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Effect of conducting polymers on nitrogen-doped multiwalled carbon nanotube for the detection of chemical warfare agent simulant

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Microchemical Journal 2025年 215卷

作者： Sanjeeb Lama Hyeong Seon Choi Sujina Tamang Sivalingam Ramesh Hee-Chan Jang Young Jun Lee Joo-Hyung Kim Laboratory of Intelligent Devices and Thermal Control Department of Mechanical Engineering Inha University Incheon 22212 South Korea Department of Biological Science and Bioengineering Inha University Incheon 22212 South Korea Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul 04620 South Korea

Chemical warfare agents (CWAs) have inflicted significant harm to human lives, from World War I to present-day conflicts, including armed battles, terrorist incidents, and civil wars. To explore the possibility of early detection of CWAs to prevent loss of life, we developed various composite materials for sensing these agents using a hydrothermal process. The surface acoustic wave (SAW) sensor was employed as a detector for dimethyl methyl phosphonate (DMMP), a well-known simulant of the nerve agent sarin. Nitrogen doped multiwalled carbon nanotube (N-MWCNT) was used as a precursor, with polymers such as carboxymethyl cellulose (CMC), polyaniline (PANI), and polypyrrole (PPy) added to enhance sensitivity to DMMP concentrations ranging from 2 to 10 parts per million (ppm). The N-MWCNT@CMC composite demonstrated exceptional performance exhibiting frequency response (Δ f ) of ∼1212 Hz at a concentration of 10 ppm DMMP. The composite materials showed excellent sensitivity to DMMP with minimal effect of potential interferences during selectivity test. Specifically, the N-MWCNT@CMC showed excellent coefficients of determination ( R 2 ) of 0.990, with a limit of detection (LOD) of 1.33 ppm. In the relative humidity test from 30–70 %, the N-MWCNT@CMC exhibited the highest Δ f , measuring ∼137 Hz. However, it showed lowest Δ f difference of ∼16 % in temperature tests conducted from 25–75 °C. The Brunauer-Emmett-Teller (BET) results revealed that the addition of CMC to the N-MWCNT increased the pore size (adsorption = 36.9 nm, desorption = 40.0 nm) of the composite, which enhanced its sensitivity to DMMP during both adsorption and desorption. Based on these findings, it can be concluded that synthesized composites show potential as candidates for detecting the nerve agent sarin.

关键词： Adsorption mechanism Chemical warfare agents (CWAs) Composite nanomaterials Dimethyl methylphosphonate (DMMP) Surface acoustic wave (SAW) sensor

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CushionCatch: A Compliant Catching Mechanism for Mobile Manipulators via Combined Optimization and Learning

arXiv

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arXiv 2024年

作者： Chen, Bingjie Fan, Keyu Yang, Qi Cheng, Yi Liu, Houde Dong, Kangkang Xia, Chongkun Han, Liang Liang, Bin Center for Artificial Intelligence and Robotics Shenzhen International Graduate School Tsinghua University Shenzhen518055 China Jianghuai Advanced Technology Center Hefei230000 China University of Science and Technology of China Hefei23000 China School of Advanced Manufacturing Sun Yat-Sen University Shenzhen518055 China School of Electrical and Automation Engineering Hefei University of Technology Hefei230009 China Navigation and Control Research Center Department of Automation Tsinghua University Beijing100084 China

Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant catching on mobile manipulators (CCMM). First, we propose a high-level capture planner for mobile manipulators (MM) that calculates the optimal capture point and joint configuration. Next, the pre-catching (PRC) planner ensures the robot reaches the target joint configuration as quickly as possible. To learn compliant catching strategies, we propose a network that leverages the strengths of LSTM for capturing temporal dependencies and positional encoding for spatial context (P-LSTM). This network is designed to effectively learn compliant strategies from human demonstrations. Following this, the post-catching (POC) planner tracks the compliant sequence output by the P-LSTM while avoiding potential collisions due to structural differences between humans and robots. We validate the CCMM framework through both simulated and real-world ball-catching scenarios, achieving a success rate of 98.70% in simulation, 92.59% in real-world tests, and a 28.7% reduction in impact torques. The open source code will be released for the reference of the community1 Copyright © 2024, The Authors. All rights reserved.

