results of the design of specific robotic and other mechatronic systems, as well as the results of their practical implementation. 

Topics of interest include, but are not limited to, the following:

  • Engineering design methods;
  • Mechatronic systems;
  • Systems engineering;
  • Modular robots;
  • Robotics: companion robots, industrial robots, healthcare robots, and soft robots;
  • Human–computer interaction.

Prof. Dr. Kanstantsin Miatliuk
Prof. Dr. Henrik Gordon Petersen
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • conceptual design
  • mechatronic systems
  • robotic systems
  • human–computer interaction
  • design methods

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Related Special Issues

Published Papers (10 papers)

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Research

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17 pages, 5330 KiB  
Article
Design of a Robotic Work Cell Using Hierarchical Systems Approach and Visual Components Software
by Kanstantsin Miatliuk, Krystian Koc, Atakan Eliacik, Paulo E. Miyagi and Marcosiris A. O. Pessoa
Appl. Sci. 2025, 15(9), 4744; https://doi.org/10.3390/app15094744 - 24 Apr 2025
Viewed by 100
Abstract
The use of Hierarchical Systems (HS) technology in the conceptual design of the RWC (Robotic Work Cell) is proposed in the work. In comparison with other widespread approaches, the conceptual model of the RWC constructed in the HS formal basis contains connected models [...] Read more.
The use of Hierarchical Systems (HS) technology in the conceptual design of the RWC (Robotic Work Cell) is proposed in the work. In comparison with other widespread approaches, the conceptual model of the RWC constructed in the HS formal basis contains connected models of RWC subsystems, their processes, the RWC structure, its dynamic presentation as the unit in its environment, and the RWC coordinator. The design and control system of RWC is presented in the form of an HS coordinator. For the detailed design of the selected RWC, the Visual Components system was applied in the work. First, the conceptual model of the RWC is presented in the paper. The application of the Visual Components program system for the detailed design of the RWC is described after that. Third, the laboratory experiment with the KUKA KR16-2 F robot is briefly considered. The originality of the proposed work lies in the application of the novel HS technology in the creation of the conceptual model and design of the selected RWC. The model developed at the conceptual design phase is coordinated with the model created at the detailed design phase within the framework of the Visual Components system. The effectiveness of the proposed HS approach in comparison with other known design, AI, and mathematical methods lies in the possibility of solving RWC synthesis and analysis design problems within the framework of one common formal HS model using an HS coordinator that connects the structure of the system being designed with its function, predicting, in this way, the system’s dynamics in its environment, and performing RWC control. The reliability of the model proposed was verified while performing the design and control tasks of the presented RWC and various other mechatronic objects. The results and conclusive remarks are finally presented in the paper. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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40 pages, 29209 KiB  
Article
Integration of Deep Learning Vision Systems in Collaborative Robotics for Real-Time Applications
by Nuno Terras, Filipe Pereira, António Ramos Silva, Adriano A. Santos, António Mendes Lopes, António Ferreira da Silva, Laurentiu Adrian Cartal, Tudor Catalin Apostolescu, Florentina Badea and José Machado
Appl. Sci. 2025, 15(3), 1336; https://doi.org/10.3390/app15031336 - 27 Jan 2025
Cited by 1 | Viewed by 1270
Abstract
Collaborative robotics and computer vision systems are increasingly important in automating complex industrial tasks with greater safety and productivity. This work presents an integrated vision system powered by a trained neural network and coupled with a collaborative robot for real-time sorting and quality [...] Read more.
Collaborative robotics and computer vision systems are increasingly important in automating complex industrial tasks with greater safety and productivity. This work presents an integrated vision system powered by a trained neural network and coupled with a collaborative robot for real-time sorting and quality inspection in a food product conveyor process. Multiple object detection models were trained on custom datasets using advanced augmentation techniques to optimize performance. The proposed system achieved a detection and classification accuracy of 98%, successfully processing more than 600 items with high efficiency and low computational cost. Unlike conventional solutions that rely on ROS (Robot Operating System), this implementation used a Windows-based Python framework for greater accessibility and industrial compatibility. The results demonstrated the reliability and industrial applicability of the solution, offering a scalable and accurate methodology that can be adapted to various industrial applications. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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30 pages, 5182 KiB  
Article
A Novel Deep Learning Approach for Yarn Hairiness Characterization Using an Improved YOLOv5 Algorithm
by Filipe Pereira, Helena Lopes, Leandro Pinto, Filomena Soares, Rosa Vasconcelos, José Machado and Vítor Carvalho
