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Analytical modeling of static behavior of electrostatically actuatednano/micromirrors considering van der Waals forces

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Acta Mechanica Sinica 2012年第3期28卷 729-736页

作者： Hamid Moeenfard Mohammad Taghi Ahmadian School of Mechanical Engineering Sharif University of Technology Center of Excellence in Design Robotics and AutomationSchool of Mechanical EngineeringSharif University of Technology

In this paper, the effect of van der Waals （vdW） force on the pull-in behavior of electrostatically actuated nano/micromirrors is investigated. First, the minimum po- tential energy principle is utilized to find the equation gov- erning the static behavior of nano/micromirror under electro- static and vdW forces. Then, the stability of static equilib- rium points is analyzed using the energy method. It is found that when there exist two equilibrium points, the smaller one is stable and the larger one is unstable. The effects of dif- ferent design parameters on the mirror＇s pull-in angle and pull-in voltage are studied and it is found that vdW force can considerably reduce the stability limit of the mirror. At the end, the nonlinear equilibrium equation is solved numer- ically and analytically using homotopy perturbation method （HPM）. It is observed that a sixth order perturbation approx- imation can precisely model the mirror＇s behavior. The re- suits of this paper can be used for stable operation design and safe fabrication of torsional nano/micro actuators.

关键词： Nano/micromirror Electrostatic actuation vdW force Pull-in. Homotopy perturbation method （HPM）

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The oscillatory behavior, static and dynamic analyses of a micro/nano gyroscope considering geometric nonlinearities and intermolecular forces

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Acta Mechanica Sinica 2013年第6期29卷 851-863页

作者： M.Mojahedi M.T.Ahmadian K.Firoozbakhsh School of Mechanical Engineering Sharif University of Technology Center of Excellence in Design Robotics and AutomationDepartment of Mechanical EngineeringSharif University of Technology

The nonlinear dynamic and static deflection of a micro/nano gyroscope under DC voltages and base rotation are investigated. The gyroscope undertakes two cou- pled bending motions along the drive and sense directions and subjected to electrostatic actuations and intermolecular forces. The nonlinear governing equations of motion for the system with the effect of electrostatic force, intermolecular tractions and base rotation are derived using extended Hamilton principle. Under constant voltage, the gyroscope finds the preformed shape. First, the deflection of the rnicro/nano gyroscope under electrostatic forces is obtained by static and dynamic analyses. Furthermore, the static and dynamic in- stability of the system are investigated. Afterward the oscillatory behavior of the pre-deformed micro/nano gyroscope around equilibrium is studied. The effects of intermolecular and nonlinear parameters on the static and dynamic de- flection, natural frequencies and instability of the micro/nano gyroscope are studied. The presented model can be used to exactly determine static and the dynamic behavior of vibratory micro/nano gyroscopes.

关键词： Nano-structures Microstructures Static dynamic

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Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned

arXiv

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arXiv 2025年

作者： Cao, Muqing Nguyen, Thien-Minh Yuan, Shenghai Anastasiou, Andreas Zacharia, Angelos Papaioannou, Savvas Kolios, Panayiotis Panayiotou, Christos G. Polycarpou, Marios M. Xu, Xinhang Zhang, Mingjie Gao, Fei Zhou, Boyu Chen, Ben M. Xie, Lihua Robotics Institute Carnegie Mellon University United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore KIOS Research Innovation Center of Excellence Department of Electrical and Computer Engineering University of Cyprus Cyprus School of Artificial Intelligence Sun Yat-sen University China Zhejiang University China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic constraints, and evaluation metrics prioritizing inspection quality and efficiency. It offers a ready-to-use perception-control software stack and diverse scenarios to support the development and evaluation of task allocation and motion planning algorithms. Competitions using CARIC were held at IEEE CDC 2023 and the IROS 2024 Workshop on Multi-Robot Perception and Navigation, attracting innovative solutions from research teams worldwide. This paper examines the top three teams from CDC 2023, analyzing their exploration, inspection, and task allocation strategies while drawing insights into their performance across scenarios. The results highlight the task’s complexity and suggest promising directions for future research in cooperative multi-UAV systems. © 2025, CC BY-NC-ND.

