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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Urakawa, Yoshiyuki Sirichai, Ngamlamai Robotics Department Advanced Engineering Faculty Nippon Institute of Technology Saitama Japan Mechanical System Engineering Major Graduated School Nippon Institute of Technology Saitama Japan

ISBN: (纸本)9781665464543

Positioning systems with motors are widely used in industrial use. Many production systems, mechatronics systems or industrial robots use high speed and high precision positioning systems with motors. Generally, the controllers of the positioning systems are proportional-to-proportional-integral (P-PI) controllers. They are often used because they have small overshoots and easy to tune. However, it needs fine-tunings to make settling motions smooth. There may be two reasons why the fine-tunings are needed for P-PI controllers. One is the pole assignment constraint of P-PI controller. Three poles of the P-PI control systems for motor positioning cannot be assigned freely. One of the three poles always stay at a slow position. Another reason is the digital delay when the P-PI controllers are applied to the practical systems. The digital system with the delay becomes vibrational because of the phase delay of the calculation time. It makes the overshoot of the trajectory. In this paper, the influences and solutions of the pole assignment constraint and the digital delay are shown. The pole assignment constraint limits the performance of the closed loop. The feedforward controller is shown to be the solution of this constraint. The digital delay makes the overshoot, but it can be corrected by the limited pole placement (LPP) method proposed by the author. It enables accurate pole-zero assignment without overshoots under the conditions of the digital delay. © 2024 IEEE.

关键词： Industrial robots

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AllWeather-UsableWearable Dual Energy Harvester for Outdoor Sustainable Operation

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SusMat 2025年第1期5卷 159-170页

作者： Yeongju Jung Jiyong Ahn Ji-Seok Kim Junhyuk Bang Minwoo Kim Seongmin Jeong Jinwoo Lee Seonggeun Han Il-Kwon Oh Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical EngineeringSeoul National UniversitySeoulRepublic of Korea National Creative Research Initiative for Functionally Antagonistic Nano-Engineering Department of Mechanical EngineeringSchool of Mechanical and Aerospace EngineeringKorea Advanced Institute of Science and Technology(KAIST)DaejeonRepublic of Korea Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoulRepublic of Korea Device Solutions Research Samsung ElectronicsHwaseong-siRepublic of Korea Institute of Engineering Research/Institute of Advanced Machinery and Design(SNU-IAMD) Seoul National UniversitySeoulRepublic of Korea Interdisciplinary Program in Bioengineering Seoul National UniversitySeoulRepublic of Korea

Sustainable power sources for outdoor wearable electronics are essential for the continuous operation of wearable ***,the current lack of engineering design that can harvest energy regardless of weather conditions presents a significant *** this regard,this study introduces a wearable,breathable all-weather usable dual energy harvester(AWuDEH)that can seamlessly generate electrical energy regardless of weather *** this study,the AWuDEH integrated with the thermoelectric generator and the droplet-based electricity generator is *** AWuDEH,especially engineered with a bi-functional top substrate for radiative cooling and electrification,achieves sustainable energy harvesting outdoors,thereby addressing the conventional challenge associated with the necessity for separate energy harvesters tailored to outdoor usage contingent on weather *** device reaches a maximum power output of 14.6μW cm^(-2)under simulated sunny conditions and generates a much more enhanced thermoelectric power of 74.78μW cm^(-2)and a droplet-based electric power of 256.25 mW m^(-2)in rainy *** proof,this study developed self-powered wearable electronics capable of acquiring physiological signals in simulated outdoor *** study presents a promising advancement in wearable technology,offering a potent solution for sustainable energy harvesting independent of weather conditions.

关键词： all-weather usable droplet-based electricity generator hybrid architecture outdoor sustainable operation thermoelectric generator

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Framework for monitoring electric vehicle battery second life health and estimating remaining useful life 12

Framework for monitoring electric vehicle battery second lif...

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12th CIRP Global Web Conference, CIRPe 2024

作者： Rajabzadeh, Mohammad Hargaden, Vincent Ghadimi, Pezhman Strnadl, Christoph F. Papakostas, Nikolaos Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland IOTA Foundation Berlin10437 Germany

The rapid development of electric vehicles has led to the increasingly important role of lithium batteries in the field of performance sources. New technologies make people become more environmentally conscious and switch from buying to controlling electric vehicle life cycles. The mass production of lithium batteries may lead to environmentally friendly transportation. However, traditional lithium battery manufacturers and government policies often focus on the production and recycling phases. The challenges for battery life cycle management and circular economy are increasingly complex and diverse. This paper presents a comprehensive framework for the secondary utilization of lithium batteries by discussing battery aging, monitoring, recycling, secondary use, and lithium battery health prediction. As a result, multiple algorithms were used to evaluate their effectiveness in battery performance prediction. The analysis of the experiments' results revealed the importance of data pre-processing in improving predictive accuracy, the dependence of model selection on data adaptability, and the need for continuous adjustments during the predictive modeling process. © 2025 The Author(s).

