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Energy dissipation mechanism of annihilating reverse tilt domains for various applied voltages

Physical Review E 2024年第4期109卷 044703-044703页

作者： Takuya Yanagimachi National Institute of Technology Akita College School of Creative System Engineering Department of Mechanical Engineering and Robotics 1-1 Iijima Bunkyo-cho Akita 011-8511 Japan

When a voltage is applied to a uniformly aligned nematic liquid crystal, a characteristic texture designated as reverse tilt domain (RTD) appears. The RTD, surrounded by a domain wall, gradually shrinks and finally disappears. The domain wall splits into a pair of disclination lines by increase of the voltage. This work examines the energy dissipation mechanism of annihilation dynamics by ascertaining the phenomenological viscosity Γ based on experimentation. To evaluate Γ, the time dependence of curvature radius R is analyzed using an equation R=At0−t, where A is a fitting parameter. Parameter A decreased linearly with increasing applied voltage and suddenly became constant. Also, Γ was evaluated from A as a function of voltage. When the voltage reaches a critical value, Γ increased sharply to be one order of magnitude greater than that under low voltages. The critical voltage is consistent with the theoretically expected value at which the splitting of domain wall occurs. The transition of Γ is described clearly by localized deformation of the director field.

关键词： Confinement Distortions & defects Elastic deformation Elastic forces Electric field effects Emergence of patterns Lubricants Mechanical deformation

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Cooperative attack–defense decision-making of multi-UAV using satisficing decision-enhanced wolf pack search algorithm

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Soft Computing 2024年第17-18期28卷 9575-9586页

作者： Zhou, Tongle Chen, Mou Wang, Yuhui Zhu, Ronggang Yang, Chenguang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing211106 China Key Laboratory of Avionics System Integrated Technology Shanghai200241 China Science and Technology on Electro-optic Control Laboratory Luoyang Institute of Electro-Optical Equipment of Avic Luoyang471000 China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

Unmanned aerial vehicles (UAVs) have shown their superiority for applications in complicated military missions. A cooperative attack–defense decision-making method based on satisficing decision-enhanced wolf pack search (SDEWPS) algorithm is developed for multi-UAV air combat in this paper. Firstly, the multi-UAV air combat mathematical model is provided and the attack–defense decision-making constraints are defined. Besides the traditional air combat situation, the capability of UAVs and target information including target type and target intention are all considered in this paper to establish the air combat superiority function. Then, the wolf pack search (WPS) algorithm is used to solve the attack decision problem. To improve efficiency, the satisficing decision theory is employed to enhance the WPS to obtain the satisficing solution rather than optimal solution. The simulation results show that the developed method can realize the cooperative attack decision-making. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Decision making

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Evaluation of surface integrity for ultra-precision machined fused silica surface based on atomic point-defect density

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Journal of Manufacturing Processes 2025年 149卷 917-930页

作者： Dinghuai Yang Linjie Zhao Jian Cheng Qi Liu Zixiao Zhang Hongqin Lei Zican Yang Henan Liu Jinghe Wang Yazhou Sun Mingjun Chen State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Centre for Precision Manufacturing DMEM University of Strathclyde Glasgow G1 1XJ UK Center for Precision Engineering School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The degree of plasticity and brittleness (DPB) of the material significantly affects the service performance of fused silica manufacturing surfaces in many frontier fields. However, there is still no effective method to quantitatively and non-destructively characterize their DPB, severely restricting the application of fused silica. Herein, atomic manufacturing-induced point defects on fused silica manufacturing surfaces were determined. Based on this, the evolution laws of various types of point defects with the DPB were discussed. Interestingly, it was found that the DPB is closely related to the densities of specific ODCII point defects, whose proportion ( k ) was chosen as the characteristic parameter to judge surface brittle fractures. Additionally, it was discovered that k sharply increased at the material brittle-plastic transition boundary, which was also verified based on the molecular dynamics simulation. Accordingly, whether k is >15 % was proposed as a criterion to judge whether the material has undergone brittle fractures during manufacturing processes. Furthermore, the significant increment of ODCII point defects was found to be the main cause of the obvious increment of k . Moreover, two causes of the significant increment of ODCII point defects were determined. Finally, the effectiveness of the judge criterion in six specific manufacturing cases was verified. Summarily, the study proposes a powerful nondestructive approach to judge the brittle fractures. It could quantitatively and non-destructively characterize the DPB during manufacturing processes. It is also applicable to the quantitative DPB characterization and the early warning detection of fracture breakdown for other brittle silicate materials.

