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Aggregate 2024年第6期5卷 6-22页

作者： Si Tang Lingyu Sun Huiyao Shi Kaixuan Wang Jialin Shi Chanmin Su Yuanjin Zhao Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyangChina University of Chinese Academy of Sciences BeijingChina Department of Cardio-Thoracic Surgery Institute of Translational MedicineNanjing Drum Tower HospitalThe Affiliated Hospital of Nanjing University Medical SchoolNanjingChina State Key Laboratory of Bioelectronics School of Biological Science and Medical EngineeringSoutheast UniversityNanjingChina

Cardiac diseases threaten human health and burden the global healthcare ***(CMs)are considered the ideal model for studying the signal transduction and regulation of cardiac *** on the principle of the rhythmical beating process(excitation‒contraction coupling mechanism of CMs),investigating the mechanical and electrophysiological signals offered new hope for cardiac disease detection,prevention,and *** technological success has been achieved in electromechanical signal ***,most drug assessment platforms attach importance to high-throughput and dynamic monitoring of mechanical or electrical signals while overlooking the measuring principles and physiological significance of the *** this review,the development of biosensing platforms for CMs,sensing principles,key measured parameters,measurement accuracy,and limitations are ***,various approaches for the stimulation and measurement of CMs in vitro are discussed to further elucidate the response of these cells to external ***,disease modeling and drug screening are used as examples to intuitively demonstrate the contribution of in vitro CM measurement platforms to the biomedical field,thereby further illustrating the challenges and prospects of these sensing platforms.

关键词： biosensing platform cardiomyocyte electrical signal mechanical signal

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Energy Management Using Smart Inverter

Energy Management Using Smart Inverter

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2024 IEEE International Conference on Intelligent Systems and Advanced Applications, ICISAA 2024

作者： Kanase, Digvijay B Jadhav, Sachin P Patil, Dushyant P Prasad, Shashikant Kadam, Swaraj Patil, Digambar P. Dr. D. Y. Patil Institute of Technology Department of Electrical Engineering Maharashtra Pune411018 India Dr. D. Y. Patil Institute of Technology Department of Automation and Robotics Maharashtra Pune411018 India

ISBN: (纸本)9798331539948

In the digital age, nearly all activities require a consistent power supply to function. Homes may experience prolonged power outages due to major disruptions in the local or regional electrical grid, often caused by severe weather, car accidents, or fallen trees. Inverters are commonly used as backup power sources in homes and are frequently employed as secondary power sources in both residential and commercial settings. The primary function of a solar inverter is to convert the direct current (DC) electricity generated by photovoltaic cells into alternating current (AC) power. Smart inverters further enhance this by utilizing batteries to store excess energy. These inverters optimize power management and ensure efficient operation. Maximum Power Point Tracking (MPPT) technology is implemented to maximize energy extraction from solar panels, thereby improving overall system efficiency. The system also supports remote monitoring and management, allowing for optimized battery storage and improved performance. © 2024 IEEE.

关键词： Solar power generation

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Theoretical Data-Driven MobilePosenet: Lightweight Neural Network for Accurate Calibration-Free 5-DOF Magnet Localization

arXiv

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arXiv 2025年

作者： Xie, Wenxuan Zhang, Yuelin Shan, Jiwei Sun, Hongzhe Tan, Jiewen Cheng, Shing Shin Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

Permanent magnet tracking using the external sensor array is crucial for the accurate localization of wireless capsule endoscope robots. Traditional tracking algorithms, based on the magnetic dipole model and Levenberg-Marquardt (LM) algorithm, face challenges related to computational delays and the need for initial position estimation. More recently proposed neural network-based approaches often require extensive hardware calibration and real-world data collection, which are time-consuming and labor-intensive. To address these challenges, we propose MobilePosenet, a lightweight neural network architecture that leverages depthwise separable convolutions to minimize computational cost and a channel attention mechanism to enhance localization accuracy. Besides, the inputs to the network integrate the sensors' coordinate information and random noise, compensating for the discrepancies between the theoretical model and the actual magnetic fields and thus allowing MobilePosenet to be trained entirely on theoretical data. Experimental evaluations conducted in a 90 × 90 × 80 mm workspace demonstrate that MobilePosenet exhibits excellent 5-DOF localization accuracy (1.54 ± 1.03 mm and 2.24 ± 1.84◦) and inference speed (0.9 ms) against state-of-the-art methods trained on real-world data. Since network training relies solely on theoretical data, MobilePosenet can eliminate the hardware calibration and real-world data collection process, improving the generalizability of this permanent magnet localization method and the potential for rapid adoption in different clinical settings. © 2025, CC BY-NC-ND.

