检索结果-内蒙古大学图书馆

arXiv 2025年

作者： Brunke, Lukas Zhou, Siqi D’Orazio, Francesco Schoellig, Angela P. Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich80333 Germany Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In robotics, control barrier function (CBF)–based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF varies across the state space. This variability can create regions within the safe set where the control input becomes unconstrained. When implemented as a safety filter, this may result in chattering near the safety boundary and ultimately compromise system safety. To address this issue, we propose a novel approach for CBF synthesis by formulating it as solving a set of boundary value problems. The solutions to the boundary value problems are determined using physics-informed neural networks (PINNs). Our approach ensures that the synthesized CBFs maintain a constant relative degree across the set of admissible states, thereby preventing unconstrained control scenarios. We illustrate the approach in simulation and further verify it through real-world quadrotor experiments, demonstrating its effectiveness in preserving desired system safety properties. Copyright © 2025, The Authors. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

引用

engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分

来源：评论

学校读者我要写书评

暂无评论

Volume-based Transition Zone Assessment of Hybrid Unmanned Aerial-Underwater Vehicles

Volume-based Transition Zone Assessment of Hybrid Unmanned A...

引用

IEEE Latin American robotics Symposium, LARS

作者： Vivian Misaki Aoki Paulo Jefferson Dias De Oliveira Evald Pedro Miranda Pinheiro César Bastos Da Silva Dayana Dos Santos Cardoso Mauro André Barbosa Cunha Paulo Lilles Jorge Drews Intelligent Robotics and Automation Group Federal University of Rio Grande Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas Campinas Brazil Automation and Control Research Group Sul-rio-grandense Federal Institute Pelotas Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

Quadrotors have been used in diverse areas, such as agriculture, civil construction, fire monitoring, and so on. However, these vehicles cannot perform missions that require navigation in aquatic environments, such as inspection of underwater structures and water sample collection, due to their hardware limitations. Therefore, hybrid unmanned aerial-underwater vehicles emerge as a feasible solution to accomplish these missions. Although quadrotors have well-accepted mathematical models, hybrid vehicles have a small quantity of works dealing with this topic. Moreover, we identified a gap in transition zone representation. Therefore, this paper presents a method for transition zone modeling based on vehicle geometry. Simulation results support the better representation of the proposed transition model in comparison to a sigmoid model.

关键词： Underwater structures Navigation Simulation Force Inspection Mathematical models Hardware

来源：评论

学校读者我要写书评

暂无评论

Fabrication of Translucent Graded Dental Crown Using Zirconia-Yttrium Multi-Slurry Tape Casting 3d Printer

SSRN

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

SSRN

引用

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

来源：评论

学校读者我要写书评

暂无评论

A Review on Collaborative Robots in Industrial and Service Sectors

A Review on Collaborative Robots in Industrial and Service S...

引用

Siberian Conference on control and Communications (SIBCON)

作者： Ramir Sultanov Shifa Sulaiman Hongbing Li Roman Meshcheryakov Evgeni Magid Intelligent Robotics Department Kazan Federal University Kazan Russia Department of Instrument Science and Engineering Shanghai Jiao Tong University Shanghai China Cyber-physical Lab V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Moscow Russia HSE University Moscow Russia

ISBN: (纸本)9781665476294

Today, a collaborative robotics is a rapidly developing area due to its applications in a broad variety of sectors. Collaborative robots (cobots) are robots, which are designed specifically to work along with humans in a common workspace. This article discusses modern cobots employed in industrial and service sectors. Research activities associated with cobots used in virtual environments and real world experiments are described. The ISO/TS 15066:2016 technical specifications followed by cobots for ensuring safety to human operators are emphasized.

关键词： Learning systems Service robots Collaboration Virtual environments Process control Human-robot interaction Production

来源：评论

学校读者我要写书评

暂无评论

Application of Machine Learning to Performance Assessment for a class of PID-based control Systems

arXiv

引用

arXiv 2021年

作者： Grelewicz, Patryk Khuat, Thanh Tung Czeczot, Jacek Nowak, Pawel Klopot, Tomasz Gabrys, Bogdan Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Gliwice44100 Poland University of Technology Sydney Faculty of Engineering and IT Advanced Analytics Institute NSW2007 Australia

In this paper, a novel machine learning derived control performance assessment (CPA) classification system is proposed. It is dedicated for a wide class of PID-based control industrial loops with processes exhibiting dynamical properties close to second order plus delay time (SOPDT). The proposed concept is very general and easy to configure to distinguish between acceptable and poor closed loop performance. This approach allows for determining the best (but also robust and practically achievable) closed loop performance based on very popular and intuitive closed loop quality factors. Training set can be automatically derived off-line using a number of different, diverse control performance indices (CPIs) used as discriminative features of the assessed control system. The proposed extended set of CPIs is discussed with comprehensive performance assessment of different machine learning based classification methods and practical application of the suggested solution. As a result, a general-purpose CPA system is derived that can be immediately applied in practice without any preliminary or additional learning stage during normal closed loop operation. It is verified by practical application to assess the control system for a laboratory heat exchange and distribution *** Codes 93 © 2021, CC BY-NC-SA.

关键词： Three term control systems

来源：评论

学校读者我要写书评

暂无评论

Constructive barrier feedback for collision avoidance in leader-follower formation control

arXiv

引用

arXiv 2023年

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal Division of Decision and Control Systems KTH Royal Institute of Technology Sweden I3S-CNRS Université Côte d'Azur Institut Universitaire de France France Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis. Simulations are provided to validate the effectiveness of the proposed control method. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multi-Robot System for Autonomous Cooperative Counter-UAS Missions: Design, Integration, and Field Testing

Multi-Robot System for Autonomous Cooperative Counter-UAS Mi...

引用

IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Antonella Barisic Marlan Ball Noah Jackson Riley McCarthy Nasib Naimi Luca Strässle Jonathan Becker Maurice Brunner Julius Fricke Lovro Markovic Isaac Seslar David Novick Jonathan Salton Roland Siegwart Stjepan Bogdan Rafael Fierro Laboratory for Robotics and Intelligent Control Systems (LAR-ICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA ETH Zurich Autonomous Systems Lab (ASL) Zurich Switzerland Sandia National Laboratories Albuquerque New Mexico USA

ISBN: (纸本)9781665456814

With the rapid development of technology and the proliferation of uncrewed aerial systems (UAS), there is an immediate need for security solutions. Toward this end, we propose the use of a multi-robot system for autonomous and cooperative counter-UAS missions. In this paper, we present the design of the hardware and software components of different complementary robotic platforms: a mobile uncrewed ground vehicle (UGV) equipped with a LiDAR sensor, an uncrewed aerial vehicle (UAV) with a gimbal-mounted stereo camera for air-to-air inspections, and a UAV with a capture mechanism equipped with radars and camera. Our proposed system features 1) scalability to larger areas due to the distributed approach and online processing, 2) long-term cooperative missions, and 3) complementary multimodal perception for the detection of multirotor UAVs. In field experiments, we demonstrate the integration of all subsystems in accomplishing a counter-UAS task within an unstructured environment. The obtained results confirm the promising direction of using multi-robot and multi-modal systems for C-UAS.

关键词： Scalability Robot vision systems Autonomous aerial vehicles Cameras Software Safety Security

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：