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4th International Conference on Mechanical Design and Simulation, MDS 2024

作者： Wang, Xintong Tian, Hao Fang, Jingzhe Zhang, Hualiang Zhang, Tao Software College Shenyang University of Technology Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9789819778867

The need for mechanical model simulation platforms is growing as a result of the ongoing advancements in digital technology and the mechanical manufacturing sector. The application scope and efficacy of simulation platforms are severely limited by the issue of sluggish rendering performance, which frequently arises when obtaining high-quality rendering. When drawing high demand mechanical models, a lot of processing power is frequently needed, which makes real-time rendering speed unsatisfactory for practical purposes. In order to achieve real-time rendering and simulation of 3D robots, this experiment built and implemented a WebGL-based 3D simulation platform. Additionally, the simulation platform can be optimized by increasing frame rate and rendering speed without sacrificing rendering effect by building a mixed bounding box. © The Author(s) 2025.

关键词： Digital elevation model

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Development of a Novel Redundant Parallel Mechanism with Enlarged Workspace and Enhanced Dexterity for Fracture Reduction Surgery

Development of a Novel Redundant Parallel Mechanism with Enl...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Quan Yuan Xu Liang Tingting Su Weibang Bai ShanghaiTech Automation and Robotics (STAR) Center School of Information Science and Technology ShanghaiTech University Shanghai China School of Automation and Intelligence Beijing Jiaotong University Beijing China Faculty of Information Technology Beijing University of Technology Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The limited workspace and complex singularity issues are predominant factors impeding the clinical applicability of fracture reduction parallel robots. To address these challenges, this paper proposes a novel redundant parallel mechanism (NRPM) for robotic-assisted fracture reduction with an enlarged workspace and enhanced dexterity capabilities based on the traditional Stewart parallel mechanism (SPM). With six redundant degrees-of-freedom (DOFs) added to the novel mechanism, the kinematics of NRPM needs to be thoroughly analyzed. Furthermore, the calculation of its workspace and determination of its dexterity are deduced. Both the analytical simulation and real experiment results demonstrated the effectiveness and superior performance of the proposed NRPM compared to SPM.

关键词： Parallel robots Force Surgery Prototypes Phantoms Kinematics Intelligent robots

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Power enhancement using improved maximum power point tracking for solar photovoltaic systems under partial shading

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Clean Energy 2022年第6期6卷 810-816页

作者： Chandrakant D.Bhos Javed Sayyad Paresh Nasikkar Department of Electronics and Telecommunication Engineering Symbiosis Institute of Technology(SIT)Symbiosis International(Deemed University)(SIU)LavalePune412115MaharashtraIndia Department of Robotics and Automation Engineering Symbiosis Institute of Technology(SIT)Symbiosis International(Deemed University)(SIU)LavalePune412115MaharashtraIndia

One of the key reasons contributing to a reduction in the performance of a solar photovoltaic(SPV)system is the presence of partial shade on the solar *** is necessary to use maximum power point tracking(MPPT)in SPV systems to get around the non-linear behaviour of photovoltaic *** research analyses the reduction in power output of SPV systems caused by partial *** the latter part of the paper,the improved dynamic behaviour-based ant colony optimization MPPT approach under the effect of module-level partial shading is implemented in MATLAB®/Simulink®.Various partial shading levels were applied to SPV modules to evaluate the system *** proposed system follows the maximum power point with 99.9%accuracy and a response time of 2 *** addition of a weight coefficient accelerates the convergence of the algorithm.

关键词： solar photovoltaic MPPT shading optimization

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Stackelberg Game-Based Optimal Scheduling Strategy for Multi-Microgrid Systems with Electricity-Heat Shared Energy Storage

Stackelberg Game-Based Optimal Scheduling Strategy for Multi...

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Chinese automation Congress (CAC)

作者： Chao Peng Decai Zhang Mian Hu Huaiyu Wu Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

To address the challenges of the complexity of electricity-heat coupling, the pollution of carbon emissions, the security of privacy information, and the uncertainty of renewable energy generations (REGs), this paper proposes a novel multi-microgrid electricity-heat shared energy storage system framework, considering that the integrated energy storage operator (IESO) is equipped with electric boiler and two types of energy storage (i.e., electrical energy storage and heat energy storage) devices, and each microgrid (MG) is equipped with combined heat and power system that coupled carbon capture system and power-to-gas device. Latin hypercube sampling is used to deal with the uncertainty of REGs. A distributed bi-level iterative algorithm based on Stackelberg game theory is designed, which effectively protects the users' privacy information, and finally a Stackelberg equilibrium strategy is obtained, where the IESO and each MG minimize its operating cost. Simulation results show that the proposed optimal scheduling strategy can effectively reduce the operating cost and carbon emissions of each MG, and increase the benefits of the IESO.

