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2022 8th International Conference on Electrical Engineering, control and Robotics, EECR 2022

作者： Muhammad, Abdul Kadir Dermawan Center for Mechatronics and Control System Mechanical Engineering Department State Polytechnic of Ujung Pandang Indonesia

The purpose of this study is to develop a fish feeding robot prototype that equipped with a water level control system for pond use and to propose an effective control scheme for the robot prototype and the water level control system. The system used in this paper consists of a feed storage tank, a feed distribution mechanism, a feed ejection mechanism, an ejector position turning mechanism, a water level control system, a base and a solar panel system for energy sources. The three mechanisms used three DC motors as actuator, respectively. The water level control system used a water pump to pump water out of pond when the level of water exceeds the maximum level limit, and an ultrasonic sensor to measure the level of water in pond. On - Off and proportional - integral (PI) controllers used to control DC motors of the three mechanisms, and the water level control system, respectively. Performances of the robot prototype with the water level control system were examined through laboratory scale experiments. The result of the conducted experiments are presented and discussed. © Published under licence by IOP Publishing Ltd.

关键词： DC motors

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Characterization of the MMX Rover Locomotion Flight Model for Check-Out and Parameterization

Characterization of the MMX Rover Locomotion Flight Model fo...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Fabian Buse Maxime Chalon Bastian Deutschmann Franz Hacker Roman Holderried Alexander Kolb Viktor Langofer André Fonseca Prince Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control German Aerospace Center (DLR) Institute of Robotics and Mechatronics

IDEFIX is a four-wheeled 25kg rover that is jointly developed and built by the French Centre National d’Études Spatiales (CNES) and the German Aerospace center (DLR). It will be brought to the Martian Moon Phobos by the Japan Aerospace Exploration Agency (JAXA) as part of the Martian Moons eXploration (MMX) mission in 2027. IDEFIX’s objectives are to scout the surface, demonstrate driving in milligravity and perform scientific measurements. To upright after landing on the surface, drive and align the rover to the sun, each wheel is mounted on a leg, which can be rotated full 360° in its respective shoulder joint. In previous publications, the development, flight design and qualification of the locomotion subsystem were *** the cruise phase there will be several health checks and – once landed on Phobos – the locomotion will be checked-out. To be able to analyze the health state quantitatively and parameterize the system properly, a good characterization of the system is important. The foundation of this characterization are tests and health-checks on the flight model (FM), as well as performance test results on the qualification model (QM). A selection of the post-processing and analysis of this measured data, that was done for the characterization of the Loco FM, is presented in this paper.

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Mn-based MXene with high lithium-ion storage capacity

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Nano Research 2024年第5期17卷 4181-4191页

作者： Yanyan Wu Dongqing Liu Xiaonan Wang Usman Ghani Muhammad Asim Mushtaq Jinfeng Yang Huarui Sun Panagiotis Tsiakaras Xingke Cai School of Science and Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System Harbin Institute of Technology ShenzhenShenzhen 5180552 China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Institute for Advanced Study Shenzhen UniversityShenzhen 518060China College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Laboratory of Alternative Energy Conversion Systems Department of Mechanical EngineeringSchool of EngineeringUniversity of ThessalyPedion Areos 38834Greece

3d-transition metal(Fe,Co,Ni,and Mn)-based MXene materials have been predicted to demonstrate exceptional electrochemical performance because of their good electrical conductivity and the presence of metallic atoms with multiple charge ***,until now,there have been no reports on MXenes based on Fe,Co,Ni,and Mn,due to the lack of 3d-metal-layered ***,we successfully synthesized the first 3d-transition metal-based MXenes,Mn_(2)CT_(x) by exfoliating a layered precursor derived from the anti-perovskite bulk *** as-prepared Mn_(2)CT_(x) MXene nanosheets were employed as anode materials in lithium-ion batteries,which exhibited stable storage capacity of 764.7 mAh·g^(-1) at 0.5 C,placing its storage capacities at an upper-middle level compared with other reported MXene materials as well as other Mn-based anode ***,this study opens a new avenue for MXene research by synthesizing 3d-transition metal-based MXenes for electrochemical applications.

关键词： Mn_(3)GaC Mn_(2)CT_(x) MXenes lithium-ion battery anode materials negative fading capacity

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The DLR Moon-Mars Test Site for Robotic Planetary Exploration

The DLR Moon-Mars Test Site for Robotic Planetary Exploratio...