关键词： Motion planning

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New Jacobian matrix and equations of motion for a 6 d.o.f cable-driven robot

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International Journal of Advanced Robotic Systems 2007年第1期4卷 63-68页

作者： Afshari, Ali Meghdari, Ali Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cable-driven robot. Using these new variables and Lagrange equations, we achieve new equations of motion which are different in appearance and several aspects from conventional equations usually used to study 6 d.o.f cable robots. Then, we introduce a new Jacobian matrix which expresses kinematical relations of the robot via a new approach and is basically different from the conventional Jacobian matrix. One of the important characteristics of the new method is computational efficiency in comparison with the conventional method. It is demonstrated that using the new method instead of the conventional one, significantly reduces the computation time required to determine workspace of the robot as well as the time required to solve the equations of motion.

关键词： Mobile robots

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Adaptive dynamic programming for online solution of a zero-sum differential game

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控制理论与应用（英文版） 2011年第3期9卷 353-360页

作者： Draguna VRABIE Frank LEWIS United Technologies Research Center East Hartford Automation and Robotics Research Institute University of Texas at Arlington

This paper will present an approximate/adaptive dynamic programming(ADP) algorithm,that uses the idea of integral reinforcement learning(IRL),to determine online the Nash equilibrium solution for the two-player zerosum differential game with linear dynamics and infinite horizon quadratic *** algorithm is built around an iterative method that has been developed in the control engineering community for solving the continuous-time game algebraic Riccati equation(CT-GARE),which underlies the game *** here show how the ADP techniques will enhance the capabilities of the offline method allowing an online solution without the requirement of complete knowledge of the system *** feasibility of the ADP scheme is demonstrated in simulation for a power system control *** adaptation goal is the best control policy that will face in an optimal manner the highest load disturbance.

关键词： Approximate/Adaptive dynamic programming Game algebraic Riccati equation Zero-sum differential game Nash equilibrium

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A　Combination　Method　of　SVD　And　Neuro－Controller　for　Identifying　Uncertain　Systems

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Journal of Systems Engineering and Electronics 1995年第2期6卷 40-51页

作者： Lin Wang, Min Han, Robert N.K. Loh (center for Robottes and Advanced automation, Oakland University, Michigan 48309, U.S.A.) Center for Robotics and Advanced Automation Oakland University Michigan 48309 U.S.A.

A combination method of Singular Value Decomposition (SVD) and Neuro-Controller is presented in this *** a system with unknown structure and uncertain parameters,a SVD and backward linear prediction (BLP) method (SVD-BLP method) is used to determine the order of the system in a noisy environment. Then a neuro-controller is applied to dynamically idelltify is the uncertain parameters of the system in the face of disturbances. Simulation results are presented.

关键词： SVD Neural network Adaptive control Backward linear prediction (BLP).

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Learning dissection trajectories from expert surgical videos via imitation learning with equivariant diffusion

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Medical Image Analysis 2025年 103卷 103599页

作者： Wang, Hongyu Long, Yonghao Chen, Yueyao Yip, Hon-Chi Scheppach, Markus Chiu, Philip Wai-Yan Yam, Yeung Meng, Helen Mei-Ling Dou, Qi Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Department of Surgery The Chinese University of Hong Kong Hong Kong Internal Medicine III - Gastroenterology University Hospital of Augsburg Augsburg Germany Multi-scale Medical Robotics Center and The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Centre for Perceptual and Interactive Intelligence and The Chinese University of Hong Kong Hong Kong

Endoscopic Submucosal Dissection (ESD) constitutes a firmly well-established technique within endoscopic resection for the elimination of epithelial lesions. Dissection trajectory prediction in ESD videos has the potential to strengthen surgical skills training and simplify surgical skills training. However, this approach has been seldom explored in previous research. While imitation learning has proven effective in learning skills from expert demonstrations, it encounters difficulties in predicting uncertain future movements, learning geometric symmetries and generalizing to diverse surgical scenarios. This paper introduces imitation learning for the critical task of predicting dissection trajectories from expert video demonstrations. We propose a novel Implicit Diffusion Policy with Equivariant Representations for Imitation Learning (iDPOE) to address this variability. Our method implicitly models expert behaviors using a joint state–action distribution, capturing the inherent stochasticity of future dissection trajectories and enabling robust visual representation learning across various endoscopic views. By incorporating a diffusion model in policy learning, our approach facilitates efficient training and sampling, resulting in more accurate predictions and improved generalization. Additionally, we integrate equivariance into the learning process to enhance the model's ability to generalize to geometric symmetries in trajectory prediction. To enable conditional sampling from the implicit policy, we develop a forward-process guided action inference strategy to correct state mismatches. We evaluated our method using a collected ESD video dataset comprising nearly 2000 clips. Experimental results demonstrate that our approach outperforms both explicit and implicit state-of-the-art methods in trajectory prediction. As far as we know, this is the first endeavor to utilize imitation learning-based techniques for surgical skill learning in terms of dissection trajector

关键词： Endoscopy

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Cyber security risk in pervasive environments of unobtrusive cECG-monitoring system during driving

Cyber security risk in pervasive environments of unobtrusive...

