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modeling and Control of an Eel-Inspired Soft Robot for Design optimization

Modeling and Control of an Eel-Inspired Soft Robot for Desig...

引用

IEEE International conference on Automation Science and Engineering (CASE)

作者： Zhangjingyi Jiang Mark Campbell Department of Mechanical Engineering Cornell University

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Anguilliform locomotion is a highly efficient swimming mode; the advent of new materials for soft robots enables the development of an eel-inspired soft robot. this paper presents a simulation model of an eel-inspired soft robot designed for anguilliform swimming. this model can aid in design optimization and the development of model-based estimation, reasoning, and control systems. A Finite Element Method (FEM) model of an elastic rod is used to capture the soft materials of the robotic fish, which makes it particularly amenable to variation over time as the material properties change. the material model is coupled with a hydrodynamic force model to simulate the behavior of a soft, elongated robot in water. the model is used to demonstrate the effectiveness of the proposed control approaches in achieving desired swimming behaviors. It also provides insights into design decisions, including the robustness of different system configurations and the impact of material degradation and failure. the results show that slightly asymmetric designs are advantageous, offering comparable swimming velocities but greater maneuverability. this model can be used to guide future robotic design decisions aimed at optimizing performance for specific tasks.

关键词： Force Estimation Soft robotics Hydrodynamics Fish Robustness Finite element analysis Sports Design optimization Material properties

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Fatigue Analysis of Leg Structure of a Natatores-Like Amphibious Robot 20

Fatigue Analysis of Leg Structure of a Natatores-Like Amphib...

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20th IEEE International conference on Mechatronics and Automation, ICMA 2023

作者： Niu, Yan Shi, Liwei Guo, Shuxiang Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology School of Life Science Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

With the increasing demand for ocean exploration and development, the research about the amphibious robot is of great significance. In this paper, a natatores-like amphibious robot was designed by using the driving method of paddling by webbed foot. this mode has the advantages of high propulsion efficiency, good mobility and good stability. Due to the characteristics of this propulsion mode, the leg structure of the robot is often applied with periodic loads. And therefore it is necessary to verify the mechanical performance of the leg structure. the elastoplastic finite element model of the leg structure of the robot was modelled, and the fatigue analysis of the model under the walking gait were carried out. the results showed that the fatigue failure of the thigh and the shank would not occur within the design life, which met the design requirements. the analysis results can provide reference for the material selection and structural optimization design of leg in the subsequent work. © 2023 IEEE.

关键词： Robots

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Simulation and test on lightning protection of large photovoltaic power station by gas arc-extinguishing device

Simulation and test on lightning protection of large photovo...

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20th International conference on AC and DC Power Transmission 2024 (ACDC 2024)

作者： Honglin Qin Ping Huang Shijie Xu Guangxi University Nanning 530004 People's Republic of China Guangxi Key Laboratory of Power System Optimization and Energy Technology Guangxi University Nanning 530004 People's Republic of China

ISBN: (数字)9781837241552

Large photovoltaic power station are built in wide deserts, mountains and fields, and lighting accidents occur frequently. this paper proposes a gas arc-extinguishing device to lightning protection and ensure that photovoltaic power stations can continue to generate electricity safely. the gas arc-extinguishing device principle is analyzed, and then the arc extinguishing process is simulated by COMSOL Multiphysics simulation software. Finally, the power-frequency continuous current interruption test is performed. the simulation and test results show that the device can effectively arc extinguishing on the insulator of the transmission line of large photovoltaic power station.

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A review of the optimal configuration of fault current limiter in power system

A review of the optimal configuration of fault current limit...

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20th International conference on AC and DC Power Transmission 2024 (ACDC 2024)

作者： Jun Wu Jia Chen Hualin Lv Jiawei Liu Jiaxin Yuan Biao Yuan Yu Liu Wanting Zhang Hang Zhou Central China Branch of State Grid Corporation of China Wuhan 430072 People's Republic of China State Key Laboratory of Power Grid Environmental Protection School of Electrical Engineering and Automation Wuhan University Wuhan 430072 People's Republic of China

ISBN: (数字)9781837241552

With the continuous development of new power systems, the short-circuit currents at each node of the grid continue to increase, and there will be multiple sites with excessive short-circuit currents and insufficient margins, and the optimal configuration of fault current limiters will effectively and economically limit the system short-circuit currents. the paper first introduces the modeling method for optimal configuration of fault current limiters in power grids, and lists the commonly used objective functions and constraints. then three approaches to multi-objective functions and their modeling and solution algorithms are presented. Finally, combined with the future development trend of the power grid, it summarizes the problems that need to be considered in the future research on the optimal configuration of fault current limiters, such as the consideration of the optimal configuration of new energy sources after joining the power grid, the development of new algorithms, and so on, to make an outlook for the direction of the research on the optimal configuration of fault current limiters.

