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Prediction of Emission Characteristics of Spark Ignition (S.I.) Engines with Premium Level Gasoline-Ethanol-Alkane Blends Using Machine Learning 13th

Prediction of Emission Characteristics of Spark Ignition (S....

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13th International Advanced Computing Conference, IACC 2023

作者： Kumbhar, Sujit Khot, Sanjay Jujare, Varsha Patil, Vishal Husainy, Avesahemad Shedbalkar, Koustubha Department of Technology Shivaji University Maharashtra Kolhapur416004 India Department of Automation and Robotics Sharad Institute of Technology College of Engineering Yadrav Maharastra Inchalkaranji416121 India Sharad Institute of Technology College of Engineering Yadrav Maharastra Inchalkaranji416121 India Department of Computer Science and Engineering Sharad Institute of Technology College of Engineering Yadrav Maharastra Inchalkaranji416121 India Department of Mechanical Engineering Sharad Institute of Technology College of Engineering Yadrav Maharastra Inchalkaranji416121 India Department of Electrical Engineering Sharad Institute of Technology College of Engineering Yadrav Maharastra Inchalkaranji416121 India Department of Mechanical Engineering Sharad Institute of Technology College of Engineering Yadrav Maharastra Inchalkaranji416121 India

ISBN: (纸本)9783031566998

In the current research work, a single cylinder spark (S.I)ignition engine were used for investigations of premium level gasoline-ethanol-alkane experimentally with different operating conditions e.g. variation spark ignition timing. The Engine Lab and PE3 software were used for engine control and data acquisition system. The data obtained after experimentation were used to predict the engine emissions for different operating conditions. The engine emission characteristics were predicted using three machine learning algorithmsviz linear regression, decision tree and random forest. It was found that emissions characteristics such as carbon monoxide, unburnt hydrocarbon found to be minimum for 24°bTDC experimentally as well as predicted by machine learning algorithms with different operating conditions than other spark timing positions such as 15°, 18°, 21°, 27°, 30° bTDC. All three machine learning algorithms gave better results but the random forest algorithm were more accurate than linear regression and decision trees. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Paraffins

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Grey Box Non-Recursive System Identification for a Third Order Electro-Hydraulic Actuator System: From Simulation to Practical Approaches 20

Grey Box Non-Recursive System Identification for a Third Ord...

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20th IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2024

作者： Soon, Chong Chee Ghazali, Rozaimi Ghani, Muhamad Fadli Liew, Siaw-Hong Teng, Howe Cheng Zulkipli, Nur Farhanah Beh, Chong You Hanaffi, Mohd Saidi Department Of Engineering And Built Environment Penang Branch Campus Pulau Pinang Malaysia Centre For Robotics And Industrial Automation Fakulti Teknologi Dan Kejuruteraan Elektrik Melaka Malaysia Universiti Kuala Lumpur Perak Malaysia Faculty Of Computer Science And Information Technology Sarawak Kota Samarahan Malaysia

ISBN: (纸本)9798350382310

engineering systems heavily rely on mathematical modeling, significantly influencing both system performance and the design of control systems. This paper thoroughly investigates the establishment of a third-order mathematical model for heavy machinery systems, with a specific emphasis on the ElectroHydraulic Actuator (EHA) system. The formulation of a double-acting EHA system model using a grey box system identification approach is outlined, encompassing the system's dynamics and behavior. In addition, the details of the EHA system experimental setup that is used for system identification are described. The identification process demonstrates promising performance, achieving an impressive accuracy of 89.1%, as highlighted in the results and discussion sections. © 2024 IEEE.

关键词： Hydraulic actuators

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

arXiv

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arXiv 2024年

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

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). Copyright © 2024, The Authors. All rights reserved.

关键词： Model predictive control

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Implementation of data transmission mechanism in a Bi-directional optical fiber network

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Journal of Optical Communications 2025年

作者： Gummadi, Dinesh Venkat Karanam, Harish Naidu Samudrala, Sivanaga Akshaya Nampally, Harshavardhan Prasanna Preethi Priya Darshini, Sagabala Sindhwani, Manoj Sachdeva, Shippu Shukla, Manoj Kumar School of Electronics and Electrical Engineering Lovely Professional University Punjab Phagwara India Department of Robotics and Automation Symbiosis Institute of Technology Symbiosis International Deemed University Pune India

Passive optical network (PON) has become the leader in delivering broadband high-speed connectivity. The paper introduces a detailed description of PON, its working principle, key features, and their potential applications. In addition, we discuss the types of PON architectures including GPON, EPON, and XG-PON with merits and demerits. Finally, we discuss the technical considerations of PONs in data transmission mechanisms, network design, and component selection. This paper further demonstrates the use of PON technology via a case study on the design and implementation of a bidirectional optical fiber network. Within this project, we went ahead to demonstrate the use of PON components including optical splitters, transmitters, receivers, and power controllers towards the development of an efficient and functional network structure. It mainly covered the results of the project since the PONs appeared to be a promising solution for obtaining high-performing and reliable broadband services. © 2025 Walter de Gruyter GmbH, Berlin/Boston.

