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BCLH2Pro:A novel computational tools approach for hydrogen production prediction via machine learning in biomass chemical looping processes

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Energy and AI 2024年第4期18卷 13-26页

作者： Thanadol Tuntiwongwat Sippawit Thammawiset Thongchai Rohitatisha Srinophakun Chawalit Ngamcharussrivichai Somboon Sukpancharoen Department of Mechanical Engineering Faculty of EngineeringKhon Kaen UniversityKhon Kaen 40002Thailand Department of Automation Robotics and Intelligent System Faculty of EngineeringKhon Kaen UniversityKhon Kaen 40002Thailand Department of Chemical Engineering Faculty of EngineeringKasetsart UniversityBangkok 10900Thailand Center of Excellence in Catalysis for Bioenergy and Renewable Chemicals(CBRC) Faculty of ScienceChulalongkorn UniversityPathumwanBangkok 10330Thailand Institute of Nanoscience and Nanotechnology(ION2) Universiti Putra MalaysiaSerdang 43400SelangorMalaysia Department of Agricultural Engineering Faculty of EngineeringKhon Kaen UniversityKhon Kaen 40002Thailand Center for Alternative Energy Research and Development Khon Kaen UniversityKhon Kaen 40002Thailand

This study optimizes biomass chemical looping processes(BCLpro),a technique for converting biomass to energy,through machine learning(ML)for sustainable energy *** study proposes an integrated Fe_(2)O_(3)-based,BCLpro combining steam gasification for H2 *** Plus is used as the primary tool to generate extensive datasets covering 24 biomass types with 18 feature inputs in a supervised model.A methodology involving K-Nearest Neighbors(KNN),Extreme Gradient Boosting(XGB),Light Gradient Boosting Machine(LGBM),Support Vector Machine(SVM),Random Forest(RF),and CatBoost(CB)algorithms was employed to predict H_(2)yields in the BCLpro,utilizing 10-fold cross-validation for robust model *** highlight the CB algorithm’s superior performance,achieving up to 98%predictive accuracy,with carbon content,reducer temperature,and Fe_(2)O_(3)/Al_(2)O_(3)mass ratio identified as crucial *** algorithm has been developed into a user-friendly tool,BCLH2Pro,accessible via a web *** tool is designed to assist in reducing costs,optimizing biomass selection,and planning operational conditions to maximize H2 yield in BCLpro *** to the tool can be obtained through the following link:http://***/.

关键词： Artificial intelligence Supervised learning Process simulation Chemical looping Agricultural waste

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A Super-Twisting Observer Design for Thrust-Loss Fault Tolerant Control of Quadrotor Vehicles 63

A Super-Twisting Observer Design for Thrust-Loss Fault Toler...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Rao, D. M. K. K. Venkateswara Habibi, Hamed Menon, Prathyush P. Edwards, Christopher Voos, Holger Lab The Centre for Future Clean Mobility ExeterEX5 2GD United Kingdom University of Exeter Structure and Dynamics Research Group Cemps Exeter United Kingdom University of Luxembourg Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust Luxembourg Department of Engineering Luxembourg

ISBN: (纸本)9798350316339

In this paper, we tackle the thrust loss problem in a quadrotor unmanned aerial vehicle, by the design of a super-twisting observer in the body frame, achieving finite-time convergence. On this basis, we design a super-twisting low-level controller to track the desired trajectory and compensate for the loss effects. Then, the acceleration commands are designed, and the thrust, Euler angles, and angular speeds are computed. The stability and the finite-time convergence of the resultant cascade system are studied, and we show the recovery of the nominal behavior, as well as the weak recovery of the separation principle. Finally, high-fidelity experimental analyses are conducted, to evaluate the performance of the proposed algorithm in the presence of a variety of thrust loss situations. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on robotics and automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

arXiv

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arXiv 2023年

作者： Balatti, Pietro Ozdamar, Idil Sirintuna, Doganay Fortini, Luca Leonori, Mattia Gandarias, Juan M. Ajoudani, Arash HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Robotics and Mechatronics lab Systems Engineering and Automation Department University of Malaga Malaga Spain

关键词： Robotic arms

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A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots

arXiv

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arXiv 2024年

作者： Raei, Hamidreza Gandarias, Juan M. De Momi, Elena Balatti, Pietro Ajoudani, Arash HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy Robotics and Mechatronics lab Systems Engineering and Automation Department University of Malaga Malaga Spain

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). These modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. The earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that integrates a visual component. This design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface’s pose through stereo cameras and an Inertial Measurement Unit (IMU). The estimated pose serves as the reference for the robot’s end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface’s usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation. © 2024, CC BY-NC-ND.

关键词： Remote control

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A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots

A Multipurpose Interface for Close- and Far-Proximity Contro...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Hamidreza Raei Juan M. Gandarias Elena De Momi Pietro Balatti Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy Systems Engineering and Automation Department Robotics and Mechatronics lab University of Malaga Malaga Spain

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). These modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. The earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that inte-grates a visual component. This design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface's pose through stereo cameras and an Inertial Measurement Unit (IMU). The estimated pose serves as the reference for the robot's end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature of this interface, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface's usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation.