关键词： Open source software

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Hydrone: Modeling of a Hybrid Unmanned Aerial Underwater Vehicle Considering Trans-Media Dynamics

SSRN

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SSRN 2024年

作者： de Oliveira Evald, Paulo Jefferson Dias Brião, Stephanie Loi Aoki, Vivian Misaki da Silva, César Bastos dos Santos Cardoso, Dayana Pinheiro, Pedro Miranda de Oliveira, Felipe Gomes André Barbosa Cunha, Mauro Jorge Drews, Paulo Lilles Intelligent Systems and Control Group Federal University of Pelotas RS Pelotas Brazil Intelligent Robotics and Automation Group Federal University of Rio Grande RS Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas SP Campinas Brazil Federal Institute of Education Science and Technology in Rio Grande do Sul RS Pelotas Brazil Institute of Exact Sciences and Technology Federal University of Amazonas Itacoatiara AM Amazonas Brazil Brazil

Research in mobile robotics is growing into applications for difficult-to-access environments, such as in rescue and transport missions. Furthermore, autonomous vehicles can perform data collection in complex approach areas. Therefore, the study of hybrid unmanned vehicles is relevant for several areas, since these vehicles can act in different domains. The developed vehicle, called Hydrone, is designed in a quadrotor-type structure and equipped with a set of aerial and underwater propellers, which are fixed and independent between them. In this sense, this work presents the mathematical modeling of an unmanned hybrid vehicle, which can navigate underwater and aerial environments. Furthermore, the modeling considers the ground effect due to the influence on the vehicle’s trajectory change and the dynamics of the transition zone between water-air and air-water. These dynamics are important to evaluate the controller’s performance. Numerical simulations consider both transitions (water-air and air-water) and they are performed to discuss the influence of acting forces on the vehicle stability and position-tracking performance using a classical control system. © 2024, The Authors. All rights reserved.

关键词： Hybrid vehicles

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Development of a Vision Aided Automated Ball Retrieving Robot for Tennis Training Sessions 14

Development of a Vision Aided Automated Ball Retrieving Robo...

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14th IEEE International Conference on Industrial and Information Systems, ICIIS 2019

作者： Perera, Dulanjana M. Menaka, G.M.D. Surasinghe, W.V.K.M. Kanishka Madusanka, D.G. Lalitharathne, Thilina Dulantha Robotics and Control Systems Laboratory University of Moratuwa Department of Mechanical Engineering 10400 Sri Lanka

ISBN: (纸本)9781728137063

A single training session of tennis requires 30-40 balls and these scattered balls have to be collected at the end of each session which costs time and induces unnecessary physical stress on players. This paper proposes a method to retrieve the balls which are scattered in the Tennis court back to the user. The proposed method comprises image processing techniques for object localization and the adaptation of Dijkstra's algorithm for optimum path planning for efficient navigation. Both localization and the path planning algorithms are developed on a Python platform and robot's differential drive system is controlled by a microcontroller. Communication between robot and the computer is established through Wi-Fi. Novel development of this research is the implementation of the global view method for a vast range of image acquisition and verifying its suitability in Tennis field. In order to collect balls efficiently, an adaption of an existing mechanism is proposed. Results show that the mechanism is 80% efficient in collecting balls and 100% efficient in object identification for a given environmental condition. © 2019 IEEE.