引用

International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Milos Stanojevic Gordana Ostojic Tamara Skoric Natasa Popovic Srdjan Lale Nikola Kukric Department of Industrial Engineering and Management Faculty of Technical Sciences Center for Identification Technologies Novi Sad Serbia Department of Power Electronic and Telecommunication Engineering Faculty of Technical Sciences Novi Sad Serbia Department of Automation and Robotics Faculty of Electrical Engineering University of East Sarajevo East Sarajevo Bosnia and Herzegovina Department of Electronics and Electonic Systems Faculty of Electrical Engineering University of East Sarajevo East Sarajevo Bosnia and Herzegovina

ISBN: (数字)9798331515799

ISBN: (纸本)9798331515805

The development of pervasive healthcare systems in the automotive industry is enabled by unobtrusive acquisition systems for recording vital parameters of drivers and developed ML algorithms for driver health services. The paper proposes a pervasive system based on the acquisition of the cECG signal recorded through clothing during driving, the transmission of the cECG to the local device for processing cECG and extraction of cECG parameters, and the extracted parameters transmission via vehicle-to-infrastructure (V2I) communication channel to the cloud. The potential of cyber security risk in implementing the proposed system is identified.

关键词： Industries Vehicle-to-infrastructure Clothing Medical services Communication channels Recording Computer crime Vehicles Automotive engineering

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The ASTROCULTURE™-1 flight experiment: Pressure control of the WCSAR porous tube nutrient delivery system

The ASTROCULTURE™-1 flight experiment: Pressure control of ...

引用

23rd International Conference on Environmental Systems

作者： Morrow, R.C. Dinauer, W.R. Bula, R.J. Tibbitts, T.W. Wisconsin Center for Space Automation and Robotics United States

The ASTROCULTURE™-1 (ASC-1) flight experiment, flown on STS-50 as part of the U.S. Microgravity Laboratory-1 mission, June 25 to July 9, 1992, successfully demonstrated the ability of the WCSAR porous tube nutrient delivery system (PTNDS) to control water movement through a particulate rooting matrix in microgravity. One critical aspect of this demonstration was to maintain the fluid circulating through the porous tubes at a slight negative pressure. Control of the fluid loop pressure allows regulation of the amount of water maintained in the rooting matrix while preventing free water from escaping the root zone in microgravity. Pressure control in the ASC-1 flight unit was achieved by using a digital microcomputer and a proportional-plus-integral-plus- derivative control algorithm to manipulate flow restrictors and pump speeds in response to changes in fluid pressure. The goal of the PTNDS control system used on ASC-1 was to maintain fluid pressure in the porous tubes within ± 0.5 cm H2O (± 49.1 Pa) of the pressure setpoint. Data collected during flight showed an actual control accuracy of approximately ± 0.8 cm H2O (± 78.5 Pa) over a series of pressure setpoints. During ground and flight tests, occasional control system oscillations were observed. Subsequent modification of the control algorithm eliminated these oscillations. Advanced configurations of the fluid loop pressure control system for future ASC flights will provide greater precision in pressure control and reduce mass, power and volume requirements. © Copyright 1993 Society of Automotive Engineers, Inc.

关键词： Microgravity

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Cyber security risk in pervasive environments of unobtrusive cECG-monitoring system during driving 24

Cyber security risk in pervasive environments of unobtrusive...

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24th International Symposium INFOTEH-JAHORINA, INFOTEH 2025

作者： Stanojevic, Milos Ostojic, Gordana Skoric, Tamara Popovic, Natasa Lale, Srdjan Kukric, Nikola Center for Identification Technologies Faculty of Technical Sciences Department of Industrial Engineering and Management Novi Sad Serbia Faculty of Technical Sciences Department of Power Electronic and Telecommunication Engineering Novi Sad Serbia University of East Sarajevo Faculty of Electrical Engineering Department of Automation and Robotics East Sarajevo Bosnia and Herzegovina University of East Sarajevo Faculty of Electrical Engineering Department of Electronics and Electonic Systems East Sarajevo Bosnia and Herzegovina

ISBN: (纸本)9798331515799

关键词： Cyber attacks

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