关键词： Electric vehicles Lithium batteries Sustainability

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Multi-Aspect Optimal Sliding Mode Controller for a Mecanum Wheeled Robot 11

Multi-Aspect Optimal Sliding Mode Controller for a Mecanum W...

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Allahyari, Sohrab Rahmanei, Hamid Moosavian, S. Ali A. K. N. Toosi University of Technology Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept. of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-Tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATLAB/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications. © 2023 IEEE.

关键词： Three term control systems

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Ultra-flexible graphene/nylon/PDMS coaxial fiber-shaped multifunctional sensor

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Nano Research 2023年第4期16卷 5541-5547页

作者： Peddathimula Puneetha Siva Pratap Reddy Mallem Sung Cheol Park Seoha Kim Dong Hun Heo Cheol Min Kim Jaesool Shim Sung Jin An Dong-Yeon Lee Kwi-Il Park Department of Robotics and Intelligent Machine Engineering/College of Mechanical and IT Engineering Yeungnam UniversityGyeongsan 38541Republic of Korea School of Materials Science and Engineering Kyungpook National UniversityDaegu 41566Republic of Korea Advanced Material Research Center Kumoh National Institute of TechnologyGumi 39177Republic of Korea School of Mechanical Engineering Yeungnam UniversityGyeongsan 38541Republic of Korea Department of Materials Science and Engineering Kumoh National Institute of TechnologyGumi 39177Republic of Korea

The development of flexible and wearable devices is mainly required for tactile sensing;as such devices can adapt to complicated nonuniform surfaces,they can be applied to the human ***,it remains necessary to simultaneously achieve small-scale,portable,and stable developments in such ***,this work aims at fabricating a novel,lightweight,ultra-flexible,and fiber-shaped coaxial structure with a diameter of 0.51 mm using polydimethylsiloxane/graphene/nylon material,based on piezoresistive and triboelectric *** piezoresistive-based robotic-hand-controlled sensor thus realized exhibits a response time of 120 ms and a fast recovery time of 55 ***,the piezoresistive-based sensors effectively feature whisker/joystick-guided behaviors and also sense the human finger *** to the triboelectric-based selfpowered nanogenerator behavior,the resulting sensor can convert mechanical motion into electrical energy,without adversely affecting human ***,this triboelectric-based human finger sensor can be operated under different bending modes at specific ***,this multifunctional sensor is cost-effective and suitable for various applications,including robotichand-controlled operations in medical surgery,whisker/joystick motions in lightweight drone technology,and navigation with highsensitivity components.

关键词： extremely lightweight ultra-flexible piezoresistive/triboelectric sensor human-machine whisker

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An integrated decision-making process for sustainable supplier selection and order allocation in the automotive industry 31

An integrated decision-making process for sustainable suppli...

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31st CIRP Conference on Life Cycle engineering, LCE 2024

作者： Ghadimi, Pezhman Sar, Kubra Azadnia, Amir Hossein Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland School of Business Maynooth University Maynooth Ireland

A sustainable supplier selection problem can be concisely defined as a classical supplier selection problem that incorporates environmental and social criteria to select and monitor suppliers' performances, creating the sustainable supplier selection and order allocation (SSS&OA) problem. Finding the optimal order allocation to suppliers in the automotive industry is crucial as it can significantly improve the social, environmental, and economic performance of the whole supply chain. Therefore, this research aims to find an optimal order allocation plan for suppliers using an augmented ϵ-constraint optimization method in the automotive industry while considering all three dimensions of sustainability. Using a previously established comprehensive framework, this paper has adapted the solution approach of an existing bi-objective order allocation model that was used to make sourcing decisions. The results showed a higher total value of sustainable purchasing is achieved by the augmented ϵ-constraint optimization method compared to the traditional max-min method. © 2024 The Author(s).