关键词： Calibration

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Design and Analysis of an Adaptive Robotic Gripper 1

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International Conference on Production and Industrial engineering, CPIE 2023

作者： Patil, Yashraj M. Jamadar, N.I. Patil, Lalit N. Bhosale, Digvijay G. Department of Mechanical Engineering Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India Department of Automation and Robotics Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India

ISBN: (数字)9789819974450

ISBN: (纸本)9789819974443

In this study, an inexpensive fundamental robotic end effector module was investigated in order to make it easier to conduct robotic grasping research. The three-finger under actuated robotic gripper was designed in three dimensions and produced using a servomotor actuator that is readily available off the market and a small number of 3D printed parts. Following a comprehensive explanation of an under actuated finger, gear train mechanisms, in addition to general gripper assembly design, an illustration and explanation of the grabbing of objects with varied geometries follow. For research and instructional reasons, robotic researchers can utilize the offered open-source gripper design as a base to create custom robotic end effectors. An innovative prototype and a thorough introduction as well as an explanation of the gripper design idea are given. Using a four-bar linkage mechanical system and a single off-the-shelf actuator, it is demonstrated that the proposed robotic gripper with a single actuator satisfies the proposed objectives for its simple mechanical structure, low cost, and relatively high payload compared to similarly sized tendon-driven robotic end effectors. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Mechanical actuators

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The Impact of Domain Name Server(DNS)over Hypertext Transfer Protocol Secure(HTTPS)on Cyber Security:Limitations,Challenges,and Detection Techniques

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Computers, Materials & Continua 2024年第9期80卷 4513-4542页

作者： Muhammad Dawood Shanshan Tu Chuangbai Xiao Muhammad Haris Hisham Alasmary Muhammad Waqas Sadaqat Ur Rehman Faculty of Information Technology Beijing University of TechnologyBeijing100124China National Center of Robotics and Automation University of Engineering and TechnologyPeshawar25000Pakistan Department of Computer Science College of Computer ScienceKing Khalid UniversityAbha61421Saudi Arabia School of Computing and Engineering Sciences Faculty of Engineering and ScienceUniversity of GreenwichLondonSE109LSUnited Kingdom School of Engineering Edith Cowan UniversityPerthWA 6027Australia School of Computer Science and Engineering University of SalfordManchesterM54BRUnited Kingdom

The DNS over HTTPS(Hypertext Transfer Protocol Secure)(DoH)is a new technology that encrypts DNS traffic,enhancing the privacy and security of ***,the adoption of DoH is still facing several research challenges,such as ensuring security,compatibility,standardization,performance,privacy,and increasing user *** significantly impacts network security,including better end-user privacy and security,challenges for network security professionals,increasing usage of encrypted malware communication,and difficulty adapting DNS-based security ***,it is important to understand the impact of DoH on network security and develop newprivacy-preserving techniques to allowthe analysis of DoH traffic without compromising user *** paper provides an in-depth analysis of the effects of DoH on *** discuss various techniques for detecting DoH tunneling and identify essential research challenges that need to be addressed in future security ***,this paper highlights the need for continued research and development to ensure the effectiveness of DoH as a tool for improving privacy and security.

关键词： DNS DNS over HTTPS cybersecurity machine learning

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An effect of process parameters during wire cut electrical discharge machining of Inconel 738

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Materials Today: Proceedings 2023年 84卷 83-88页

作者： C. Devanathan M.S. Natarajan E. Shankar R. Giri K. Vigneshwaran Department of Mechanical Engineering Rajalakshmi Engineering College Chennai 602 105 India Department of Robotics and Automation Rajalakshmi Engineering College Chennai 602 105 India

In the recent days, super alloys especially nickel based materials are used more than 50% of aerospace gas turbine components such as turbine disc, blades etc., It becomes very hard to shape these materials with the use of traditional machining processes due to its improved strength at higher temperature. To overcome the issues faced during conventional machining, the various advanced machining techniques are tried for machining these super alloys. In the present study, Inconel 738 was cut by wire electrical discharge machining using 0.25 mm diameter copper wire. Demineralized water was used as dielectric fluid between tool and workpiece electrode. During the process, voltage, wire feed rate, time of pulse on and pulse off were adjusted at four different values and totally sixteen slots were cut to analyze the machining characteristics. The machined surfaces were tested for its surface finish, rate of material removal and kerf width. The ANOVA was performed using Minitab software to find out the optimized variables and percentage contribution of each parameter in providing the influencing results. Wire feed rate was the most influencing parameter to have the lowest kerf width. As far as Material removal rate, the four parameters were had the significant impact in increasing the MRR. Voltage is the important process parameter to reduce the surface roughness .