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Space Robotics (iSpaRo), International Conference on

作者： Martin Görner Jennifer Cebulsky Andreas Dömel Maximilian Durner Riccardo Giubilato Moritz Kuhne Marcus G. Müller Kristin Lakatos Peter Lehner Roy Lichtenheldt Bernhard Rebele Mattias Roser Ryo Sakagami Yunis Scheeler Martin J. Schuster Manuel Schütt Wolfgang Stürzl Mallikarjuna Vayugundla Armin Wedler Institute of Robotics and Mechatronics German Aerospace Center (DLR) BL9 Landscape Architects Munich Germany Institute of System Dynamics and Control German Aerospace Center (DLR)

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Building robots for planetary exploration missions requires intensive testing throughout all phases of the design process. Especially, during hard- and software development as well as mission training the process benefits of easy-to-access test sites that offer realistic conditions. For this purpose we have built the 1500 m 2 DLR Moon-Mars test site in Oberpfaffenhofen, Germany. The facility provides a large variety of geological formations and ground substrates on a compact terrain as well as a rich set of power and network connections. As a unique feature of the outdoor test site, we prepared a dedicated link to the German Space Operations center that enables telerobotic experiments from ISS. Furthermore, we provide an optical tracking system for ground truth measurement and control. We describe the design and construction process of the test site and present an overview of its features. Three experiments with our robots LRU1, LRU2 and the Scout rover regarding autonomous navigation and mapping, autonomous manipulation and sampling as well as advanced mobility tests demonstrate the usage of the test site.

关键词： Training Industries Service robots Space missions Optical variables measurement Optical fiber communication Robots Substrates Telerobotics Software development management

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Optimal Stabilization of Periodic Orbits

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IFAC-PapersOnLine 2023年第2期56卷 7509-7515页

作者： Fabian Beck Noboru Sakamoto Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan

In this contribution the optimal stabilization problem of periodic orbits is studied in a symplectic geometry setting. For this, the stable manifold theory for the point stabilization case is generalized to the case of periodic orbit stabilization. Sufficient conditions for the existence of a normally hyperbolic invariant manifold (NHIM) of the Hamiltonian system are derived. It is shown that the optimal control problem has a solution if the related periodic Riccati equation has a unique periodic solution. For the analysis of the stable and unstable manifold a coordinate transformation is used which is moving along the orbit. As an example, an optimal control problem is considered for a spring-mass oscillator system, which should be stabilized at a certain energy level.

关键词： Hamiltonian Dynamics Nonlinear control Periodic Orbit Optimal control

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Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos

Qualification of the MMX Rover Locomotion Subsystem for the ...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Günther Geyer Franz Hacker Cynthia Hofmann Roman Holderried Alexander Kolb Erich Krämer Viktor Langofer Roy Lichtenheldt Sascha Moser André Fonseca Prince Kaname Sasaki Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control Weßling German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling German Aerospace Center (DLR) Institute of Space Systems Bremen

Planetary rovers have proven their function and value for the Earth moon as well as Mars in the past decades. While these celestial bodies have a gravity of the same order of magnitude as the Earth, wheeled locomotion has never been performed on a body with much lower gravity. Within the Japanese Martian Moon eXploration (MMX) mission, a wheeled rover will land on the Martian Moon Phobos with a gravity of about 1/2000 of the Earth gravity. The Robotic and mechatronics center of the German Aerospace center (DLR-RMC) has designed and built the locomotion subsystem (LSS) for this rover. As the first ever driving gear for milli-gravity, the LSS needed to undergo a comprehensive qualification campaign. Due to the very challenging timeline of this project, the extent of the campaign needed to be carefully tailored to the needs of the mission. This work describes the concept of the verification including some crucial tailoring choices that have been made. The individual domains of verification are then described in detail with their scope, setup, procedure and results. The goal of this publication is to give a good overview and a detailed insight into the verification of the LSS for milli-gravity. Besides follow-up missions to Phobos, this work is also a good foundation for the qualification of future driving gears for low gravity environments or small rovers in general.

关键词： Earth Space vehicles Mars mechatronics Gears Moon Mobile robots

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MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model

MMX Rover Locomotion Subsystem - Development and Testing tow...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Thomas Bahls Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Franz Hacker Roman Holderried Viktor Langofer Roy Lichtenheldt Sascha Moser Kaname Sasaki Hans-Jü rgen Sedlmayr Juliane Skibbe Leon Stubbig Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control WeBling German Aerospace Center (DLR) Institute of Robotics and Mechatronics WeBling German Aerospace Center (DLR) Institute of Space Systems Bremen

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437615

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover.

