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SSRN 2024年

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology Taiwan 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3 – 5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024, The Authors. All rights reserved.

关键词： Zirconia

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Discrete PID algorithm with non-uniform sampling – Practical implementation in control system

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AIP Conference Proceedings 2018年第1期2029卷

作者： Miroslaw Kondratiuk Leszek Ambroziak Ewa Pawluszewicz Justyna Janczak Bialystok University of Technology Faculty of Mechanical Engineering Department of Automatic Control and Robotics Wiejska St. 45C 15-351 Bialystok Poland

In the paper the practical implementation of a discrete PID algorithm (DPID) with non-uniform sampling is presented. Studies starts with the discretized well known continuous PID equation with trapezoidal integration method. As a result, difference equation associated with the respect continuous-time model is obtained. Then, MATLAB/Simulink block model is developed in such way that a change sampling time during simulation is enabled. Algorithm is tested numerically in modeled DC motor speed control system. In order to compare results with conventional fixed-step controller, functions of control quality and number of samples are used. In the next step, developed DPID with non-uniform sampling is implemented to microprocessor of Arduino board and put into a series of experimental tests. Obtained results are compared to simulation. In the last part of the paper advantages and disadvantages of the proposed system are described, conclusions are drawn and directions of future work are pointed out.

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Cooperation of two heterogeneous mobile robots

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AIP Conference Proceedings 2018年第1期2029卷

作者： Arkadiusz Nikonowicz Leszek Ambroziak Mirosław Kondratiuk Arkadiusz Bożko Maciej Sulewski Bialystok University of Technology Faculty of Mechanical Engineering Automatic Control and Robotics Department Wiejska St. 45C 15-351 Bialystok Poland

The paper presents cooperation of two heterogeneous mobile robots which are two-wheeled robot and an unmanned aerial vehicle. Those platforms are fully autonomous and are equipped with indoor positioning system to acquire position of each. This paper introduces simple algorithms of path planning in static environment which is known for rover robots and path handling for both platforms. Accurate environment map is given a priori. The main aim of this work are the simulation tests of the simple cooperation algorithm. Tests were conducted in Simulink and its results are presented in both mobile platforms trajectories and path errors in x and y directions. The presented results show the effectiveness of proposed method.

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Double-Layered Microcracks Coupled Strain Sensors with High Sensitivity and Wide Working Range

SSRN

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SSRN 2024年

作者： Wang, Zihao Liang, Cuiyuan Yang, Yuanhe Sun, Jiaxue Zhang, Xuelin Wang, Yu Jiang, Ying Liu, Yan Qi, Dianpeng MIIT Key Laboratory of Critical Materials Technology for New Energy Conversion and Storage National and Local Joint Engineering Laboratory for Synthesis Transformation and Separation of Extreme Environmental Nutrients School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin150001 China Key Laboratory of Science and Engineering for the Multi-modal Prevention and Control of Major Chronic Diseases Ministry of Industry and Information Technology Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China School of Astronautics Harbin Institute of Technology Harbin150001 China Department of Electromechanical Engineering Centre for Artificial Intelligence and Robotics University of Macau 999078 China

The flexible strain sensor is a crucial component of the wearable technology, offering considerable potential for monitoring physiological signals. Notably, strain sensors based on nanomaterial thin films have gained much attention from researchers due to their excellent performance and ease of preparation. Nevertheless, challenges remain, such as the rapid expansion of cracks in rigid conductive films under strain, which greatly reduces the working range of the sensors. Conversely, soft conductive films characterized by small cracks are much less sensitive. This study introduces a novel conductive strategy centered on the double-layered microcracks of gold/PPy (Polypyrrole) composite films. The as-prepared strain sensor exhibits ultra-high sensitivity with a gauge factor (GF) of approximately 3.604 × 107, an expansive working range spanning from 0% to 60%, high strain resolution at 0.1% and commendable cycling stability exceeding 1000 cycles. The crack formation and sensing mechanisms were thoroughly investigated, elucidating the key role of the double-layered microcracks in enhancing sensing performance. Ultimately, the practicality of the developed sensor for human health monitoring and human-computer interaction was demonstrated by the accurate detection of human motion. © 2024, The Authors. All rights reserved.

关键词： Thin films

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Design and initial study of porous core electromagnet for levitation applications

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AIP Conference Proceedings 2018年第1期2029卷

作者： Adam Piłat Bartosz Sikora 1AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Mickiewicza 30 30-059 Krakow Poland

A concept of the porous core electromagnet is studied. The form for the electromagnet core was printed using 3D technique. The core was manufactured manually using iron filings and cured in room temperature and air pressure. The aim of this paper is to deliver initial analysis of the proposed powder core together with the modelling procedure by the using finite element method, and to compare the experimental results of the manually manufactured electromagnet. The material property of the numerical model was adjusted to fit the experimental results. Finally, the electromagnet was tested in the levitation real–time experiment.

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Discrete State Estimation for Switched LPV Systems using Parameter Identification

Discrete State Estimation for Switched LPV Systems using Par...