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Microengineered platforms for characterizing the contractile function of in vitro cardiac models

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Microsystems & Nanoengineering 2022年第1期8卷 29-50页

作者： Wenkun Dou Manpreet Malhi Qili Zhao Li Wang Zongjie Huang Junhui Law Na Liu Craig A.Simmons Jason T.Maynes Yu Sun Department of Mechanical and Industrial Engineering University of TorontoTorontoON M5S 3G8Canada Program in Molecular Medicine The Hospital for Sick ChildrenTorontoON M5G 1X8Canada Department of Biochemistry University of TorontoTorontoON M5S 1A8Canada Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China School of Mechanical&Automotive Engineering Qilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Mechatronics Engineering and Automation Shanghai UniversityShanghai 200444China Institute of Biomedical Engineering University of TorontoTorontoON M5S 3G9Canada Translational Biology&Engineering Program Ted Rogers Centre for Heart ResearchTorontoON M5G 1M1Canada Department of Anesthesiology and Pain Medicine University of TorontoTorontoON M5S 1A8Canada Department of Anesthesia and Pain Medicine The Hospital for Sick ChildrenTorontoON M5G 1X8Canada Department of Electrical and Computer Engineering University of TorontoTorontoON M5S 3G4Canada Department of Computer Science University of TorontoTorontoON M5T 3A1Canada

Emerging heart-on-a-chip platforms are promising approaches to establish cardiac cell/tissue models in vitro for research on cardiac physiology,disease modeling and drug cardiotoxicity as well as for therapeutic *** still exist in obtaining the complete capability of in situ sensing to fully evaluate the complex functional properties of cardiac cell/tissue *** to contractile strength(contractility)and beating regularity(rhythm)are particularly important to generate accurate,predictive *** new platforms and technologies to assess the contractile functions of in vitro cardiac models is essential to provide information on cell/tissue physiologies,drug-induced inotropic responses,and the mechanisms of cardiac *** this review,we discuss recent advances in biosensing platforms for the measurement of contractile functions of in vitro cardiac models,including single cardiomyocytes,2D monolayers of cardiomyocytes,and 3D cardiac *** characteristics and performance of current platforms are reviewed in terms of sensing principles,measured parameters,performance,cell sources,cell/tissue model configurations,advantages,and *** addition,we highlight applications of these platforms and relevant discoveries in fundamental investigations,drug testing,and disease ***,challenges and future outlooks of heart-on-a-chip platforms for in vitro measurement of cardiac functional properties are discussed.

关键词： cardiac contractile regularity

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A Study on Giant Magnetostrictive Actuator for Interior Sound Control system of the Ultra-Compact Mobility: Fundamental Consideration on Formation of the Giant Magnetostrictive Phases Depending on Heat Treatment Condition 27

A Study on Giant Magnetostrictive Actuator for Interior Soun...

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27th International Conference on Electrical Machines and systems, ICEMS 2024

作者： Kato, Taro Naganuma, Ryusei Bando, Koki Sawada, Kentaro Wenbao, Wu Kobayashi, Ikkei Kuroda, Jumpei Uchino, Daigo Ogawa, Kazuki Ikeda, Keigo Endo, Ayato Kato, Hideaki Narita, Takayoshi Furui, Mitusaki Tokyo University of Technology Department of Mechanical Engineering 1404-1 Katakura Hachioji-shi Tokyo192-0982 Japan Sustainable Engineering Program Graduate School of Engineering Tokyo University of Technology 1404-1 Katakura Hachioji-shi Tokyo192-0982 Japan Tokai University Kitakaname 4-1-1 Kanagawa Hiratsuka-shi259-1292 Japan Tokai University Kitakaname 4-1-1 Kanagawa Hiratsuka-shi259-1292 Japan Numazu College Department of Mechanical Engineering Ohoka 3600 Shizuoka Numazu-shi410-0022 Japan Aichi University of Technology Department of Electronic Robotics 50-2 Manori Nishisako-machi Aichi Gamagori-shi443-0047 Japan Hokkaido University of Science Department of Mechanical Engineering 7-Jo 15-4-1 Maeda Teine Hokkaido Sapporo006-8585 Japan Fukuoka Institute of Technology Department of Electrical Engineering Wajiro Higashi 3-30-1 Higashi-ku Fukuoka Fukuoka-shi811-0295 Japan Tokai University Department of Mechanical System Engineering Kitakaname 4-1-1 Kanagawa Hiratsuka-shi259-1292 Japan