关键词： Mobile robots

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Revisiting "Consensus-based energy-management in smart grid with transmission losses and directed communication"

arXiv

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arXiv 2020年

作者： Zimmermann, Jan Tatarenko, Tatiana Willert, Volker Adamy, Jürgen Control Theory and Robotics Lab Department of Electrical Engineering Technical University of Darmstadt 64283 Germany

We discovered a deficiency in Algorithm 1 and Theorem 3 of [1]. The algorithm called CEMA aims to solve an energy management problem distributively. However, by means of a counter example, we show that Theorem 2 and 3 of [1] contradict each other in the case of a valid scenario, proving that the suggested algorithm does not always find the optimum. Furthermore, we provide theoretic results, showing that Theorem 3 of [1] does not hold generally. At last, we provide a rectification by adjusting the algorithm and the corresponding proof of Theorem 3. Copyright © 2020, The Authors. All rights reserved.

关键词： Energy management

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Design and Implementation of Adaptive NMPC in industrial applications: case study

Design and Implementation of Adaptive NMPC in industrial app...

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International Carpathian control Conference (ICCC)

作者： Stepan Ozana Filip Krupa Jakub Nemcik Gergely Takacs Jakub Mozaryn Petr Beremlijski Abhaya Singh Aleksandra Kawala-Sterniuk Department of Cybernetics and Biomedical Engineering VSB-Technical University of Ostrava Ostrava Czech Republic Institute of Automation Measurement and Applied Informatics Slovak University of Technology in Bratislava Bratislava Slovak Republic Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland Department of Applied Mathematics VSB-Technical University of Ostrava Ostrava Czech Republic Department of engineering University of Sannio Sannio Italy Department of Electrical Power and Renewable Energy Opole University of Technology Opole Poland

This paper deals with the design and implementation of adaptive nonlinear predictive control (NMPC). The resulting control system is deployed on a softPLC embedded target in real-time via the REXYGEN control system. The paper describes functional prototype using softPLC hosting the NMPC algorithm applied for a nonlinear system consisting of three coupled tanks. The NMPC algorithm is solved via the receding horizon control method (RHC), formulated as a nonlinear programming problem (NLP) and numerically computed using the SOLNP solver. The adaptivity is provided by online identification via moving horizon estimation (MHE), keeping the model updated to avoid a model-plant mismatch. The methodology described in this paper can be easily transferred to a wider group of industrial nonlinear processes. Such created control unit can run in a standalone mode or can be connected to some exiting control system providing a necessary computational power and thus upgrading the quality of control significantly.

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Direct Energy Deposition: a complete workflow for the additive manufacturing of complex shape parts

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Procedia Manufacturing 2020年 51卷 671-677页

作者： Bernardo Freire Mihail Babcinschi Lucía Ferreira Baltasar Señaris Felix Vidal Pedro Neto Univ Coimbra Centre for Mechanical Engineering Materials and Processes Department of Mechanical Engineering Coimbra Portugal Robotics and Control Unit AIMEN Technology Centre Vigo Spain

Metal Additive Manufacturing (MAM) using Direct Energy Deposition (DED) is a fast-growing technological process that brings a positive boost to manufacturing industry. When compared with traditional manufacturing methods the advantages of DED are multiple, it is more cost-effective, reduces material waste and presents reduced manufacturing lead-times. However, the production of metallic parts with a complex shape is still challenging, demanding to avoid manufacturing support structures and the generation of non-horizontal and non-planar layers. Starting from the Computer-Aided Design (CAD) model of the part to produce, we propose an integrated CAD-to-part methodology featuring part decomposition, path planning, distortion and robot motion simulation, generation of the robot code and the production of the real part. Especially challenging is the path planning strategy that highly affects the final part quality. A real use case is proposed to the fabrication of an aircraft part using Laser Metal Deposition (LMD). Results demonstrate the effectiveness of the proposed methodology.

关键词： CAD-to-part Additive Manufacturing Direct Energy Deposition Complex Shape Parts

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Active wheel speed control to avoid lifting the swingarms in rocker-bogie suspension 3

Active wheel speed control to avoid lifting the swingarms in...