Appl. Sci. 2025, 15(1), 149; https://doi.org/10.3390/app15010149 - 27 Dec 2024
Cited by 2 | Viewed by 723
Abstract
In textile manufacturing, ensuring high-quality yarn is crucial, as it directly influences the overall quality of the end product. However, imperfections like protruding and loop fibers, known as ‘hairiness’, can significantly impact yarn quality, leading to defects in the final fabrics. Controlling yarn [...] Read more.
In textile manufacturing, ensuring high-quality yarn is crucial, as it directly influences the overall quality of the end product. However, imperfections like protruding and loop fibers, known as ‘hairiness’, can significantly impact yarn quality, leading to defects in the final fabrics. Controlling yarn quality in the spinning process is essential, but current commercial equipment is expensive and limited to analyzing only a few parameters. The advent of artificial intelligence (AI) offers a promising solution to this challenge. By utilizing deep learning algorithms, a model can detect various yarn irregularities, including thick places, thin places, and neps, while characterizing hairiness by distinguishing between loop and protruding fibers in digital yarn images. This paper proposes a novel approach using deep learning, specifically, an enhanced algorithm based on YOLOv5s6, to characterize different types of yarn hairiness. Key performance indicators include precision, recall, F1-score, mAP0.5:0.95, and mAP0.5. The experimental results show significant improvements, with the proposed algorithm increasing model mAP0.5 by 5% to 6% and mAP0.5:0.95 by 11% to 12% compared to the standard YOLOv5s6 model. A 10k-fold cross-validation method is applied, providing an accurate estimate of the performance on unseen data and facilitating unbiased comparisons with other approaches. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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22 pages, 8717 KiB  
Article
Computer-Integrated Surface Image Processing of Hydrogen-Saturated Steel Wear Products
by Alexander I. Balitskii, Valerii O. Kolesnikov, Valentina O. Balitska, Ljubomyr M. Ivaskevych, Jakub M. Dowejko, Bartosz J. Pilecki and Maria R. Havrilyuk
Appl. Sci. 2024, 14(24), 11762; https://doi.org/10.3390/app142411762 - 17 Dec 2024
Viewed by 1134
Abstract
This paper briefly describes the conceptual direction of the application of computer vision (CV) methods that involve controlling the morphology of hydrogenated wear particles (WPs). During long-term operation, in the surface and subsurface layers of the materials of parts in the tribo-joint, changes [...] Read more.
This paper briefly describes the conceptual direction of the application of computer vision (CV) methods that involve controlling the morphology of hydrogenated wear particles (WPs). During long-term operation, in the surface and subsurface layers of the materials of parts in the tribo-joint, changes in the micromechanisms of fracture occur, which change the morphology of WPs. It has been shown that the developed computer program (CP) can be used to monitor the fractography of the surface of wear particles, and, accordingly, it is possible to control changes in the surface morphology. Therefore, it is possible to predict the operational stability and durability of the tribo-joint. A conceptual scheme for determining the performance of a tribotechnical assembly depending on the determined parameters of WPs is presented. The modes marked on it, including normal operation, transient, run-in, and catastrophic failure, can be evaluated by robotics approaches. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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19 pages, 3184 KiB  
Article
Deep Reinforcement Learning-Assisted Teaching Strategy for Industrial Robot Manipulator
by János Simon, László Gogolák and József Sárosi
Appl. Sci. 2024, 14(23), 10929; https://doi.org/10.3390/app142310929 - 25 Nov 2024
Cited by 1 | Viewed by 1358
Abstract
This paper introduces an innovative algorithm aimed at enhancing robot learning using dynamic trajectory modeling and time-dependent state analysis. By integrating reinforcement learning (RL) and trajectory planning, the proposed approach enhances the robot’s adaptability in diverse environments and tasks. The framework begins with [...] Read more.
This paper introduces an innovative algorithm aimed at enhancing robot learning using dynamic trajectory modeling and time-dependent state analysis. By integrating reinforcement learning (RL) and trajectory planning, the proposed approach enhances the robot’s adaptability in diverse environments and tasks. The framework begins with a comprehensive analysis of the robot’s operational space, focusing on Cartesian coordinates and configuration systems. By modeling trajectories and states within these systems, the robot achieves sequential tracking of arbitrary states, facilitating efficient task execution in various scenarios. Experimental results demonstrate the algorithm’s efficacy in manipulation tasks and path planning in dynamic environments. By integrating dynamic trajectory modeling and time-dependent state analysis, the robot’s adaptability and performance improve significantly, enabling precise task execution in complex environments. This research contributes to advancing robot learning methodologies, particularly in human–robot interaction scenarios, promising applications in manufacturing, healthcare, and logistics. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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24 pages, 12289 KiB  
Article
Kinematic and Workspace Analysis of RRU-3RSS: A Novel 2T2R Parallel Manipulator