关键词： Automotive industry

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A Biomimetic Stress Field Modulation Strategy Inspired by Scorpion Compound Slit Sensilla Enabled High-Accuracy and Low-Power Positioning Sensor for Identifying the Load Incident Angles

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Journal of Bionic engineering 2025年第2期22卷 727-738页

作者： Junqiu Zhang Yu Chen Haoran Li Jiqi Gao Xiangbo Gu Jiachao Wu Xiaojing Qin Kejun Wang Bin Zhu Daobing Chen Tao Sun Jianhua Fan Zhiwu Han Luquan Ren Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityChangchun130022People’s Republic of China Institute of Structured and Architected Materials Liaoning Academy of MaterialsShenyang110167China Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow UniversitySuzhou215123People’s Republic of China School of Mechanical Engineering Sciences University of SurreyGuildfordGU27XHUK The Institute of Technological Science Wuhan UniversityWuhan430072China School of Mechanical and Aerospace Engineering Jilin UniversityChangchun130025China

Numerous arthropods evolve and optimize sensory systems, enabling them to effectively adapt complex and competitive habitats. Typically, scorpions can precisely perceive the prey location with the lowest metabolic rate among invertebrates. This biological phenomenon contrasts sharply with engineered systems, which generally associates high accuracy with substantial energy consumption. Inspired by the Scorpion Compound Slit Sensilla (SCSS) with a stress field modulation strategy, a bionic positioning sensor with superior precision and minimal power consumption is developed for the first time, which utilizes the particular Minimum Positioning Units (MPUs) to efficiently locate vibration signals. The single MPU of the SCSS can recognize the direction of collinear loads by regulating the stress field distribution and further, the coupling action of three MPUs can realize all-angle vibration monitoring in plane. Experiments demonstrate that the bionic positioning sensor achieves 1.43 degrees of angle-error-free accuracy without additional energy supply. As a proof of concept, two bionic positioning sensors and machine learning algorithm are integrated to provide centimeter (cm)-accuracy target localization, ideally suited for the man-machine interaction. The novel design offers a new mechanism for the design of traditional positioning devices, improving precision and efficiency in both the meta-universe and real-world Internet-connected systems.

关键词： Scorpion Compound Slit Sensilla(SCSS) Vibration Source Stress Field Modulation Strategy High-accuracy and low-power Positioning Sensor Minimum Positioning Unit(MPU)

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Improved time-optimal B-spline feedrate scheduling for NURBS tool paths in CNC machining

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Advances in Manufacturing 2023年第1期11卷 111-129页

作者： Yang Li Fu-Sheng Liang Lei Lu Cheng Fan School of Mechanic Engineering Northeast Electric Power UniversityJilin132012JilinPeople’s Republic of China Jiangsu Provincial Key Laboratory of Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology College of Mechanical and Electrical EngineeringSoochow UniversitySuzhou215021JiangsuPeople’s Republic of China

Feedrate scheduling in computer numerical control(CNC)machining is of great importance to fully develop the capabilities of machine tools while maintaining the motion stability of each *** and time-optimal feedrate scheduling plays a critical role in improving the machining efficiency and precision of complex surfaces considering the irregular curvature characteristics of tool paths and the limited drive capacities of machine *** study develops a general feedrate scheduling method for non-uniform rational B-splines(NURBS)tool paths in CNC machining aiming at minimizing the total machining time without sacrificing the smoothness of feed *** feedrate profile is represented by a B-spline curve to flexibly adapt to the frequent acceleration and deceleration requirements of machining along complex tool *** time-optimal B-spline feedrate is produced by continuously increasing the control points sequentially from zero positions in the bidirectional scanning and sampling *** required number of knots for the time-optimal B-spline feedrate can be determined using a progressive knot insertion *** improve the computational efficiency,the B-spline feedrate profile is divided into a series of independent segments and the computation in each segment can be performed *** proposed feedrate scheduling method is capable of dealing with not only the geometry constraints but also high-order drive constraints for any complex tool path with little computational *** and machining experiments are conducted to verify the effectiveness and superiorities of the proposed method.

关键词： B-spline feedrate Non-uniform rational B-splines(NURBS)tool path Knot insertion Bidirectional scanning Computer numerical control(CNC)machining

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Editorial:special issue on frontiers of control and automation,dedicated to *** *** 60th birthday

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Control Theory and Technology 2023年第3期21卷 263-264页

作者： Jie Chen Jie Huang Lihua Xie Department of Control Science and Engineering Tongji UniversityShanghaiChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina Center for Advanced Robotics Technology Innovation School of Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore

It is our great pleasure and honor to organize this special issue"Frontiers of Control and Automation"in honor of the 60th birthday of our long-time colleague and friend Professor Ben *** Chen obtained his *** in mathemat-ics and computer science in 1983 from Xiamen University,China;*** in electrical engineering in 1988 from Gonzaga University,Spokane,Washington,USA;and *** in electrical and computer engineering in 1991 from Washington State University,Pullman,Washington,USA.

关键词： computer Xiamen frontier

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