检索结果-内蒙古大学图书馆

An Information Model with Voxelated Data from Computer Aided Systems and the Additive Manufacturing Workflow

Procedia CIRP 2022年 112卷 382-387页

作者： Conor Maguire Abraham George Matthew Kelly Darragh Egan Denis Dowling Nikolaos Papakostas Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Ireland I-Form Advanced Manufacturing Research Centre School of Mechanical and Materials Engineering University College Dublin Belfield Dublin. 4 Ireland

This paper discusses diverse data management approaches and proposes a comprehensive information model that is built from voxelated data from across the Additive Manufacturing and Computer Aided (AM – CAx) platforms workflow. The information model is developed using discretisation and data management techniques to provide a robust method of managing and structuring the product / process data throughout the AM – CAx domain. The result is a voxelated representation of the design, manufacturing, in-situ process data and quality control stages of an AM build within a single Hierarchical Data Format (HDF5) file. Demo files were developed for two different AM processes during this work. With further research and by applying statistical methods or machine learning techniques, it would then be possible to filter through and potentially predict the optimal process parameters required for an AM build. The comprehensive information model is designed to provide insight to track changes along the AM process flow.

关键词： Computer Aided Design Unified information model Hierarchal data structure

来源：评论

学校读者我要写书评

暂无评论

Control Safety Function for Explicit Safety-Critical Control of Autonomous Vehicles

Control Safety Function for Explicit Safety-Critical Control...

引用

IEEE Symposium on Intelligent Vehicle

作者： Dongyoon Kim Sen Yang Wenjun Zou Bin Shuai Dezhao Zhang Fang Zhang Chang Liu Shengbo Eben Li School of Vehicle and Mobility Tsinghua University Beijing China Beijing Idriverplus Technology Co. Ltd. Beijing China Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing China

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Real-time safety-critical control is essential for high-level autonomous driving. Existing methods usually formulate safety-critical control as a constrained optimal control problem (COCP), and suffer from high computational complexity of the underlying iterative optimization processes. To address the issue of complexity, this paper presents an explicit safety-critical control method called the Control Safety Function (CSF) approach, which can replace online optimization with an analytical control law, dramatically enhancing real-time control capabilities. The CSF is formulated as the weighted sum of Control Lyapunov Function (CLF) and Control Barrier Functions (CBFs), with the value of CSF increasing to infinity as the state approaches the boundary of a safe set. The explicit control law is then derived from the gradient of CSF and system dynamics. Different from existing explicit controllers that can only apply to systems of relative degree one, the CSF method provides an approach to enforce safety constraints to systems with high relative degree, making CSF especially suitable for autonomous driving. The CSF approach is evaluated in a vehicle path-tracking scenario with multiple obstacles, accompanied by a comparative analysis against the Model Predictive Control (MPC) method. Simulation results indicate that CSF achieves control accuracy comparable to MPC, with significant reduction in computation time - approximately 3.23 ms per step, which is about 94.0% faster. These results suggest that CSF is a promising approach for real-time safety-critical control of high-level autonomous driving.

关键词： Systematics System dynamics Simulation Real-time systems Stability analysis Safety Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Expanding the Research Capabilities of an Experimental Setup for Testing Magnetoactive Materials

Expanding the Research Capabilities of an Experimental Setup...

引用

International Carpathian Control Conference (ICCC)

作者： Paweł Orkisz Somashree Mondal Frank Clemens Thomas Graule Bogdan Sapiński Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland Department of Advanced Materials and Surfaces Laboratory of High Performance Ceramics Empa Dübendorf Dübendorf Switzerland

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

In the present paper, the authors describe the research capabilities of a specially designed experimental setup for testing magnetoactive material samples. The study covers the setup description with particular emphasis on mechanical, electrical and software components. The results of preliminary tests carried out in the context of magnetic field and temperature requirements are provided. The work demonstrates that expanding the research capabilities ensures expected conditions for testing magnetoactive materials.

关键词： Temperature measurement Thermal expansion Voltage measurement Three-dimensional displays Cooling Estimation Generators

来源：评论

学校读者我要写书评

暂无评论

Kinematic Modeling of Serial Robotic Manipulators to Automate the Packaging Process of Tuna Cans

Kinematic Modeling of Serial Robotic Manipulators to Automat...