关键词： Space vehicles Mars Frequency modulation mechatronics Moon Writing Thermal sensors

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Oxidation-induced superelasticity in metallic glass nanotubes

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Nature Materials 2024年第1期23卷 52-57页

作者： Li, Fucheng Zhang, Zhibo Liu, Huanrong Zhu, Wenqing Wang, Tianyu Park, Minhyuk Zhang, Jingyang Bönninghoff, Niklas Feng, Xiaobin Zhang, Hongti Luan, Junhua Wang, Jianguo Liu, Xiaodi Chang, Tinghao Chu, Jinn P. Lu, Yang Liu, Yanhui Guan, Pengfei Yang, Yong Department of Mechanical Engineering College of Engineering City University of Hong Kong Kowloon Tong Hong Kong Institute of Physics Chinese Academy of Sciences Beijing China Songshan Lake Materials Laboratory Dongguan China Beijing Computational Science Research Center Beijing China Department of Material Science and Engineering National Taiwan University of Science and Technology Taipei Taiwan Department of Materials Science and Engineering College of Engineering City University of Hong Kong Kowloon Tong Hong Kong College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Mechanical Engineering The University of Hong Kong Pok Fu Lam Hong Kong Department of System Engineering College of Engineering City University of Hong Kong Kowloon Tong Hong Kong

Although metallic nanostructures have been attracting tremendous research interest in nanoscience and nanotechnologies, it is known that environmental attacks, such as surface oxidation, can easily initiate cracking on the surface of metals, thus deteriorating their overall functional/structural properties 1–3. In sharp contrast, here we report that severely oxidized metallic glass nanotubes can attain an ultrahigh recoverable elastic strain of up to ~14% at room temperature, which outperform bulk metallic glasses, metallic glass nanowires and many other superelastic metals hitherto reported. Through in situ experiments and atomistic simulations, we reveal that the physical mechanisms underpinning the observed superelasticity can be attributed to the formation of a percolating oxide network in metallic glass nanotubes, which not only restricts atomic-scale plastic events during loading but also leads to the recovery of elastic rigidity on unloading. Our discovery implies that oxidation in low-dimensional metallic glasses can result in unique properties for applications in nanodevices. © 2023, The Author(s), under exclusive licence to Springer Nature Limited.

关键词： Metallic glass

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Neural Network Training Using Closed-Loop Data: Hazards and an Instrumental Variable (IVNN) Solution

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IFAC-PapersOnLine 2022年第12期55卷 182-187页

作者： Johan Kon Marcel Heertjes Tom Oomen Control Systems Technology Group Departement of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands ASML Mechatronics System Development Veldhoven The Netherlands Delft Center for Systems and Control Delft University of Technology P.O. Box 5 2600 AA Delft The Netherlands

An increasing trend in the use of neural networks in control systems is being observed. The aim of this paper is to reveal that the straightforward application of learning neural network feedforward controllers with closed-loop data may introduce parameter inconsistency that degrades control performance, and to provide a solution. The proposed method employs instrumental variables to ensure consistent parameter estimates. A nonlinear system example reveals that the developed instrumental variable neural network (IVNN) approach asymptotically recovers the optimal solution, while pre-existing approaches are shown to lead to inconsistent estimates.

关键词： Feedforward control instrumental variables neural networks

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Self-Tuning Clamping Force control with Optimal Trajectory Tracking for Autonomous Pipe Inspection Robots

SSRN

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SSRN 2025年

作者： Sun, Guoxin Xia, Longfei Du, Xinpeng Yu, Qihui Zhang, Jianlong Qin, Ripeng School of Mechanical Engineering Inner Mongolia University of Science and Technology Inner Mongolia Autonomous Region Baotou014010 China Inner Mongolia Engineering Technology Research Center of Mechatronics System Intelligent Diagnosis & Control Engineering 014010 China Inner Mongolia Ming yang North Smart Energy Research and Development Center Co LTD China Department of Mechanical Engineering Denmark Inner Mongolia University of Science and Technology China

In response to the limitations of existing external pipe-crawling robots, which are unable to automatically adjust clamping force during operation, a novel external pipe-crawling robot has been designed. To enable adaptive clamping based on varying pipeline conditions, an adaptive clamping force control method based on optimal speed curve tracking is proposed. First, the target clamping force is calculated according to pipeline conditions, and it is then converted into a target speed signal through optimal speed curve planning. Subsequently, the motor precisely tracks the speed signal to achieve accurate clamping force control. Experimental results from the robot prototype demonstrate that the proposed algorithm maintains a clamping force control error rate of less than 8.0% under pipelines with different diameters, inclination angles, and surface roughness, ensuring stable operation across various pipeline conditions. © 2025, The Authors. All rights reserved.

关键词： Clamping devices

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