ISBN: (纸本)9784886864406

An active noise control system using giant magnetostrictive actuator has been proposed as a countermeasure for interior noise of the ultra-compact mobilities, which is a new transportation tools. In this paper, as basic research toward the development of the proposed giant magnetostrictive actuator for active noise control, we conduct experiments on the material properties when terbium, dysprosium, and iron powder, which make up the giant magnetostrictive material, are mixed and the heat treatment conditions are changed. In this study, the heat treatment temperature was varied from 800°C to 1100°C in 100°C incrementsbased on the equilibrium state temperature of each material, and the heat treatment time was set in 30-minute increments from 1 hour to 3 hours. As a result, TbFe2 was confirmed after heat treatment at an electric furnace temperature of 1000°C for 3 hours, although its strength was insufficient. © 2024 The institute of Electrical Engineers of Japan.

关键词： Active noise control

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Intent Inference of Driver Deceleration Behavior by Using Unscented Kalman Filter Integrated with Conventional Artificial Neural Network Model 2nd

Intent Inference of Driver Deceleration Behavior by Using Un...

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2nd International Conference on Human Interaction and Emerging Technologies: Future Applications, IHIET-AI 2020

作者： Suzuki, Hironori Wakabayashi, Sho Department of Robotics Nippon Institute of Technology 4-1 Gakuendai Saitama Miyashiro3458501 Japan Graduate School of Mechanical System Engineering Nippon Institute of Technology 4-1 Gakuendai Saitama Miyashiro3458501 Japan

ISBN: (纸本)9783030442668

Early brake pedal operation and corresponding vehicle deceleration are crucial to mitigating rear-end collision risks. In this paper, a mathematical model, hereafter referred to as the deceleration intention inference system (DIIS), was developed to facilitate determining the intent inferences of driver deceleration behaviors. More specifically, a conventional neural network model was integrated into an unscented Kalman filter in an effort to describe the deceleration intentions that can be expected to occur a few seconds later. The numerical examples provided herein show that our proposed model is capable of inferring driver intentions more precisely than the conventional approach. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020.

关键词： Kalman filters

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Long-term Dependency for 3D Reconstruction of Freehand Ultrasound Without External Tracker

arXiv

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arXiv 2023年

作者： Li, Qi Shen, Ziyi Li, Qian Barratt, Dean C. Dowrick, Thomas Clarkson, Matthew J. Vercauteren, Tom Hu, Yipeng The UCL Centre for Medical Image Computing The Wellcome/EPSRC Centre for Interventional and Surgical Sciences Department of Medical Physics and Biomedical Engineering University College London LondonWC1E 6BT United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Biomedical Engineering & Imaging Sciences King’s College London LondonWC2R 2LS United Kingdom

Objective: Reconstructing freehand ultrasound in 3D without any external tracker has been a longstanding challenge in ultrasound-assisted procedures. We aim to define new ways of parameterising long-term dependencies, and evaluate the performance. Methods: First, long-term dependency is encoded by transformation positions within a frame sequence. This is achieved by combining a sequence model with a multi-transformation prediction. Second, two dependency factors are proposed, anatomical image content and scanning protocol, for contributing towards accurate reconstruction. Each factor is quantified experimentally by reducing respective training variances. Results: 1) The added long-term dependency up to 400 frames at 20 frames per second (fps) indeed improved reconstruction, with an up to 82.4% lowered accumulated error, compared with the baseline performance. The improvement was found to be dependent on sequence length, transformation interval and scanning protocol and, unexpectedly, not on the use of recurrent networks with long-short term modules;2) Decreasing either anatomical or protocol variance in training led to poorer reconstruction accuracy. Interestingly, greater performance was gained from representative protocol patterns, than from representative anatomical features. Conclusion: The proposed algorithm uses hyperparameter tuning to effectively utilise long-term dependency. The proposed dependency factors are of practical significance in collecting diverse training data, regulating scanning protocols and developing efficient networks. Significance: The proposed new methodology with publicly available volunteer data and code1 for parametersing the long-term dependency, experimentally shown to be valid sources of performance improvement, which could potentially lead to better model development and practical optimisation of the reconstruction application. © 2023, CC BY.

