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IEEE International Conference on Robotic Computing (IRC)

作者： Takuya Kiyokawa Hiroki Katayama Jun Takamatsu Kensuke Harada Department of Systems Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan Division of Information Science Nara Institute of Science and Technology (NAIST) Japan

ISBN: (数字)9798331521554

ISBN: (纸本)9798331521561

This paper presents a method for estimating normals of mirrors and transparent objects challenging for cameras to recognize. We propose spraying water vapor onto mirror or transparent surfaces to create a diffuse reflective surface. Using an ultrasonic humidifier on a robotic arm, we apply water vapor to the target object's surface, forming a cross-shaped misted area. This creates partially diffuse reflective surfaces, enabling the camera to detect the target object's surface. Adjusting the gripper-mounted camera viewpoint maximizes the extracted misted area's appearance in the image, allowing normal estimation of the target surface. Experiments show the method's effectiveness, with RMSEs of azimuth estimation for mirrors and transparent glass approximately 4.2° and 5.8°, respectively. Our robot experiments demonstrated that our robotic wiper can perform contact-force-regulated wiping motions to clean a transparent window, akin to human performance.

关键词： Surface cleaning Estimation error Robot vision systems Spraying Glass Cameras Manipulators Sensor systems Windows Mirrors

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Development of Asymmetrical Four-Phase Bearingless Motor with Unequal-Tooth-Pitch Stator

Development of Asymmetrical Four-Phase Bearingless Motor wit...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Yoshinori Kamiya Junichi Asama Department of Environment and Energy Systems Shizuoka University Graduate School of Science and Technology Hamamatsu Japan Department of Mechanical Engineering Shizuoka University Hamamatsu Japan

ISBN: (数字)9784886864406

ISBN: (纸本)9798350379105

A bearingless motor integrates the function of a magnetic bearing, allowing for non-contact rotation; however, displacement sensors are required for active magnetic suspension control, but this increases the size of the motor. To reduce the size of the motor, this study proposes an unequal-tooth-pitch stator configuration for a 10-pole/12-slot bearingless motor, where displacement sensors and Hall effect sensors can be placed between the stator teeth. From the results of a finite element analysis (FEA), a stator shape that does not fluctuate the unbalanced magnetic pull caused by the changes in rotation angle was designed. Optimal asymmetrical four-phase combined winding arrangements were selected based on the magnetomotive force distribution. A current-suspension force model considering up to the fifth harmonic of the electric angle was obtained by the FEA and used for suspension force control. The test machine was successfully driven at 1500 rpm by magnetic levitation.

关键词： Magnetic sensors Windings Force Stator windings Rotors Prototypes Transforms Titanium Motors Magnetic levitation

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Accelerating Stable Matching between Workers and Spatial-Temporal Tasks for Dynamic MCS: A Stagewise Service Trading Approach

arXiv

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arXiv 2025年

作者： Qi, Houyi Liwang, Minghui Wang, Xianbin Fu, Liqun Hong, Yiguang Li, Li Cheng, Zhipeng School of Informatics Xiamen University Fujian China Department of Control Science and Engineering Canada Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China Department of Electrical and Computer Engineering Western University ON Canada School of Future Science and Engineering Soochow University Jiangsu China

Designing proper incentives in mobile crowdsensing (MCS) networks represents a critical mechanism in engaging distributed mobile users (workers) to contribute heterogeneous data for diverse applications (tasks). We develop a novel stagewise trading framework to reach efficient and stable matching between tasks and workers, upon considering the diversity of tasks and the dynamism of MCS networks. This framework integrates futures and spot trading stages, where in the former, we propose futures trading-driven stable matching and pre-path-planning (FT-SMP3) for long-term task-worker assignment and pre-planning of workers’ paths based on historical statistics and risk analysis. While in the latter, we investigate spot trading-driven DQN path planning and onsite worker recruitment (ST-DP2WR) mechanism to enhance workers’ and tasks’ practical utilities by facilitating temporary worker recruitment. We prove that our proposed mechanisms support crucial properties such as stability, individual rationality, competitive equilibrium, and weak Pareto optimality theoretically. Also, comprehensive evaluations confirm the satisfaction of these properties in practical network settings, demonstrating our commendable performance in terms of service quality, running time, and decision-making overheads. Copyright © 2025, The Authors. All rights reserved.