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A combined discrete-continuous model for railgun simulation

A combined discrete-continuous model for railgun simulation

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Pulsed Power conference, International conference on High-Power Particle Beams and International Symposium on Electromagnetic Launch Technology (EAPPC/BEAMS/EML), Euro-Asian

作者： Irene Ndindabahizi Tom Vancaeyzeele Johan Gallant Ben Lauwens Markus Schneider Department of Weapon Systems and Ballistics Royal Military Academy Belgium Brussels Belgium Department of Mathematics Royal Military Academy Belgium Brussels Belgium Electromagnetic Acceleration Group French-German Research Institute Saint Louis France

ISBN: (数字)9789038661353

ISBN: (纸本)9798350352733

Railgun weapon systems can accelerate projectiles to hypervelocities. Even though they are still at prototype stage, the feasibility of fitting a ship with such weapon system is an ongoing *** the limited power supply on board of ships, research efforts have been put in maximizing the efficiency of such weapon system against incoming missiles while minimizing the energy *** conduct such optimisation studies, we rely heavily on computer simulated scenarios which are greedy in simulation time. For accurate modeling of parameters’ influence on weapon lethality and energy consumption, it becomes a necessity to simulate the complete projectile path from the acceleration in the railgun to its end of trajectory at target engagement and damage assessment. the nature of the complex physics involved in such simulations requires the modeling of the interaction of processes which can be represented by continuous time and discrete event *** paper presents a computational framework which models the interaction of the processes during projectile acceleration in the railgun. It is computationally efficient to use a modular event driven environment where the different processes can interact. these processes can then be solved at different time scales with different numerical methods. the models are implemented using ConcurrentSim, which is a discrete event package in Julia that manages the scheduling of the *** presented model is validated using data from a Distributed-Energy-Supply (DES) railgun. Parameters for a non DES railgun configuration (breech-fed) are then determined to meet the performance of the DES railgun used for validation. the energy supply for both railguns is generated by the discharge of capacitors banks.

关键词： Projectiles Computational modeling Railguns Mathematical models Data models Numerical models Trajectory Marine vehicles optimization system analysis and design

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Automatic Regression Framework for MRAM Compact Models Calibration including Stochasticity

Automatic Regression Framework for MRAM Compact Models Calib...

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International conference on Synthesis, modeling, Analysis and Simulation Methods and Applications to Circuit Design (SMACD)

作者： Pierre Graindorge Bowen Wang Marie Garcia Bardon Fernando Garcia Redondo IMEC Leuven Belgium University of Liege Liege Belgium

ISBN: (数字)9798350351927

ISBN: (纸本)9798350351934

this paper introduces a comprehensive optimization framework designed to enhance the regression of physical parameters for MRAM technologies, including STT-MRAM, VCMA, and SOT devices. As MRAM emerges as a promising candidate for next-generation memory technologies, the accuracy of physical models becomes crucial for the development and optimization of these devices. However, regressing precise physical parameters from device measurements poses significant challenges due to the complex nature of the phenomena involved and the noise inherent in experimental data. Our framework addresses these challenges by implementing advanced data processing techniques to clean and preprocess measurement data, facilitating the accurate calibration of both electrical and magnetic switching physical models. Furthermore, it incorporates statistical models to account for device variations and intrinsic stochastic behavior, offering a robust solution for the optimization of MRAM technologies. the efficacy of our framework is demonstrated through comprehensive simulations and experimental validations against in-house STT, SOT, and VCMA-MRAM devices. the framework fills the gap between test structures and circuit compact models, required for the development of future MRAM-based applications.

关键词： Analytical models Accuracy Current measurement Noise Stochastic processes Calibration Noise measurement Integrated circuit modeling optimization Next generation networking

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Hybrid Machine Learning and Autonomous Control Assisted Framework for Fault Diagnostics and Mitigation in Diesel Engines 19th

Hybrid Machine Learning and Autonomous Control Assisted Fram...