by Paul Diego, Erik Macho, Saioa Herrero, Francisco J. Campa, Mikel Diez, Javier Corral and Charles Pinto
Appl. Sci. 2024, 14(20), 9491; https://doi.org/10.3390/app14209491 - 17 Oct 2024
Viewed by 1019
Abstract
This paper presents a novel parallel manipulator capable of generating two translations (2T), inside a vertical plane, and two rotations (2R), about horizontal axes, which are required in aerospace, manufacturing and rehabilitation fields. These four degrees of freedom are reached by means of [...] Read more.
This paper presents a novel parallel manipulator capable of generating two translations (2T), inside a vertical plane, and two rotations (2R), about horizontal axes, which are required in aerospace, manufacturing and rehabilitation fields. These four degrees of freedom are reached by means of a unique RRU and three RSS kinematic chains connected to a rhomboid-shaped mobile platform. The kinematic analysis of the new manipulator is provided, which includes the resolution of the inverse position problem and the velocity equations relating to input and output variables. Additionally, a methodology is proposed for obtaining the workspace free of singularities, collisions and kinematic joint range limitation. This systematic methodology allows designers to identify the critical factors affecting the workspace and, thus, to rearrange the mechanical design accordingly for optimum path planning. We represent the workspace using its two-dimensional subspaces (i.e., translational and rotational workspace). The results are analyzed for different working modes of the manipulator to see its potential use in applications wherein 2T2R motion is necessary. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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18 pages, 2685 KiB  
Article
Reconfigurable Robotic Exercising Companion
by W. K. R. Sachinthana, I. D. Wijegunawardana, S. M. Bhagya P. Samarakoon, M. A. Viraj J. Muthugala and Mohan Rajesh Elara
Appl. Sci. 2024, 14(16), 7249; https://doi.org/10.3390/app14167249 - 17 Aug 2024
Cited by 1 | Viewed by 881
Abstract
Regular exercise plays a crucial role in promoting overall well-being in today’s lifestyle. However, individuals often find it challenging to properly execute exercises, including maintaining correct postures and appropriate movement speeds. Robotic companions have emerged as potential solutions to assist and motivate users [...] Read more.
Regular exercise plays a crucial role in promoting overall well-being in today’s lifestyle. However, individuals often find it challenging to properly execute exercises, including maintaining correct postures and appropriate movement speeds. Robotic companions have emerged as potential solutions to assist and motivate users during exercise sessions. This research paper proposes a novel robot companion designed for exercise scenarios using a reconfigurable robot. In contrast to existing non-reconfigurable robotic companions, the use of a reconfigurable robot provides added flexibility in generating emotions. The system incorporates a module that utilizes fuzzy logic to evaluate the correctness of exercise performance based on posture variations and movement speeds. The robot generates emotions and provides feedback to users based on the exercise correctness score. The robot expresses emotions through reconfigurations, motion patterns, and variations in robot speed. This emotion-based feedback could be helpful for creating engaging and interactive exercise experiences. Apart from emotion generation, the robot utilizes vocal cues as feedback. Experimental results validate the effectiveness of the proposed system in evaluating exercise correctness and demonstrating meaningful emotion transitions. The findings of this work contribute to the development of innovative robotic companions for improving exercise adherence and overall well-being. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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20 pages, 32677 KiB  
Article
Estimation of Motion Capabilities of Mobile Platforms with Three Omni Wheels Based on Discrete Bidirectionality Compliance Analysis
by Elena Rubies, Jordi Palacín, Ricard Bitriá and Eduard Clotet
Appl. Sci. 2024, 14(16), 7160; https://doi.org/10.3390/app14167160 - 15 Aug 2024
Viewed by 914
Abstract
This paper presents a procedure for estimating the motion capabilities of an omnidirectional mobile platform with three omni wheels arbitrarily distributed and oriented. This procedure is based on the analysis of the bidirectionality compliance between the inverse and forward kinematics of a mobile [...] Read more.
This paper presents a procedure for estimating the motion capabilities of an omnidirectional mobile platform with three omni wheels arbitrarily distributed and oriented. This procedure is based on the analysis of the bidirectionality compliance between the inverse and forward kinematics of a mobile platform for a wide set of discrete motion commands. This procedure has been applied to analyze eleven alternative mobile platform configurations with three omni wheels. The estimation of the omnidirectional motion capabilities of these platforms agrees with state-of-the-art methods while providing new differentiated information on the translational capabilities of each platform. The procedure can be applied in the design stage of new omnidirectional mobile platforms in order to verify the motion capabilities of new designs with omni wheels. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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Review