关键词： Passive optical networks

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Active Scout: Multi-Target Tracking Using Neural Radiance Fields in Dense Urban Environments

Active Scout: Multi-Target Tracking Using Neural Radiance Fi...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Christopher D. Hsu Pratik Chaudhari DEVCOM Army Research Laboratory Department of Electrical & Systems Engineering and General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We study pursuit-evasion games in highly occluded urban environments, e.g. tall buildings in a city, where a scout (quadrotor) tracks multiple dynamic targets on the ground. We show that we can build a neural radiance field (NeRF) representation of the city—online—using RGB and depth images from different vantage points. This representation is used to calculate the information gain to both explore unknown parts of the city and track the targets—thereby giving a completely first-principles approach to actively tracking dynamic targets. We demonstrate, using a custom-built simulator using Open Street Maps data of Philadelphia and New York City, that we can explore and locate 20 stationary targets within 300 steps. This is slower than a greedy baseline, which does not use active perception. But for dynamic targets that actively hide behind occlusions, we show that our approach maintains, at worst, a tracking error of 200m; the greedy baseline can have a tracking error as large as 600m. We observe a number of interesting properties in the scout’s policies, e.g., it switches its attention to track a different target periodically, as the quality of the NeRF representation improves over time, the scout also becomes better in terms of target tracking.

关键词： Target tracking Urban areas Buildings Games Neural radiance field Information filters Probabilistic logic Mutual information Intelligent robots Quadrotors

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Optimizing Silver Nanowires on-Skin Electrode Shape for Improved Electromyography Signal Quality in Detecting Adjacent Muscles

Optimizing Silver Nanowires on-Skin Electrode Shape for Impr...

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IEEE Conference on Nanotechnology

作者： Xiaoyang Zou Jiaqi Xue King Wai Chiu Lai Department of Biomedical Engineering Centre for Robotics and Automation City University of Hong Kong Hong Kong China

The monitoring of the electrophysiological signals of the human body has drawn a lot of interest in recent decades. The electromyography (EMG) signals, in particular, are frequently used in a variety of applications involving human-machine interfaces (HMI) because they can represent the activation of human muscles. Nevertheless, the commercial Ag/AgCl electrodes for monitoring EP signals have no stretchability with a large *** a result, it is challenging to keep the conformal contact with skin under deformation for Ag/AgCl electrodes, and capture signals from dense muscles. Therefore, a soft and thin on-skin electrode was developed in this work, with a conductive layer fabricated by silver nanowires (AgNWs) and a polydimethylsiloxane (PDMS) substrate. The AgNW electrode has a high conductivity of ~0.48 Ω/sq with only 300 μm thickness. Besides, a differential strip AgNW electrode with a spacing of 10 mm was created and put perpendicular to the muscle fibers in order to further reduce the crosstalk from nearby muscles when detecting EMG signals from the human body part with densely distributed human muscles. The obtained EMG signals had a higher signal-to-noise ratio (SNR) than the round electrode under the same experimental circumstances. In addition, the ability of the strip AgNW electrode to reduce crosstalk in the acquisition of multichannel EMG signals under various gestures was demonstrated, which can help improve the gesture classification accuracy and employ the potential in human-machine intelligence (HMI) applications.

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Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping

Evolutionary-Based Online Motion Planning Framework for Quad...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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

Offline evolutionary-based methodologies have supplied a successful motion planning framework for the quadrupedal jump. However, the time-consuming computation caused by massive population evolution in offline evolutionary-based jumping framework significantly limits the popularity in the quadrupedal field. This paper presents a time-friendly online motion planning framework based on meta-heuristic Differential evolution (DE), Latin hypercube sampling, and Configuration space (DLC). The DLC framework establishes a multidimensional optimization problem leveraging centroidal dynamics to determine the ideal trajectory of the center of mass (CoM) and ground reaction forces (GRFs). The configuration space is introduced to the evolutionary optimization in order to condense the searching region. Latin hypercube sampling offers more uniform initial populations of DE under limited sampling points, accelerating away from a local minimum. This research also constructs a collection of pre-motion trajectories as a warm start when the objective state is in the neighborhood of the pre-motion state to drastically reduce the solving time. The proposed methodology is successfully validated via real robot experiments for online jumping trajectory optimization with different jumping motions (e.g., ordinary jumping, flipping, and spinning).