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19th International conference on Artificial Intelligence Applications and Innovations (AIAI)

作者： Goyal, Raman Chowdhury, Dhrubajit Hazarika, Subhashis Khawale, Raj Pradip Singh, Shubhendu Kumar Crawford, Lara Rai, Rahul Palo Alto Res Ctr Palo Alto CA 94304 USA Clemson Univ Dept Automot Engn Clemson SC USA

ISBN: (纸本)9783031341090;9783031341076;9783031341069

the paper proposes a hybrid machine learning framework along with a hierarchical control module for fault diagnosis, isolation, and mitigation to develop a resilient diesel engine system. the hybrid diagnostics system combines experimental data with physics-based simulation data to improve fault diagnosis, isolation, and severity prediction. the hybrid architecture consists of a denoising autoencoder to transform the engine data to a fixed lower-dimension latent space representation. the combined data is then passed to a Twin-Deep Neural Network (DNN) framework to detect and predict fault severity. the hierarchical control module consists of control calibration maps generated offline using Bayesian optimization to maintain the desired engine torque while minimizing fuel consumption. the module also uses proportional-integral (PI) and extremum seeking (ES) controllers on top of the offline map to compensate for engine faults and modeling errors. the simulation results show the efficacy of the proposed architecture to maintain the desired performance for different fault scenarios.

关键词： Machine Learning Neural Network Engine Diagnostics Fault mitigation Bayesian optimization Autoencoder Engine Control

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Research on simulation modeling of transient overvoltage in submarine cable transmission system

Research on simulation modeling of transient overvoltage in ...

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20th International conference on AC and DC Power Transmission 2024 (ACDC 2024)

作者： Yongsen Sun Zhongnan Zheng Youcong Huang Tsinghua University Beijing 100084 People's Republic of China Fujian Power Co. Ltd Electric Power Research Institute People's Republic of China

ISBN: (数字)9781837241552

Submarine cable transmission engineering has developed rapidly in recent years, and it is of great significance to study the switching overvoltage levels of long-length cable lines during power system operation. this article relies on the 500 kV submarine cable project of an offshore wind farm to establish the simulation model. the simulation results show that after the three-phase circuit breaker tripped, the residual voltage caused the reclosing overvoltage. Affected by the line capacitance rise effect, the closer to the end of the line, the greater the overvoltage amplitude. When the circuit breaker is equipped with a 400Ω closing resistor, the overvoltage amplitude is significantly reduced. Furthermore, this article summarizes the factors affecting the switching overvoltage level of submarine cable systems and the corresponding solutions.

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Research on Motion Mode Conversion Control of Wheel-legged Biped Robot 20

Research on Motion Mode Conversion Control of Wheel-legged B...

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20th IEEE International conference on Mechatronics and Automation, ICMA 2023

作者： Fu, Yili Li, Xu Dong, Xinyu Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China Harbin Institute of Technology State Kay Laboratory of Robotics and System Heilongjiang Province Harbin China Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

the bipedal wheel-legged robot with auxiliary legs studied in this paper has two motion modes, two wheels and four wheels, and can transform motion modes according to operation requirements. this paper focuses on how to realize motion mode transformation control under stable equilibrium. Firstly, kinematics analysis and dynamics modeling of the robot are carried out to complete the motion description and dynamics description of the robot in Cartesian space. then the robot is simplified into a wheeled inverted pendulum model, and the driving wheel and other parts are decoupled to analyze its dynamic characteristics. In this paper, LQR controller will be used to ensure the robot is always in a balanced state, and then priority task space control (PTSC) based on quadratic programming (QP) will be adopted to track the robot trajectory. Finally, the smooth transformation of the robot under two motion modes of two wheels and four wheels is completed by experiments, which verifies the effectiveness of the control algorithm designed in this paper. © 2023 IEEE.

关键词： Quadratic programming

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A learning-based method for performance optimization of timing analysis

A learning-based method for performance optimization of timi...

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International conference on Synthesis, modeling, Analysis and Simulation Methods and Applications to Circuit Design (SMACD)

作者： Anastasis Vagenas Dimitrios Garyfallou Nestor Evmorfopoulos George Stamoulis Department of Electrical and Computer Engineering University of Thessaly Volos Greece

ISBN: (数字)9798350351927

ISBN: (纸本)9798350351934

Timing analysis is a crucial verification method employed throughout the entire design cycle of integrated circuits. However, the increasing complexity of modern designs, driven by aggressive technology scaling, necessitates more efficient timing engines. In this paper, we present a learning-based approach to accelerate timing analysis. We propose XGBoost models to assess the complexity of each gate-level stage and choose the most suitable timing analysis method. By incorporating less computationally expensive methods, particularly in low-complexity stages, we can significantly improve the overall performance of timing analysis without sacrificing accuracy. Unlike previous studies, we extract representative electrical and topological features from each stage, avoiding additional computations such as effective capacitance or moments. Experimental evaluation on one million stages indicates that our learning-driven approach reduces the runtime of timing analysis by $3.36 \times$ while achieving accuracy comparable to our best available timing analysis method. thus, the proposed models can be used during signoff or iterative optimization flows to expedite timing closure.

关键词： Analytical models Accuracy Runtime Computational modeling Logic gates Feature extraction Timing Complexity theory Integrated circuit modeling optimization

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