关键词： Ultrasonics

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FogROS2: An Adaptive Platform for Cloud and Fog robotics Using ROS 2

arXiv

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arXiv 2022年

作者： Ichnowski, Jeffrey Chen, Kaiyuan Dharmarajan, Karthik Adebola, Simeon Danielczuk, Michael Mayoral-Vilches, Víctor Jha, Nikhil Zhan, Hugo LLontop, Edith Xu, Derek Buscaron, Camilo Kubiatowicz, John Stoica, Ion Gonzalez, Joseph Goldberg, Ken Department of Electrical Engineering and Computer Science University of California BerkeleyCA United States The AUTOLab UC Berkeley United States Department of Industrial Engineering and Operations Research University of California BerkeleyCA United States Robotics Institute Carnegie Mellon University United States Acceleration Robotics Ecuador 3 1 I Álava Vitoria Spain System Security Group Universität Klagenfurt Universitätsstr. 65-67 Klagenfurt9020 Austria

Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing power and increasingly low latency on demand, but tapping into that power from a robot is nontrivial. We present FogROS2, an open-source platform to facilitate cloud and fog robotics that is included in the Robot Operating system 2 (ROS 2) distribution. FogROS2 is distinct from its predecessor FogROS1 in 9 ways, including lower latency, overhead, and startup times;improved usability, and additional automation, such as region and computer type selection. Additionally, FogROS2 gains performance, timing, and additional improvements associated with ROS 2. In common robot applications, FogROS2 reduces SLAM latency by 50 %, reduces grasp planning time from 14 s to 1.2 s, and speeds up motion planning 45x. When compared to FogROS1, FogROS2 reduces network utilization by up to 3.8x, improves startup time by 63 %, and network round-trip latency by 97 % for images using video compression. The source code, examples, and documentation for FogROS2 are available at https://***/BerkeleyAutomation/FogROS2, and is available through the official ROS 2 repository at https://***/p/fogros2/. © 2022, CC BY.

关键词： Robot Operating system

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Finally! Insights into the ARCHES Lunar Planetary Exploration Analogue Campaign on Etna in summer 2022 73

Finally! Insights into the ARCHES Lunar Planetary Exploratio...

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73rd International Astronautical Congress, IAC 2022

作者： Wedler, Armin Müller, Marcus G. Schuster, Martin J. Durner, Maximilian Lehner, Peter Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Stürzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F. Ehreiser, Anouk Staudinger, Emanuel Pöhlmann, Robert Zhang, Siwei Hellerer, Matthias Lichtenheldt, Roy Franke, Dennis Pignède, Antoine Schindler, Walter Schütt, Manuel Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Schröder, Susanne Frohmann, Sven Seel, Fabian Dietz, Enrico Triebel, Rudolph Lii, Neal Y. Bischoff, Esther Braun, Christian Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P. Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Rauer, Heike Hübers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Münchener Str. 20 Weßling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Münchener Str. 20 Weßling82234 Germany Institute of Communications and Navigation Münchener Str. 20 Weßl82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base Münchener Str. 20 Weßl82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

This paper summarises the first outcomes of the space demonstration mission of the ARCHES project which could have been performed this year from 13 june until 10 july on Italy's Mt. Etna in Sicily. After the second postponement related to COVID from the initially for 2020 planed campaign, we are now very happy to report, that the whole campaign with more than 65 participants for four weeks has been successfully conduced. In this short overview paper, we will refer to all other publication here on IAC22. This paper includes an overview of the performed 4-week campaign and the achieved mission goals and first results but also share our findings on the organisational and planning aspects. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： robotics

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