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Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion

Adaptive Model Predictive Control with Data-driven Error Mod...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Xuanqi Zeng Hongbo Zhang Linzhu Yue Zhitao Song Lingwei Zhang Yun-Hui Liu Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Centre for Logistics Robotics

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address this issue, we propose the controller of integrating a data-driven error model into traditional MPC for quadruped robots. Our approach leverages real-world data from sensors to compensate for defects in the control model. Specifically, we employ the Autoregressive Moving Average Vector (ARMAV) model to construct the state error model of the quadruped robot using data. The predicted state errors are then used to adjust the predicted future robot states generated by MPC. By such an approach, our proposed controller can provide more accurate inputs to the system, enabling it to achieve desired states even in the presence of model parameter inaccuracies or disturbances. The proposed controller exhibits the capability to partially eliminate the disparity between the model and the real-world robot, thereby enhancing the locomotion performance of quadruped robots. We validate our proposed method through simulations and real-world experimental trials on a large-size quadruped robot that involves carrying a 20 kg un-modeled payload (84% of body weight).

关键词： Legged locomotion Adaptation models Predictive models Robot sensing systems Data models Sensors Quadrupedal robots

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A Six-Dof Parallel Robot-Assisted Dispensing Platform with Visual Servoing and Force Sensing for Accurate Needle Positioning and Mass Control 16th

A Six-Dof Parallel Robot-Assisted Dispensing Platform with V...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Xia, Jingyuan Lin, Zecai Liu, Huanghua Gao, Anzhu Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964826

Traditional manual dispensing of intravenous drugs needs the pharmacist to work in a pharmacy intravenous admixture services (PIVAS), leading to low efficiency, heavy physical labor, and the potential toxic drug exposure risk. There exist some automatic systems for drug dispensing. However, they may lead to inaccurate positioning and mass control due to various vial sizes and assembly errors. To solve this, this paper develops a compact dispensing platform with a six-DOF parallel robot, force sensing module, and visual servoing module for routine work in the biosafety cabinet. First, a customized robot to work inside the biosafety cabinet is developed using the configuration of 6-PSS parallel robot with three single-axis force sensors, enabling accurate needle positioning and mass control. Then, the forward and inverse kinematics are built to analyze and optimize its operational workspace and performance. Second, a visual servoing algorithm using a binocular camera is used to align the injection needle and the vial hole and a force-sensing module is incorporated onto the parallel robot to achieve real-time onsite measurement and evaluation of mass changes in the aspirated liquid. Finally, experiments are carried out to validate the effectiveness of the proposed robotic dispensing platform, and results indicate that the average positioning error is 0.41 mm, and the average mass error is 0.3 g. The developed robotic dispensing platform shows the merits of unmanned working inside the biosafety cabinet without occupying additional space, also makes accurate robotic positioning be adapted to the various sizes of commercial vials. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Needles

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast Mechanical Switches for Hybrid Circuit Breakers 2

Robust-Tube Model Predictive Control for Piezoelectrically A...

引用

2nd International Conference on Artificial Intelligence and automation Control, AIAC 2024

作者： Chai, Yu Yang, Chen Dong, Huijuan Zhao, Jie Shardt, Yuri A. W. Ju, Bingfeng ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Technical University of Ilmenau Department of Automation Engineering Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798331529147

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%. © 2024 IEEE.

关键词： Predictive control systems

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A Novel Micro-Defects Imaging system for High-Reflective Material Surfaces

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Zhiyong Lin, Song Xiao, Yafeng Fang, Hao Sun, Lining Soochow University School of Mechatronic Engineering Department of Automation Engineering Suzhou215000 China Robotics and Microsystems Research Center Soochow University Suzhou215000 China Harbin Institute of Technology Institute of Robotics School of Mechatronic Engineering Harbin150000 China

Highly reflective materials, owing to their reflective characteristics, pose challenges in imaging micro-defects under conventional lighting, resulting in a substantial number of missed detections. This paper presents an imaging method tailored for micro-defects on the surfaces of such materials. An investigation into the imaging mechanisms of micro-defects under varying illumination conditions is conducted, leading to the proposal of an edge-light scanning technique. Initially, this technique enhances the contrast of defect imaging optically, yielding a sequence of images with high-contrast defects. Subsequently, a contrast-weighted image synthesis algorithm is introduced to effectively mitigate the interference caused by bright and dark stripe backgrounds. Experimental evaluations of defect detection based on different algorithms demonstrate that the proposed imaging method is applicable to defects of various sizes and significantly improves the detection accuracy of micro-defects. © 2025 IEEE.

关键词： Imaging Surface morphology Optical surface waves Optical imaging Defect detection Feature extraction Lighting Image edge detection Steel Optical reflection

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