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22 pages, 3339 KiB  
Review
Robotic Button Mushroom Harvesting Systems: A Review of Design, Mechanism, and Future Directions
by Bikram Koirala, Abdollah Zakeri, Jiming Kang, Abishek Kafle, Venkatesh Balan, Fatima A. Merchant, Driss Benhaddou and Weihang Zhu
Appl. Sci. 2024, 14(20), 9229; https://doi.org/10.3390/app14209229 - 11 Oct 2024
Cited by 4 | Viewed by 2752
Abstract
The global demand for button mushrooms has surged in recent years, driven by their health benefits, creating a significant challenge for the mushroom industry in meeting this increasing demand. The increasing reliance on human labor, which is becoming unsustainable due to labor shortages [...] Read more.
The global demand for button mushrooms has surged in recent years, driven by their health benefits, creating a significant challenge for the mushroom industry in meeting this increasing demand. The increasing reliance on human labor, which is becoming unsustainable due to labor shortages and rising wage costs, highlights the urgent need for automated harvesting solutions. This review examines the integration of automated systems in button mushroom harvesting, delving into the key components such as robots, mechanisms, machine elements, programming, and algorithms. It offers a thorough analysis of the performance, design, operational mechanisms, and advantages and limitations of robotic systems, comparing the different methods employed in automated harvesting. This paper compares the performance of all the mushroom harvesters, including the commercially available ones with manual harvesting, and identifies their potential and limitations. The commercial harvesters are shown to pick 2000 mushrooms per hour on average, which is similar to how much a skilled worker picks at the same time. However, commercial automation harvesting has a relatively low success rate, high initial cost, high operating cost, and energy consumption, identifying areas for future research and challenges. This paper serves as a valuable resource for researchers and industry professionals striving to advance automated harvesting technology and improve its efficiency in meeting the rising demand for button mushrooms. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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25 pages, 2925 KiB  
Review
Assessment of Exoskeletons for Work Activities: The Dilemma behind the Product
by Jérémy Lefint and António B. Moniz
Appl. Sci. 2024, 14(16), 7108; https://doi.org/10.3390/app14167108 - 13 Aug 2024
Cited by 1 | Viewed by 2441
Abstract
The introduction of exoskeletons by many companies has often resulted in potential users not wanting to wear them. Evaluations of the exoskeleton reveal benefits of use, including ergonomic advantages and a reduction of work-related musculoskeletal disorders. How can this contradiction be explained? By [...] Read more.
The introduction of exoskeletons by many companies has often resulted in potential users not wanting to wear them. Evaluations of the exoskeleton reveal benefits of use, including ergonomic advantages and a reduction of work-related musculoskeletal disorders. How can this contradiction be explained? By searching the available literature, we can identify the methods used to develop these devices and the methods employed to evaluate their acceptance and benefit. By looking at the product from different viewpoints and involving different disciplines, we will get to the root of this discrepancy. Our findings indicate that the product definition, development focus, and evaluation methods do not sufficiently and adequately address the primary goal of exoskeletons. The development of such devices should be prioritized not only for the delivery of support but also for the motivation of the user. Finally, we put forward the proposal to discuss the establishment of a novel development method for the prospective elaboration of exoskeletons. Full article
(This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems: 2nd Edition)
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