关键词： Risk analysis

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Super-assembled sandwich-like Au@MSN@Ag nanomatrices for high-throughput and efficient detection of small biomolecules

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Nano Research 2022年第3期15卷 2722-2733页

作者： Dantong Zhao Chunxia Ma Meng Gao Yong Li Bo Yang Hui Li Runhao Zhang Minglu Hao Jing Huang Kang Liang Pu Chen Lei Xie Rong Rong Biao Kong College of Medicine Shandong University of Traditional Chinese MedicineJinan 250355China Shandong Analysis and Test Center National Supercomputer Research Center of Advanced MaterialsAdvanced Materials InstituteQilu University of Technology(Shandong Academy of Sciences)Jinan 250014China Heze Institute for Food and Drug Control Heze 274000China School of Chemical Engineering and Graduate School of Biomedical Engineering The University of New South WalesNSW 2052Australia Department of Chemical Engineering University of WaterlooWaterlooOntarioN2L 3G1Canada Department of Chemistry Shanghai Key Lab of Molecular Catalysis and Innovative MaterialsiChEMFudan UniversityShanghai 200032China

Small biomolecules(m/z<500)are the material basis of organisms and participate in life activities,but their comprehensive and accurate detection in complex samples remains a ***-assisted laser desorption/ionization mass spectrometry(MALDI-MS)is a powerful detection tool for molecular analysis with high *** development of a new matrix is essential to improve the efficiency of the MALDI-MS for molecular compound *** this work,the sandwich-like gold nanoparticles@mesoporous silica nanocomposite@silver nanoparticles(Au@MSN@Ag)nanospheres were prepared by layer-by-layer super-assembly strategy,and can be used as a novel matrix for the quantitative detection and enrichment of small biomolecules by *** sandwich-like nanospheres form a unique plasma resonant cavity that effectively absorbs the laser energy,while the homogeneous mesoporous structure of MSN can lock the analyte,which is essential for efficient LDI of small *** to traditional matrices,Au@MSN@Ag shows the advantages of low background,wide application range,high sensitivity,super high salt and protein tolerance,and good *** example,the detection limit of glucose was as low as 5 fmol,and showed a good linear relationship in the range of 1−750μg/***@MSN@Ag assisted LDI-MS allows the enrichment and detection of small molecules in traditional Chinese medicine(TCM)without derivatization and purification,classification of herbs using the accurate quantitative results oligosaccharides,and identification of gelatin by amino acid *** research could help in designing more efficient nanostructure matrices and further explored the application of LDI-MS.

关键词： matrix-assisted laser desorption/ionization mass spectrometry(MALDI-MS) matrix sandwich-like nanostructures small biomolecules traditional Chinese medicine(TCM)

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Design of sampled-data controller for T–S fuzzy system with the refined fractional delayed-state and its applications

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The European Physical Journal Special Topics 2024年 1-16页

作者： Subramaniyam, Ramasamy Annamalai, Manivannan Joo, Young Hoon Department of Mathematics Madanapalle Institute of Technology & Science Madanapalle India School of IT Information and Control Engineering Kunsan National University Gunsan-si Republic of Korea Department of Mathematics School of Advanced Sciences Vellore Institute of Technology Chennai India

The paper is concerned with the development of a sampled-data (SD) controller designed for Takagi–Sugeno (T–S) fuzzy systems. A key highlight is the incorporation of a refined fractional delayed-state into this control approach. The primary aim is to establish criteria for system stabilization, thereby ensuring the asymptotic stability of the considered systems. This objective is pursued within the framework of the newly designed control methodology. The core contribution of work explains in the introduction of an innovative Lyapunov–Krasovskii functional (LKF) tailored to T–S fuzzy systems. This novel approach capitalizes on the efficacy of sampling intervals. The LKF design takes advantage of variable attributes tied to the real sampling pattern, effectively reducing the conservatism of the outcomes. Moreover, the paper introduces a sophisticated fractional delayed-state concept, which plays a pivotal role in shaping a modified looped functional-based LKF. The stability criteria are then formulated through the utilization of linear matrix inequalities (LMIs) and integral inequalities. These criteria perform dynamic part in establishing the asymptotic stability of considered systems when subjected to the designed control approach.

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Perpendicular Magnetic Anisotropy in the Multilayer Fabricated by Alternate Sputtering of Fe3o4/Cr and Post-Annealing

SSRN

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SSRN 2024年

作者： Oshima, Daiki Iwata, Satoshi Kato, Takeshi Department of Electronics Graduate school of Engineering Nagoya University Japan Advanced Measurement Technology Center Institute of Materials and Systems for Sustainability Nagoya University Japan Nagoya Industrial Science Research Institute Japan

Magnetic properties of sputter-deposited Fe3O4/Cr multilayers followed by annealing in vacuum were investigated. The saturation magnetization and perpendicular magnetic anisotropy were enhanced by post-annealing and the maximum anisotropy of 3.3 Merg/cm3 was obtained in this study. From the results of X-ray photoelectron spectroscopy and X-ray diffraction, it was found that metallic Fe layers were formed in Fe3O4 layers due to the migration of oxygen atoms from Fe3O4 to Cr layer proceeded by the post-annealing. The large perpendicular anisotropy was considered to arise from the interface between Fe and Fe-oxide layers. © 2024, The Authors. All rights reserved.