关键词： Performance evaluation Wireless communication Visualization Wireless sensor networks Accuracy Robot vision systems Collaborative robots Sensors Usability Robots

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Robust Control of An Aerial Manipulator Based on A Variable Inertia Parameters Model

arXiv

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arXiv 2024年

作者： Zhang, Guangyu He, Yuqing Dai, Bo Gu, Feng Han, Jianda Liu, Guangjun The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institute for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China The Department of Aerospace Engineering Ryerson University TorontoONM5B 2K3 Canada

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the manipulator makes it difficult to control the aerial manipulator with high performance. In this paper, system modeling and control problem of the aerial manipulator are studied. Firstly, an UAV dynamic model is proposed with consideration of the dynamic coupling from an attached manipulator, which is treated as disturbance for the UAV. In the dynamic model, the disturbance is affected by the variable inertia parameters of the aerial manipulator system. Then, based on the proposed dynamic model, a disturbance compensation robust H∞ controller is designed to stabilize flight of the UAV while the manipulator is in operation. Finally, experiments are conducted and the experimental results demonstrate the feasibility and validity of the proposed control scheme. © 2024, CC BY.

关键词： Antennas

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Stiffness Analysis of a Module-Based Shape Morphing Snake-Like Robot 16th

Stiffness Analysis of a Module-Based Shape Morphing Snake-Li...

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16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Cammarata, Alessandro Maddio, Pietro Davide Sinatra, Rosario Tian, Yingzhong Zhao, Yinjun Xi, Fengfeng Dipartimento di Ingegneria Civile e Architettura Universitá degli Studi di Catania Via S.Sofia 64 Catania95123 Italy School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200444 China Department of Aerospace Engineering Ryerson University TorontoONM5B 2K3 Canada

ISBN: (纸本)9783031457692

In this paper, a method is presented for stiffness analysis of a module-based shape morphing snake-like robot. Snake-like robots have the characteristic of adapting to unstructured environments by exploiting their ability to reconfigure their body’s shape. However, the excellent mobility contrasts with the ability to transmit high loads, precluding its application in manufacturing operations. This article presents a hybrid structure based on reconfigurable modules equipped with lockable joints. The use of multiple modules in series allows for a large workspace. Furthermore, the parallel structure of the single modules provides for transferring or sustaining high loads. The elastostatic analysis confirms the feasibility of the design for manufacturing applications. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Stiffness

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Bi-Directional Human-Robot Handover Using a Novel Supernumerary Robotic System

Bi-Directional Human-Robot Handover Using a Novel Supernumer...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Yuwei Du Xin Zhang Mattia Leonori Pietro Balatti Jing Jin Qiang Wang Arash Ajoudani Department of Control Science and Engineering School of Astronautics Harbin Institute of Technology Heilongjiang China Human-Robot Interfaces and Interaction (HRI2) Lab Istituto Italiano di Tecnologia Genova Italy State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

Cooperative human-robot systems are the key technology to improve efficiency in agile production. In this work, a novel on-shoulder supernumerary robotic limb (SRL) is developed for human-robot collaboration. The SRL system is mainly composed of a 6-degree-of-freedom (DoF) lightweight robotic arm and a wearable and adjustable base, which allows different users to regulate the arm installation position to fit their physical dimensions and expand their workspace. As the SRL is close to the human head, nullspace-based collision avoidance is designed to achieve safe motion planning. Meanwhile, a Kalman filter is designed to actively predict human hand position and yield anticipatory motion control of our SRL in handover tasks. Furthermore, we conduct a bi-directional handover case study to verify the capability of the SRL system and the effectiveness of the proposed collaborative handover. The result shows that our control method can guarantee intuitive and natural handover behavior.

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Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles

arXiv

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arXiv 2023年

作者： Rao, D.M.K.K. Venkateswara Habibi, Hamed Sanchez-Lopez, Jose Luis Menon, Prathyush P. Edwards, Christopher Voos, Holger Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust University of Luxembourg Luxembourg Department of Engineering University of Luxembourg Luxembourg The Centre for Future Clean Mobility University of Exeter Engineering Research Centre ExeterEX5 2GD United Kingdom Structure and Dynamics Research Group CEMPS University of Exeter Exeter United Kingdom

In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is designed to determine the desired accelerations using the proposed controller and subsequently used to compute the desired orientation and angular rates. The finite-time convergence of sliding functions and closed-loop system stability are analytically proven. Furthermore, the restrictive assumption on the maximum variation of the disturbance is relaxed by designing a gain adaptation law and low-pass filtering of the estimated equivalent control. The proper selection of design parameters is discussed in detail. Finally, the effectiveness of the proposed method is evaluated by high-fidelity software-in-the-loop simulations and validated by experimental studies. © 2023, CC BY.

关键词： Closed loop systems

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