关键词： Privacy Uncertainty Costs Cogeneration Optimal scheduling Microgrids Thermal pollution Iterative methods Energy storage Resistance heating

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Human-machine shared control method for brain-controlled wheeled robot

Human-machine shared control method for brain-controlled whe...

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Intelligent robotics and Automatic Control (IRAC), International Conference on

作者： Duo Han Xiaoyan Deng Zhuliang Yu Zhenghui Gu School of Automation Science and Engineering South China University of Technology Guangzhou China Institute for Super Robotics (Huangpu) Guangzhou China

ISBN: (数字)9798350389807

ISBN: (纸本)9798350389814

Human-machine shared control has been verified to be an effective method for brain-controlled robot. This paper proposes a shared control system for wheeled robots, which converts the EEG signals generated by SSVEP into the BCI command of the wheeled robot through vector fusion, and designs the RAC method to adjust the human-machine control weight based on the confidence evaluation of the EEG signals and the robot environment evaluation. Considering the problem of human-machine conflict, this paper adopts a "people-oriented" strategy and proposes the SCR-TEB algorithm to resolve human-machine conflicts. Online experiments have proved that the method proposed in this paper can effectively improve the success rate of the task and give people a stronger sense of control.

关键词： Human-machine systems Heuristic algorithms Redundancy Robot sensing systems Electroencephalography Vectors User experience Trajectory Mobile robots Signal resolution

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Video Streaming Protocols Comparison in Field Experiments for Aerial Teleoperation

Video Streaming Protocols Comparison in Field Experiments fo...

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Mechanical Engineering and robotics Research (ICMERR), International Conference on

作者： Manuel J. Fernandez Riccardo Franceschini Julian Cayero Becerra Matteo Fumagalli Department of Electrical Engineering Automation and Control Technical University of Denmark Kongens Lyngby Denmark Robotics and Automation Unit Eurecat Technology Center of Catalunya Cerdanyola del Vallès Barcelona Spain

ISBN: (数字)9798331509262

ISBN: (纸本)9798331509279

As aerial robots evolve to perform complex tasks such as manipulation and visual inspection, maintaining the pilot at the center of decision-making is critical for mission safety and leveraging human expertise. A key enabler of this collaboration is reliable video streaming between the robot and the operator. This paper presents a comparative analysis of four video streaming protocols RTP (Real-time Transport Protocol), RTSP (Real-Time Streaming Protocol), SRT (Secure Reliable Transport), and ROSTCP (ROS Transport Control Protocol) based on extensive field experiments. The evaluation focuses on CPU usage, network throughput, latency, streaming quality, and packet integrity across varying distances. Tools such as iperf, ping, GStreamer, and Wireshark were employed for detailed performance measurements. Results reveal significant differences: SRT and RTP deliver superior network stability and resilience to packet loss, while RTSP and ROSTCP show advantages in CPU efficiency. These findings provide actionable insights for optimizing video streaming in aerial robotics, emphasizing the trade-offs and advantages of each protocol in real-world scenarios.

关键词： Wireless communication Transport protocols Visualization Protocols Streaming media Throughput Real-time systems Stability analysis Reliability Robots

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Implementation of Offset Injection PWM Technique for Grid Integration

Implementation of Offset Injection PWM Technique for Grid In...

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International Conference on Industrial Instrumentation and Control,ICI2C 2021

作者： Renuka Devi, G. Yuvaraja, S. Syed Abdul Salam, M. Department of Robotics and Automation Manakula Vinayagar Institute of Technology Puducherry Kalitheerthalkuppam India Department of Electronics and Communication Engineering M.A.M. College of Engineering & Technology Tamil Nadu Trichy India

ISBN: (纸本)9789811670107

This paper addresses the offset injection-based PWM technique for grid integration. In the MATLAB/Simulink environment, the grid-tied inverter is developed. The sinusoidal pulse width grid-tied inverter is developed and studies the performance in terms of output current and THD. Compared to SPWM technique, the offset injection PWM technique provides low harmonic current, and power factor is improved, enhancing power management capability, improving storage capacity and to extract maximum power. The proposed offset injection is presented in steady-state and dynamic conditions. The existing and proposed technique performance is analyzed in different step change conditions and identifies the method suitable for grid integration. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Pulse width modulation

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Evaluation on the microhardness of Ni-TiO2 nanocomposite coatings on AISI 1022 substrate

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Materials Today: Proceedings 2022年 62卷 811-817页

