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Instability-Induced Origami Design by Topology Optimization

Acta Mechanica Solida Sinica 2023年第4期36卷 506-513页

作者： Weiwei Wang Ke Liu Meiqi Wu Hongyuan Li Pengyu Lv Huiling Duan State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China CAPT HEDPS and IFSACollaborative Innovation Center of MoEPeking UniversityBeijing 100871China

Instability-induced wrinkle patterns of thin sheets are ubiquitous in nature,which often result in origami-like patterns that provide inspiration for the engineering of origami *** by instability-induced origami patterns,we propose a computational origami design method based on the nonlinear analysis of loaded thin sheets and topology *** bar-and-hinge model is employed for the nonlinear structural analysis,added with a displacement perturbation strategy to initiate out-of-plane *** ideas from topology optimization,a continuous crease indicator is introduced as the design variable to indicate the state of a crease,which is penalized by power functions to establish the mapping relationships between the crease indicator and hinge *** the structural strain energy with a crease length constraint,we are able to evolve a thin sheet into an origami structure with an optimized crease *** examples with different initial setups are illustrated,demonstrating the effectiveness and feasibility of the method.

关键词： Origami structure Instability Topology optimization Bar-and-hinge model

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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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Model Predictive Torque Control of Six-Phase Switched Reluctance Motors Based on Improved Voltage Vector Strategy

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7650-7661页

作者： Yang, Yifei Sun, Xiaodong Dianov, Anton Demidova, Galina Prakht, Vladimir Wang, Yong Han, Shouyi Suzhou Vocational University School of Mechanical and Electrical Engineering Suzhou215104 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Saint Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Yekaterinburg620062 Russia Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China

To rapidly and accurately establish the model of switched reluctance motors (SRMs) and enhance torque control performance, this article proposes a model predictive torque control (MPTC) strategy based on the optimized voltage vector. First, a fourth-order Fourier series is used to calculate the flux and torque models, and a complete nonlinear model of the SRM is constructed using the Kriging model. Second, the torque characteristics are used to divide the sectors, thereby reducing the number of candidate voltage vectors (CVVs) and effectively decreasing the computational burden of predictive control. Finally, an adaptive adjustment algorithm for the sector boundary angle is proposed, where the position of the sectors is determined based on variations in speed and load. The proposed method reduces torque ripple and enhances dynamic response capability. The effectiveness of this approach is validated through experiments on a 12/10 pole six-phase SRM prototype. © 2015 IEEE.

关键词： Vectors

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A Survey of Underwater Multi-Robot systems

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 1-18页

作者： Ziye Zhou Jincun Liu Junzhi Yu State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBeijing Innovation Center for Engineering Science and Advanced TechnologyCollege of EngineeringPeking UniversityBeijing 100871China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

关键词： Cooperation formation control multi-robot systems(MRS) taxonomy underwater robots underwater tasks

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

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Frontiers of Mechanical engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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Evolutionary Optimization Methods for High-Dimensional Expensive Problems:A Survey

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1092-1105页

作者： MengChu Zhou Meiji Cui Dian Xu Shuwei Zhu Ziyan Zhao Abdullah Abusorrah Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewarkNJ 07102 USA School of Information and Electronic Engineering Zhejiang Gongshang UniversityHangzhou 310018China School of Intelligent Manufacturing Nanjing University of Science and TechnologyNanjing 210094China Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China School of Artificial Intelligence and Computer Jiangnan UniversityWuxi 214122China School of Information Science and Engineering Northeastern UniversityShenyang 110819China Center of Research Excellence in Renewable Energy and Power Systems Department of Electrical and Computer EngineeringFaculty of EngineeringKing Abdulaziz UniversityJeddah 21589Saudi Arabia K.A.CARE Energy Research and Innovation Center King Abdulaziz UniversityJeddah 21589Saudi Arabia

Evolutionary computation is a rapidly evolving field and the related algorithms have been successfully used to solve various real-world optimization *** past decade has also witnessed their fast progress to solve a class of challenging optimization problems called high-dimensional expensive problems(HEPs).The evaluation of their objective fitness requires expensive resource due to their use of time-consuming physical experiments or computer ***,it is hard to traverse the huge search space within reasonable resource as problem dimension *** evolutionary algorithms(EAs)tend to fail to solve HEPs competently because they need to conduct many such expensive evaluations before achieving satisfactory *** reduce such evaluations,many novel surrogate-assisted algorithms emerge to cope with HEPs in recent *** there lacks a thorough review of the state of the art in this specific and important *** paper provides a comprehensive survey of these evolutionary algorithms for *** start with a brief introduction to the research status and the basic concepts of ***,we present surrogate-assisted evolutionary algorithms for HEPs from four main *** also give comparative results of some representative algorithms and application ***,we indicate open challenges and several promising directions to advance the progress in evolutionary optimization algorithms for HEPs.