引用

IEEE Latin American robotics Symposium, LARS

作者： Clevex Rodriguez Ventura Maikol Sánchez Bacilio Leonardo Guimaraes Zavaleta Jose Cornejo Ricardo Palomares Professional School of Mechatronics Engineering Universidad Nacional de Trujillo Trujillo Peru Universidad Tecnologica el Peru Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

During 2024, the food and fishing derivatives industry contributed to the growth of Peru’s gross domestic product (GDP) by 5.28%. Only during the years 2020-2021, the “food and beverage products industry” presents a production of canned frozen fish and seafood of $\mathbf{9 4 8 4 2}$ MT. This publication presents the kinematic modeling and trajectory planning of two serial manipulators to automate the tuna can packaging process. A robotic system is proposed where tuna cans are placed and sorted inside boxes by a 3-DOF SCARA robot and these are packaged by a 6-DOF anthropomorphic robot. The calculation of the forward kinematics was carried out using the DenavitHartenberg convention and the inverse kinematics using the geometric method and kinematic decoupling for both serial manipulators. A trajectory planner was developed in Matlab R2021a that uses a 4-3-4 polynomial interpolator to generate position, velocity and acceleration profiles with smooth and coordinated movements. CoppeliaSim Edu 4.5.1 and SolidWorks 2021 software were used to integrate kinematic modeling, trajectory generation and present the simulation of the tuna can packaging environment. As future work, dynamic modeling and dynamic control of both robots will be developed to simulate the automated tuna can packaging process in CoppeliaSim.

关键词： Trajectory planning Economic indicators Robot kinematics 3-DOF Kinematics Packaging 6-DOF Trajectory MATLAB Robots

来源：评论

学校读者我要写书评

暂无评论

The A3C Algorithm With Eligibility Traces of Energy Management for Plug-In Hybrid Electric Vehicles

引用

IEEE Access 2025年 13卷 92507-92518页

作者： Dingyi Guo Guangyin Lei Huichao Zhao Fang Yang Qiang Zhang Shanghai Engineering Technology Research Center of SiC Power Device College of Intelligent Robotics and Advanced Manufacturing Fudan University Shanghai China Research Institute of Fudan University in Ningbo Ningbo China General Research and Development Institute China FAW Corporation Ltd. Changchun China

An energy management system is crucial for optimizing the performance and reducing fuel consumption of Plug-in Hybrid Electric Vehicles (PHEVs), which plays an important role in sustainable transportation. This paper presents a comprehensive study of the energy management problem for a selected PHEV, outlining key vehicle parameters such as battery state-of-charge (SOC), engine power, and energy consumption patterns. A mathematical formulation of the energy management problem is proposed to optimize fuel consumption while adhering to the vehicle’s operational constraints. The core of the paper focuses on the application of the Asynchronous Advantage Actor-Critic (A3C) algorithm to address this problem. To enhance the learning process, eligibility traces are introduced to refine the advantage function by weighting historical actions. This adjustment improves the decision-making process by making the action distribution more concentrated, which is crucial for optimizing fuel consumption. The proposed Asynchronous Advantage Actor-Critic Eligibility Traces (A3CET) algorithm incorporates these modifications and shows a significant improvement in fuel efficiency. During the training phase, it achieves 93.6% of the fuel optimality of the Dynamic Programming (DP) benchmark, and maintains 91.5% of DP’s performance during the testing phase. Moreover, A3CET reduces computation time by 62.5% compared to DP, and outperforms other EMSs in terms of both efficiency and real-time applicability.

关键词： Energy management Engines Batteries Reinforcement learning Prediction algorithms Motors Mechanical power transmission Heuristic algorithms Adaptation models Energy consumption

来源：评论

学校读者我要写书评

暂无评论

Bayesian Inverse Problems with Conditional Sinkhorn Generative Adversarial Networks in Least Volume Latent Spaces

SSRN

引用

SSRN 2024年

作者： Chen, Qiuyi Tsilifis, Panagiotis Fuge, Mark Department of Mechanical Engineering University of Maryland College ParkMD20742 United States Robotics AI & Computer Vision Group General Electric Vernova Advanced Research NiskayunaNY12309 United States

Solving inverse problems in scientific and engineering fields has long been intriguing and holds great potential for many applications, yet most techniques still struggle to address issues such as high dimensionality, nonlinearity and model uncertainty inherent in these problems. Recently, generative models such as Generative Adversarial Networks (GANs) have shown great potential in approximating complex high dimensional conditional distributions and have paved the way for characterizing posterior densities in Bayesian inverse problems, yet the problems’ high dimensionality and high nonlinearity often impedes the model’s training. In this paper we show how to tackle these issues with Least Volume—a novel unsupervised nonlinear dimension reduction method—that can learn to represent the given datasets with the minimum number of latent variables while estimating their intrinsic dimensions. Once the low dimensional latent spaces are identified, efficient and accurate training of conditional generative models becomes feasible, resulting in a latent conditional GAN framework for posterior inference. We demonstrate the power of the proposed methodology on a variety of applications including inversion of parameters in systems of ODEs and high dimensional hydraulic conductivities in subsurface flow problems, and reveal the impact of the observables’ and unobservables’ intrinsic dimensions on inverse problems. © 2024, The Authors. All rights reserved.