作者： Natarajan, P. Mohanraj, M. Sathish Kumar, R. Thirumoorthy, A. Prabhakaran, S. Department of Mechanical Engineering Government College of Engineering Salem 636011 India Department of Automobile Engineering Hindustan Institute of Technology and Science Chennai 603103 India Department of Mechanical Engineering Velalar College of Engineering and Technology Thindal Erode 638012 India Department of Robotics and Automation Engineering PSG College of Technology Coimbatore 641004 India

The surface strength and performance of the material depends mainly on the appropriate coating techniques and also on the selection of the appropriate process parameters. From in this, electroplating is broadly used to protecting the material's surface and hence increases the life of industrial components. The present study pulse electrodeposition of Ni-TiO2 nanocomposite coating was developed on the surface of AISI 1022 Carbon Steel from watts bath. Such nanocoatings greatly enhanced the better hardness, wear and corrosion resistance in the automotive industry. The present work purpose to examine the influence of the coating process parameters on the microhardness (MH) of Ni-TiO2 nanocomposite coating on AISI 1022 Carbon Steel with the aid of response surface methodology (RSM). The Pulse frequency (Hz), Current density (A/cm2) and Duty cycle (%) parameters are considered and integrated into the RSM three factors and three level orthogonal arrays to determine the optimized condition for improved hardness of the coating. The contribution of the coating parameters was studied with the help of analysis of variance (ANOVA). The result revealed frequency: 20 Hz, current density: 0.2 A/cm2 and duty cycle: 30% coated specimen uniformly distributed cauliflower structure than compared to the frequency: 30 Hz, current density: 0.2 A/cm2 and duty cycle: 20%. To explore that uniformly coated specimen EDX, field emission scanning electron microscopy (FESEM) and X-ray diffraction (XRD) respectively. © 2022

关键词： Titanium dioxide

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Data-based Stabilization of Unknown Discrete-time 2-D Roesser Systems 23

Data-based Stabilization of Unknown Discrete-time 2-D Roesse...

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23rd International Conference on Machine Learning and Cybernetics, ICMLC 2024

作者： Yang, Runmin Yang, Rongni Ma, Renjie Zhu, Yanzheng Shi, Peng School of Control Science and Engineering Shandong University Jinan250061 China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150001 China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao266590 China School of Electrical and Mechanical Engineering University of Adelaide AdelaideSA5005 Australia

ISBN: (纸本)9798331528041

This paper studies the stabilization problem of discrete-time two-dimensional (2-D) systems represented by Roesser based on available data. First of all, based on the pre-collected input-state data, the original system is transformed into a data-based form. Then a set is established to represent all systems capable of generating the given data, thereby indirectly stabilizing the original system by stabilizing all systems within this set. Next, by utilizing the S-procedure, sufficient conditions are established for the resultant closed-loop systems that incorporate a state feedback controller based on collected data. Finally, an example is given to demonstrate the effectiveness of the proposed approach. © 2024 IEEE.

关键词： Discrete time control systems

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Multi-Objective Optimization Design for DC-Link Capacitor of Motor Driver

Multi-Objective Optimization Design for DC-Link Capacitor of...

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2024 CPSS and IEEE International Symposium on Energy Storage and Conversion, CPSS and ISESC 2024

作者： Liu, Qian Huang, Kangxing Wei, Xueliang Zheng, Yihong Xiang, Hao School of Automation Wuhan University of Technology Wuhan China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong College of Artificial Intelligence China University of Petroleum-Beijing Beijing China Wuhan IActuator Robotics Co. Ltd Software Development Department Wuhan China

ISBN: (纸本)9798350380514

The capacitor is a common weak point in motor drive system design, necessitating targeted selection, design, and optimization of capacitor banks within these systems. Traditional capacitor design often relies on engineering experience, usually meeting specific capacitance and voltage requirements through simple parallel or series connections of capacitors. This approach often fails to fully optimize volume, cost, and reliability. This paper uses comprehensive theoretical modeling to optimize capacitor module design, effectively balancing capacitor lifespan, cost, and volume. For the design and selection of DC-link capacitors in a 1kW permanent magnet synchronous motor drive system, a multi-objective optimization design method for capacitor banks is proposed. The study treats the individual capacitance values of parallel capacitors as variables, significantly enhancing the overall performance of the capacitor module through precise optimization and the introduction of necessary constraints in the selection design. The proposed method is validated with a 1kW permanent magnet synchronous motor drive system. The optimization results show that under the guidance of a multi-objective optimization framework, the designed DC-link capacitor module meets physical size requirements while achieving overall optimization in terms of volume, cost, and lifespan, significantly improving system reliability. © 2024 IEEE.

关键词： Permanent magnets

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