引用

3rd International Young Engineers Forum, YEF-ECE 2019

作者： Tomaszuk, P. Lukowska, A. Recko, M. Dzierzek, K. Straszynski, P. Faculty of Mechanical Engineering Bialystok University of Technology Department of Automatic Control and Robotics Bialystok Poland

ISBN: (纸本)9781538692820

Rocker-bogie is kind of suspension system where wheels from each side of the vehicle are connected with swingarm on the rotary axle. Both levers are connected with a differential mechanism. If the vehicle has not had turnable wheels and turns only using the velocity or heading difference of each side or the object, then increased traction on the most loaded wheels causes lifting of the swingarms in opposing directions. This situation is undesirable because it leads to the high inclination of the vehicle's body and threatens to fall over. This article shows the way of active adjusting each wheel's speed to avoid swingarms lifting. Presented algorithm increases or decreases the angular velocity of selected wheels depending on the robot's rotation speed, acceleration, and traction. Parameters are calculated from the velocity of swingarm lift angle changes compared to the vehicle's relative rotation speed. Theoretical description presents the geometry of vehicle suspension, used sensors, and wheels speed control circuitry. The algorithm is implemented on an existing vehicle, and experimental part contains a comparison of behavior with and without active control on different surfaces. © 2019 IEEE.

关键词： Automobile suspensions

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Smart floor for a more comfortable and safer life 3

Smart floor for a more comfortable and safer life

引用

3rd International Young Engineers Forum, YEF-ECE 2019

作者： Haraburda, Karol Czygier, Jakub Recko, MacIej Department of Automatic Control and Robotics Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538692820

The article presents the design of a SmartFloor to monitor pedestrians' movement patterns and collect data for Neural Network Analysis. The floor can be used in smart homes and environments to provide easy interaction with space's occupants. It is also used to determine the gender of the walkers useful during the calculation of attendance monitoring at events. Conducted research proved that the concept does indeed work and can be used for the use mentioned above cases. © 2019 IEEE.

关键词： Machine learning

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The integrated controller dedicated to multi-coil electromagnetic launcher for micro class unmanned aerial vehicles 3

The integrated controller dedicated to multi-coil electromag...

引用

3rd International Young Engineers Forum, YEF-ECE 2019

作者： Kuc, Barbara Kondratiuk, Miroslaw Ambroziak, Leszek Dzierzek, Kazimierz Department of Automatic Control and Robotics Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538692820

The paper presents the structure, design and operational functions of the integrated controller of an multicoil electromagnetic launcher (EML) for micro class unmanned aerial vehicle (UAVs). UAVs are used for military and civilian purposes for patrolling forest areas, transporting loads of small sizes and weights, mapping, counting animal populations or observing mass events, etc. Some constructions of unmanned aerial vehicles are not equipped with a chassis allowing independent start using special runways, so there is a need for manual ejection by a man hand or using one of many types of dedicated launcher. In example, there are in usage rubber launchers (bungee), pneumatic, hydraulic, steam, rocket and also electromagnetic one. Especially the last type can be used for micro class UAVs. EMLs enable operator to precisely control thrust parameters, i.e. giving the appropriate initial speed, avoiding acceleration pulses, repeating start procedure in short periods of time. For instance, more advanced task involved EMLs can be creation of UAVs formation flight structure, which is very complex process sometimes even impossible to do with manual controlled thrust. The first part of the work presents the concept and construction of a multi-coil launcher with a moving ferromagnetic core. Project was created at the Faculty of Mechanical engineering of the Bialystok University of Technology. The next part of the work presents the structure, design and construction of the dedicated for EML, programmable controller. Moreover, in the paper the method of UAV ejection control and the selection of the appropriate, crucial parameters were described. In the last part, summary the obtained results was presented and conclusions were drawn. © 2019 IEEE.

关键词： controllers

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