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American control Conference

作者： H. Ríos D. Mincarelli D. Efimov W. Perruquetti J. Davila National Autonomous University of Mexico Department of Control and Robotics Division of Electrical Engineering Engineering Faculty C.P 04510 Mexico D.F. Non-A project at INRIA - LNE Parc Scientifique de la Haute Borne 40 avenue Halley Bt.A Park Plaza 59650 Villeneuve d'Ascq France. National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P.07340 Mexico D.F.

ISBN: (纸本)9781479932757

In this paper the problem of discrete state estimation for a class of switched LPV systems is addressed. Identification techniques are applied to realize an approximate identification of the switched LPV system parameters with certain uncertainties, disturbances and/or noise. The discrete state estimation is realized by means of the parameter identification. The efficiency of the proposed method is illustrated by simulations.

关键词： Discrete State Estimation Switched LPV Systems using Parameter Identification State estimation Parameter identification discrete element

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Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph

arXiv

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth's Magnetic Field Generation Based on 2.4- Meter Square Helmholtz Coils

Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth...

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IEEE Symposium on Position Location and Navigation (PLANS)

作者： Jormpon Chaisakulsurin Shariff Manuthasna Tanawish Masri Thanayuth Panyalert Kritsada Palee Pakawat Prasit Patcharin Kamsing Peerapong Torteeka Thai Space Consortium Project National Astronomical Research Institute of Thailand (Public Organization) Chiang-Mai Thailand Center of Observatory Operation and Engineering National Astronomical Research Institute of Thailand (Public Organization) Chiang-Mai Thailand Faculty of Engineering Program in Robotics and Computational Intelligence Systems International Academy of Aviation Industry King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Aeronautical Engineering Air-Space Control Optimization and Management Laboratory International Academy of Aviation Industry King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

This paper proposes a Hardware-in-the-Loop sim-ulation (HiLs) tested via square Helmholtz coils as a relative magnetic field generator. In technical terms, the HiLs is an indispensable tool for engineering design during rapid proto-typing of attitude determination and control algorithms for the turning parameters that control the attitude of the satellite, since most of the satellite's mission relies on its attitude, making this system one of the most essential to the satellite's operation. More-over, performing controlled experiments with the parameters for developing adaptive control algorithms improves the overall efficiency of the satellite's kinematic system. The conceptual design of a proposed system architecture can be composed of the electrical currents of 2.4-meter square Helmholtz coils produced by a low-level microcontroller equipped with a DC-motor driver by a pulse-width modulation (PWM) signal through real-time connection to an orbit propagator using a high-level computer. This research focuses on the attitude dynamic of satellites through the interaction between the Earth's magnetic field (EMF) and the magnetotorque in the satellite. To apply this phenomenon, the intensity and the direction of the magnetic field must be identified through Biot-Savart's law. Along with the EMF, the reference position is calculated using the standard general perturbations satellite orbit model (SGP4), and the intensity is modeled based on coefficients from the 13 th edition of the International Geo-magnetic Reference Field (IGRF). Therefore, this paper presents a detailed development of a HiLs testbed for distributed attitude determination and control systems (hardware and software co-design, protocol, and control theory). Furthermore, it discusses a classic cooperative control case for the output of magnetic field intensity and direction, which was undertaken to explain the integrated simulation process and validate the effectiveness of the co-simulation tested to be

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Mobile robots: Recent theoretical developments

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Journal of Field robotics 1998年第2期14卷

作者： Charles C. Nguyen D.Sc. Yuan F. Zheng Ph.D. Robotics and Control Laboratory The Catholic University of America Washington DC 20064 Department of Electrical Engineering Ohio State University Columbus Ohio 43210-state.edu

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Stability of a planetary climate system with the biosphere species competing for resources

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Physical Review E 2021年第2期103卷 022202-022202页

作者： Sergey A. Vakulenko Ivan Sudakov Sergei V. Petrovskii Dmitry Lukichev Institute for Problems in Mechanical Engineering Russian Academy of Sciences St. Petersburg 199178 Russia Faculty of Control Systems and Robotics ITMO University Saint Petersburg 197101 Russia Department of Physics University of Dayton 300 College Park SC 111 Dayton Ohio 45469-2314 USA School of Mathematics and Actuarial Science University of Leicester Leicester LE1 7RH United Kingdom S. M. Nikol'skii Mathematical Institute Peoples' Friendship University of Russia (RUDN University) Moscow 117198 Russia

With the growing number of discovered exoplanets, the Gaia concept finds its second wind. The Gaia concept defines that the biosphere of an inhabited planet regulates a planetary climate through feedback loops such that the planet remains habitable. Crunching the “Gaia” puzzle has been a focus of intense empirical research. Much less attention has been paid to the mathematical realization of this concept. In this paper, we consider the stability of a planetary climate system with the dynamic biosphere by linking a conceptual climate model to a generic population dynamics model with random parameters. We first show that the dynamics of the corresponding coupled system possesses multiple timescales and hence falls into the class of slow-fast dynamics. We then investigate the properties of a general dynamical system to which our model belongs and prove that the feedbacks from the biosphere dynamics cannot break the system's stability as long as the biodiversity is sufficiently high. That may explain why the climate is apparently stable over long time intervals. Interestingly, our coupled climate-biosphere system can lose its stability if biodiversity decreases; in this case, the evolution of the biosphere under the effect of random factors can lead to a global climate change.

关键词： Climate research Ecology & evolution Planets & planetary systems

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