关键词： Magnetite

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Sufficient Algorithm for Inclusion of Pattern Caterpillar in Text Tree 14

Sufficient Algorithm for Inclusion of Pattern Caterpillar in...

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14th IIAI International Congress on advanced Applied Informatics, IIAI-AAI 2023

作者： Abe, Daisuke Miyazaki, Tomoya Hirata, Kouichi Kyushu Institute of Technology Graduate School of Computer Science and Systems Engineering Kawazu 680-4 Iizuka820-8502 Japan Mitsubishi Electric Information Systems Corporation Japan Kyushu Institute of Technology Department of Artificial Intelligence Kawazu 680-4 Iizuka820-8502 Japan

ISBN: (纸本)9798350324228

In this paper, as the restriction of a rooted labeled unordered tree (tree, for short), we introduce a rooted labeled k-caterpillar(k-caterpillar, for short) that is a tree T whose number of the leaves in the tree obtained by deleting all of the leaves in T is at most k. Then, we design the sufficient algorithm to return 'yes' implying that a pattern caterpillar P is included in a text tree T as a k-caterpillar. It runs in O(k(h+H)σ) time, where h is the height of P, H is the height of T, and σ is the number of labels occurring in P and T. Finally, we give experimental results for the algorithm by using real data for caterpillars and trees as k - caterpillars. © 2023 IEEE.

关键词： Trees (mathematics)

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Fast-terminal Super-twisting control Applications to Quadrotor UAV

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IFAC-PapersOnLine 2024年 57卷 214-219页

作者： Sonali Singh Ankit Sachan Sandeep Kumar Soni Jitendra Kumar Goyal Shubhi Purwar M.N. National Institute of Technology Allahabad Prayagraj India Graduate School of Advanced Science and Engineering Hiroshima University Hiroshima Japan Department of Electrical Engineering Shiv Nadar Institution of Eminence Delhi-NCR India School of Electrical Engineering Vellore Institute of Technology Vellore Tamil Nadu India

This paper compares backstepping controller and fast terminal super twisting sliding mode controller (FTSTSMC) approaches for position and altitude control of quadrotor in the presence of constrained disturbances and uncertainties. As conventional SMC which ensures only asymptotic convergence, a new sliding surface is made that allows the tracking error to quickly go to zero in a set amount of time. For achieving above condition based on the super-twisting algorithm, a control law is made that both removes the chattering and handles the quick convergence. The stability in terms of convergence to zero of the entire closed loop system in finite time is examined using the mathematical formulas and the Lyapunov stability theory. Using MATLAB simulation, the proposed controller's robustness and effectiveness are compared against backstepping control technique.

关键词： Backstepping control quadrotor fast terminal super twisting sliding mode controller finite time stability

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Quantized Input Signal based Adaptive Terminal Sliding Mode control for Robotic Manipulator

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IFAC-PapersOnLine 2024年 57卷 208-213页

This paper presents the adaptive terminal sliding mode control (ATSMC) for robotic manipulators using input quantization in the presence of uncertainties and external disturbance. The concept of adaptive quantized control for robot manipulator systems is explored in this study, which involves the introduction of a novel approach for creating input quantization with hysteretic quantizer. Initially, the approach involves suggesting adaptive terminal sliding mode, followed by the application of a hysteretic quantizer incorporating quantization error bounded within specific sectors for controlling the input signal. The proposed adaptive quantized control technique eliminates the chattering and provides convergence to origin in finite-time. The proposed control algorithm's effectiveness is shown through simulation results, illustrating its successful application in controlling a two-link robotic manipulator.

关键词： Terminal Sliding Mode control Input Quantization Adaptive Quantized control Hysteretic Quantizer

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Efficacy of Local Cache for Performance Improvement of Reliable Data Transmission in Aggregated Robot Processing Architecture

Efficacy of Local Cache for Performance Improvement of Relia...

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International Conference on control, Automation and systems ( ICCAS)

作者： Abdul Jalil Jun Kobayashi Department of Computer Science and Systems Engineering Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan Department of Intelligent and Control Systems Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan

This study aims to improve the performance of message data transmission in Aggregated Robot Processing (ARP) architecture where the RELIABLE option of the RELIABILITY QoS (Quality of Service) policy is applied to a ROS 2 (Robot Operating System 2) node communication. Basically, the RELIABLE option guarantees that a publisher properly send all message data to a subscriber. However, the publisher could fail to transmit some message data to the subscriber even in the RELIABLE QoS option unless the buffer size of the publisher is enough. We introduce local cache to a sensing component to alleviate the issue in the case that the sensors output the same value in a row. The experimental results showed that the local cache improved the latency and reduced the message loss in node communication.

关键词： Performance evaluation Operating systems Process control Quality of service Robot sensing systems control systems Sensors

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