关键词： Inverse problems

来源：评论

学校读者我要写书评

暂无评论

Visual Object Tracking across Diverse Data Modalities: A Review

arXiv

引用

arXiv 2024年

作者： Wang, Mengmeng Ma, Teli Xin, Shuo Hou, Xiaojun Xing, Jiazheng Dai, Guang Wang, Jingdong Liu, Yong The Laboratory of Advanced Perception on Robotics and Intelligent Learning College of Control Science and Engineering Zhejiang University Zhejiang Hangzhou310027 China State Grid Shanxi Electric Power Company Limited China Baidu China

Visual Object Tracking (VOT) is an attractive and significant research area in computer vision, which aims to recognize and track specific targets in video sequences where the target objects are arbitrary and class-agnostic. The VOT technology could be applied in various scenarios, processing data of diverse modalities such as RGB, thermal infrared and point cloud. Besides, since no one sensor could handle all the dynamic and varying environments, multi-modal VOT is also investigated. This paper presents a comprehensive survey of the recent progress of both single-modal and multi-modal VOT, especially the deep learning methods. Specifically, we first review three types of mainstream single-modal VOT, including RGB, thermal infrared and point cloud tracking. In particular, we conclude four widely-used single-modal frameworks, abstracting their schemas and categorizing the existing inheritors. Then we summarize four kinds of multi-modal VOT, including RGB-Depth, RGB-Thermal, RGB-LiDAR and RGB-Language. Moreover, the comparison results in plenty of VOT benchmarks of the discussed modalities are presented. Finally, we provide recommendations and insightful observations, inspiring the future development of this fast-growing literature. © 2024, CC BY.

关键词： Data handling

来源：评论

学校读者我要写书评

暂无评论

Test-Stand Development and Performance Analysis of RoboWalk Assistive Device

Test-Stand Development and Performance Analysis of RoboWalk ...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Omid Mahdizadeh Vahid Akbari Mahdi Nabipour Sina Ghanaat Shahin Naeemi Sina Hallajian Arash T. Beydokhti Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

Robotic devices are increasingly studied for the rehabilitation purposes of the lower limb disabilities. Wearable assistive devices such as exoskeletons have been recognized as a practical solution to increase the power and maneuverability of human beings in industries, as well as rehabilitation, elderly care, and sports exercises. RoboWalk is a lower limb assistive device that has been designed in ARAS lab at KNTU. To guarantee its proper performance, a Test-Stand is designed and manufactured with extended toolkit options. To validate the simulation results of various scenarios, is the main goal of developing this Test-Stand. Also, to examine the electronics boards and subsystems, the correct interaction between the sensors and the actuators, and investigate the performance of the main control loop, and so on, the Test-Stand is highly useful. In this paper, these various aspects of design and manufacturing of RoboWalk test stand are presented. Stress analyses in SOLIDWORKS software showed that the design of the proposed device is capable to handle the required tasks. Finally, a positioning task is implemented, which reveals the merits of the designed Test_Stand.

关键词： Performance evaluation Simulation Exoskeletons Software Sensors Manufacturing Assistive devices

来源：评论

学校读者我要写书评

暂无评论

Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Design of a Flexible Robot Arm for Safe Aerial Physical Inte...

引用

IEEE International Conference on Soft robotics (RoboSoft)

作者： Julien Mellet Andrea Berra Achilleas Santi Seisa Viswa Sankaranarayanan Udayanga G.W.K.N. Gamage Miguel Ángel Trujillo Soto Guillermo Heredia George Nikolakopoulos Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Robotics and AI Team Electrical and Space Engineering LuleåUIniversity of Technology Luleå Sweden Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Bayesian Inverse Problems with Conditional Sinkhorn Generative Adversarial Networks in Least Volume Latent Spaces

arXiv

引用

arXiv 2024年

关键词： Inverse problems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：