Path planning and control of a mobile robot, in a dynamic environment, has been an important research topic for many years. In this paper an algorithm for autonomous motion of a mobile robot is proposed, with mecanum wheels, to reach a goal while avoiding obstacles through the shortest path in a dynamic environment. The proposed method uses a hybrid $A^{⁎}$ and a velocity obstacle algorithms for path planning and obstacle avoidance. The $A^{⁎}$ algorithm is implemented to explore the shortest path from starting position to the goal while avoiding all the static obstacles. However, in real time applications the dynamic obstacles need to be avoided, therefore, for such a case velocity obstacle algorithm is unified with the $A^{⁎}$ algorithm. Initially, the proposed algorithm is verified through simulations. Then it is implemented using experimental setup in real time environment using single and multiple static obstacles as well as on a dynamic obstacle. It can be observed that the robot reaches the goal, effectively by avoiding static and dynamic obstacles. Moreover, the performance of the proposed work is evaluated through qualitative comparison between proposed method and recently published work, showing that the proposed algorithm is gives better features than existing work. In the end, the possible application of mobile robot having mecanum wheels with proposed path planning method is also given in the paper.

Predictive maintenance of induction motors continues to be a significant challenge in ensuring industrial reliability and minimizing downtime. In this study, machine learning techniques are utilized to enhance fault diagnosis through the use of the Machinery Fault Database (MAFAULDA). A detailed extraction of statistical features was performed on multivariate time-series data to capture essential patterns that could indicate potential faults. Three machine learning algorithms—deep neural networks (DNNs), support vector machines (SVMs), and K-nearest neighbors (KNNs)—were applied to the dataset. Optimization strategies were carefully implemented along with oversampling techniques to improve model performance and handle imbalanced data. The results achieved through these models are highly promising. The SVM model demonstrated an accuracy of 95.4%, while KNN achieved an accuracy of 92.8%. Notably, the combination of deep neural networks with fast Fourier transform (FFT)-based autocorrelation features produced the highest performance, reaching an impressive accuracy of 99.7%. These results provide a novel approach to machine learning techniques in enhancing operational health and predictive maintenance of induction motor systems.

Fusion of the Global Positioning System (GPS) and Inertial Navigation System (INS) for navigation of ground vehicles is an extensively researched topic for military and civilian applications. Micro-electro-mechanical-systems-based inertial measurement units (MEMS-IMU) are being widely used in numerous commercial applications due to their low cost; however, they are characterized by relatively poor accuracy when compared with more expensive counterparts. With a sudden boom in research and development of autonomous navigation technology for consumer vehicles, the need to enhance estimation accuracy and reliability has become critical, while aiming to deliver a cost-effective solution. Optimal fusion of commercially available, low-cost MEMS-IMU and the GPS may provide one such solution. Different variants of the Kalman filter have been proposed and implemented for integration of the GPS and the INS. This paper proposes a framework for the fusion of adaptive Kalman filters, based on Sage-Husa and strong tracking filtering algorithms, implemented on MEMS-IMU and the GPS for the case of a ground vehicle. The error models of the inertial sensors have also been implemented to achieve reliable and accurate estimations. Simulations have been carried out on actual navigation data from a test vehicle. Measurements were obtained using commercially available GPS receiver and MEMS-IMU. The solution was shown to enhance navigation accuracy when compared to conventional Kalman filter.

This article presents a kinematic analysis and modification of a wrist mechanism of the DLR robot arm, which is based on antiparallelogram linkages. This mechanism is modified to improve the range of motion (ROM), to reduce the parasitic motion, and to approximately perform the decoupled output motion. For these purposes, the elliptical rolling motion of an overconstrained antiparallelogram is first investigated in consideration of its structural modification. Also, a specific joint that has a relatively small movement is developed as a flexible hinge by further minimizing its angular displacement for design simplification. The axode analysis of the instantaneous screw axis for wrist movements is conducted to compare the rotational performance between the original and modified mechanisms. Moreover, their workspace qualities are evaluated through analyses of the workspace and the kinematic isotropy index. Finally, the improved DLR wrist of the final modification is prototyped, and its wide circumduction is demonstrated.