关键词： computer optimization evolutionary

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Low-Cost 3D Holographic Display with Gesture Control 6

Low-Cost 3D Holographic Display with Gesture Control

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6th Global Conference on Wireless and Optical Technologies, GCWOT 2023

作者： Bibi, Saima Imran, Ayesha Saud, Safwan Maheshwari, Mukesh Kumar Shankar Chowdhry, Bhawani Ejaz, Waleed Bahria University Karachi Campus Department of Electrical Engineering Karachi Pakistan Mehran University of Engineering & Technology National Center of Robotics & Automation Condition Monitoring Systems Lab Jamshoro Pakistan Lakehead University Department of Electrical Engineering BarrieON Canada

ISBN: (纸本)9798350333718

A way behind the past where teaching and learning were only by video, images, and 2D animations. Now we have live sessions where a classroom is bounded on just a laptop screen. What happened if that live session and 3D imaging are presented in the form of real sculpture by using Augmented Reality? In this paper, we are introducing a low-cost 3D display that presents both recorded and live sessions. Also, this display will be controlled with our fingertips. This application covers sectors of education, medical imaging, and advertisements with good effects and cheap cost. © 2023 IEEE.

关键词： Holograms

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A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

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Recent Advances in Parity-Time Symmetry-Enabled Electromagnetic Sensors

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Progress In Electromagnetics Research B 2024年 105卷 107-121页

作者： Yang, Minye Ye, Zhilu Chen, Pai-Yen Erricolo, Danilo Department of Electrical and Computer Engineering University of Illinois Chicago ChicagoIL60607 United States State Key Laboratory for Manufacturing Systems Engineering Electronic Materials Research Laboratory Key Laboratory of the Ministry of Education School of Electronic Science and Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China State Key Laboratory for Manufacturing Systems Engineering The Key Laboratory of Biomedical Information Engineering of Ministry of Education Center for Mitochondrial Biology and Medicine School of Life Science and Technology International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology Xi’an Key Laboratory for Biomedical Testing and High-end Equipment Xi’an Jiaotong University Shaanxi Xi’an710049 China

Parity-time (PT) reversal symmetry, as a representative example in the field of non-Hermitian physics, has attracted widespread research interest in the past few years due to its extraordinary wave dynamics. PT symmetry enables unique spectral singularities including the exceptional point (EP) degeneracy where two or more eigenvalues and eigenvectors coalesce, as well as the coherent perfect absorber-laser (CPAL) point where laser and its time-reversal counterpart (i.e., coherent perfect absorber) can coexist at the same frequency. These singular points not only give rise to new physical phenomena but also provide new plausibility for building the next-generation sensors and detectors with unprecedented sensitivity. To date, investigations into EPs and CPAL points have unveiled their great potential in various sensing scenarios across a broad spectral range, spanning optics, photonics, electronics, and acoustics. In this review article, we will discuss ongoing developments of EP- and CPAL-based sensors composed of PT-synthetic structures and offer a glimpse into the future research directions in this emerging field. © (2024), (Electromagnetics Academy). All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Study on the piezoresistivity of Cr-doped V_(2)O_(3) thin film for MEMS sensor applications

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Microsystems & Nanoengineering 2024年第6期10卷 517-528页

作者： Michiel Gidts Wei-Fan Hsu Maria Recaman Payo Shaswat Kushwaha Frederik Ceyssens Dominiek Reynaerts Jean-Pierre Locquet Michael Kraft Chen Wang Micro-and Nanosystems Department of Electrical EngineeringKU LeuvenKasteelpark Arenberg 103001 LeuvenBelgium Functional Oxides Coating Center Department of Physics and AstronomyKU LeuvenCelestijnenlaan 200D3001 LeuvenBelgium Manufacturing Processes and Systems Department of Mechanical EngineeringKU LeuvenCelestijnenlaan 3003001 LeuvenBelgium Flanders Make Gaston Geenslaan 83001 LeuvenBelgium Membraanscheidingen AdsorptieKatalyse en Spectroscopie voor Duurzame OplossingenDepartment of Microbial and Molecular SystemsKU LeuvenKasteelpark Arenberg 223001 LeuvenBelgium

Cr-doped V_(2)O_(3) thin film shows a huge resistivity change with controlled epitaxial strain at room temperature as a result of a gradual Mott metal-insulator phase transition with *** novel piezoresistive transduction principle makes Cr-doped V_(2)O_(3) thin film an appealing piezoresistive *** investigate the piezoresistivity of Cr-doped V_(2)O_(3) thin film for implementation in MEMS sensor applications,the resistance change of differently orientated Cr-doped V_(2)O_(3) thin film piezoresistors with external strain change was *** a longitudinal gauge factor of 222 and a transversal gauge factor of 217 at room temperature,isotropic piezoresistivity coefficients were *** results in a significant orientation-independent resistance change with stress for Cr-doped V_(2)O_(3) thin film piezoresistors,potentially useful for new sensor *** demonstrate the integration of this new piezoresistive material in sensor applications,a micromachined pressure sensor with Cr-doped V_(2)O_(3) thin film piezoresistors was designed,fabricated and *** 20℃,a sensitivity,offset,temperature coefficient of sensitivity and temperature coefficient of offset of 21.81 mV/V/bar,-25.73 mV/V,-0.076 mV/V/bar/℃ and 0.182 mV/V/℃,respectively,were *** work paves the way for further research on this promising piezoresistive transduction principle for use in MEMS sensor applications.

关键词： material strain film

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