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Dynamic Heart Simulator for Ultrasound-Guided Pericardiocentesis

Dynamic Heart Simulator for Ultrasound-Guided Pericardiocent...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kim Yan Wanquan Yan Shing Shin Cheng Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute Shun Hing Institute of Advanced Engineering The Chinese University of Hong Kong Multi-Scale Medical Robotics Center Hong Kong

Pericardiocentesis is an important surgical intervention to treat a medical condition called pericardial effusion, during which excessive fluid accumulates around the heart, potentially leading to life-threatening situation. It involves the insertion of a needle and catheter towards the heart into the pericardial space to drain the excessive fluid under ultrasound (US) guidance. The risky procedure requires surgeons to acquire sufficient training to ensure safe execution of the procedure. However, existing heart simulators lack dynamic features, do not offer realistic images under US imaging, and are not reusable. This work presents a dynamic heart simulator (DHS) with pericardial effusion to mimic the beating motion of the human heart and the realistic US imaging results. The beating heart motion is realized using a hydraulic actuation system connected to a double-layer balloon set. The clear and realistic US imaging results are obtained through a unique formula proposed for the chest tissue and the cardiac muscle. A characterization method was also developed to allow customization of important anatomical parameters in the DHS. The experimental results show that the DHS allowed highly realistic simulation of the beating heart, cardiac muscle, and pericardium under US imaging and has been demonstrated to enable successful US-guided pericardiocentesis.

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Field Assessment of Force Torque Sensors for Planetary Rover Navigation

arXiv

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arXiv 2024年

作者： Gerdes, Levin del Pulgar, Carlos Pérez Arquillo, Raúl Castilla Azkarate, Martin Space Robotics Lab The Department of Systems Engineering and Automation University of Malaga Calle Dr. Ortiz Ramos s/n Malaga Andalusia29001 Spain Planetary Robotics Lab of the Automation and Robotics Section European Space Agency Keplerlaan 1 South Holland Noordwijk2201 AZ Netherlands

Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely used to this effect, force-torque sensors are less explored for planetary navigation despite their potential to directly measure interaction forces and provide insights into traction performance. This paper presents an evaluation of the performance and use cases of force-torque sensors based on data collected from a six-wheeled rover during tests over varying terrains, speeds, and slopes. We discuss challenges, such as sensor signal reliability and terrain response accuracy, and identify opportunities regarding the use of these sensors. The data is openly accessible and includes force-torque measurements from each of the six-wheel assemblies as well as IMU data from within the rover chassis. This paper aims to inform the design of future studies and rover upgrades, particularly in sensor integration and control algorithms, to improve navigation capabilities. © 2024, CC BY.

关键词： Torque meters

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Comparative analysis of techniques in long reach passive optical networks: Overview and design

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Journal of Optical Communications 2024年第s1期45卷 s2327-s2331页

作者： Sachdeva, Shippu Shukla, Manoj Kumar Sindhwani, Manoj Kumar, Abhishek Adhikari, Manoj Singh School of Electronics and Electrical Engineering Lovely Professional University Punjab Phagwara India Department of Robotics and Automation Symbiosis Institute of Technology Symbiosis International University Pune India

Long reach PON is an attractive option for addressing the growing bandwidth needs of internet applications and also serving multiple ONUs. Due to newly augmented technologies such as 4K/8K television, video meetings/conferencing, and online gaming, end-user bandwidth demands are exponentially rising day by day. Wavelength division multiplexing-based passive optical network (WDM-PON), which can deliver high data rates over long distances, is the ultimate solution to the growing bandwidth demand. It is possible to reduce the number of active cabinets and central offices while increasing the number of optical network units (ONUs) with the use of passive optical networks (PONs). At higher bit rates, researchers faced lot of issues like increased pulse width due to increased distance, burst loss, fault detection, etc. In this paper, we have discussed few challenges faced in passive optical networks. Also, we have discussed about the methodology to overcome these issues. © 2023 Walter de Gruyter GmbH, Berlin/Boston.

关键词： Passive optical networks

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