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IEEE Conference on Decision and Control

作者： Hongpeng Cao Yanbing Mao Lui Sha Marco Caccamo Hongpeng Cao is with School of Engineering and Design Technical University of Munich Munich Germany Yanbing Mao is with Engineering Technology Division Wayne State University Detroit MI USA Department of Computer Science University of Illinois at Urbana-Champaign Urbana IL USA School of Engineering and Design and Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany

Deep reinforcement learning (DRL) has demonstrated impressive success in solving complex control tasks by synthesizing control policies from data. However, the safety and stability of applying DRL to safety-critical systems remain a primary concern and challenging problem. To address the problem, we propose the Phy-DRL: a novel physics-model-regulated deep reinforcement learning framework. The Phy-DRL is novel in two architectural designs: a physics-model-regulated reward and residual control, which integrates physics-model-based control and data-driven control. The concurrent designs enable the Phy-DRL the mathematically provable safety and stability guarantees. Finally, the effectiveness of the Phy-DRL is validated by an inverted pendulum system. Additionally, the experimental results demonstrate that the Phy-DRL features remarkably accelerated training and enlarged reward.

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Evaluating the Viscoelastic Behavior of Elastomers Using a Piezoelectric Tactile Sensor and an Optimization Approach

Evaluating the Viscoelastic Behavior of Elastomers Using a P...

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SICE Annual Conference

作者： Abdallah M. Elsahy Victor Parque Abdelhady M. Esmaeel Mohsen A. Hassan Ahmed M. R. Fath El-Bab Mechatronics and Robotics Department Egypt-Japan University of Science and Technology Alexandria Egypt Production and Mechanical Design Department Menofia University Menofia Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan Mechatronics Engineering Department Assiut University Assiut Egypt Industrial and Manufacturing Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt

Elastomers, polymers, and human tissues are well-known viscoelastic materials whose behavior are hard to grasp. Several mathematical models, being linear and nonlinear, have been proposed to describe the elastic and viscous properties of viscoelastic materials. In this paper, we aim to characterize the dynamic properties of silicon rubber viscoelastic material with different mixing ratios. To this end, an experimental setup using a piezoelectric cantilever was used to apply force to the viscoelastic specimens, and an eddy current sensor was used to measure the displacement. We used the Standard Linear Solid (SLS) model and the hysteresis loop methods to formulate the relations between applied force, displacement, damping, and stiffness. Furthermore, an optimization approach was proposed to find the SLS model parameters by searching functions over the frequency domain. The obtained results agree with the related research. In addition, our approach differentiated between the tested specimens depending on damping and stiffness dynamic properties. The results have shown that the damping of the PDMS tested specimes decreases with increasing the frequency and the harder the elastomer the more damping it shows. Also, the stiffnesses of the SLS model increase by increasing the frequency and by increasing the hardness of the elastomer.

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Optimizing Transistor Selection Using AH-TOR for Low Noise Amplifier design in Sensing Applications

Optimizing Transistor Selection Using AH-TOR for Low Noise A...

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International Conference on Sensing Technology, ICST

作者： Dayarnab Baidya Karthick Thiyagarajan Mitradip Bhattacharjee Yang An Department of Electrical Engineering and Computer Science i-Lab Indian Institute of Science Education and Research Bhopal Bhopal Madhya Pradesh India Smart Sensing and Robotics Laboratory (SensR Lab) Centre for Advanced Manufacturing Technology School of Engineering Design and Built Environment Western Sydney University Penrith Australia

ISBN: (数字)9798350374827

ISBN: (纸本)9798350374834

The design of a wireless sensor network receiver requires an efficient Low Noise Amplifier (LNA), with the transistor being a critical component that influences its performance. Selecting an optimal transistor for LNA design is a complex and time-consuming process due to the conflicting criteria involved. This study utilizes the Analytic Hierarchy Trade-off Ranking Method (AH-TOR), an integrated Multi-Criteria Decision-Making (MCDM) approach, to facilitate the selection of a suitable transistor for LNA design. Four types of transistors were evaluated as alternatives based on four criteria, with the Pseudomorphic High Electron Mobility Transistor (PHEMT) emerging as the optimal choice. The weight of PHEMT was calculated to be 1.0787, and its performance was benchmarked against other existing methods. Further analysis demonstrated the robustness of the AH-TOR method across various scenarios, consistently identifying PHEMT as the most suitable option. These findings highlight the reliability of the AH-TOR method for transistor selection in diverse applications.

关键词： Low-noise amplifiers Wireless sensor networks PHEMTs Decision making Receivers Electron mobility Robustness Sensors Transistors Integrated circuit reliability

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Active Surface with Passive Omni-Directional Adaptation for In-Hand Manipulation

Active Surface with Passive Omni-Directional Adaptation for ...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Sen Li Fang Wan Chaoyang Song School of Design Southern University of Science and Technology Shenzhen China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Southern University of Science and Technology Shenzhen Guangdong China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

Soft fingers with omni-directional adaptability ex-cel in 3D twisting, outperforming two-dimensional self-adaptive hands using a finger rotation mechanism to achieve similar adaptability. In this study, we present the design of a soft robotic finger with an active surface on an omni-adaptive structure, which can be easily installed on existing grippers and achieve stability and dexterity for in-hand manipulation. The system's active surfaces initially transfer the object from the fingertip segment with less compliance to the middle segment of the finger with superior adaptability. Despite the omni-directional deformation of the finger, in-hand manipulation can still be executed with controlled active surfaces. We characterized the soft finger's stiffness distribution and simplified models to assess the feasibility of lifting and reorienting a grasped object in a 3D twisting state. A set of experiments on in-hand manipulation was performed with the proposed fingers, demonstrating the dexterity and robustness of the strategy.

关键词： Visualization Solid modeling Three-dimensional displays Torque Statistical analysis Soft robotics Stability analysis

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Negative correlation between cross-plane bonding strength and in-plane thermal transport in bent van der Waals materials

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Physical Review B 2024年第24期110卷 245411-245411页

作者： Shuo Qiao Yi Tao Lin Yang Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing 100871 People's Republic of China School of Mechanical Engineering and Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments Southeast University Nanjing 210096 People's Republic of China National Key Laboratory of Advanced Micro and Nano Manufacture Technology Peking University Beijing 100871 People's Republic of China

Strain engineering stands out as a promising avenue for manipulating the physicochemical characteristics of two-dimensional (2D) van der Waals (vdW) materials. Amidst the flourishing investigations into the modulation of electronic band structures, the influence of elastic strain on the evolution of phonon spectra and, consequently, thermal transport has garnered comparatively less attention. Yet, this facet offers a realm of intricate physics and engineering possibilities. Bending, a process that couples in-plane (IP) and cross-plane (CP) motion, provides a unique opportunity to investigate the influence of elastic anisotropy on the thermal properties of inhomogeneous strain-modulated 2D materials. Here we studied the effects of CP bonding on the IP thermal conductivities of a model layered material using molecular dynamics simulation. Notably, our findings unveiled an intriguing negative correlation between CP bonding strength and IP thermal conductivity while keeping IP bonding constant. This can be attributed to the heightened stress gradient spanning across multiple layers due to the pronounced CP bonding, which in turn, engenders a broadened phonon spectrum, and eventually stronger phonon scattering. Our work sheds light on the intricate interplay between CP bonding and thermal transport in bent vdW materials, offering insights extendable to the broader family of 2D materials.

关键词： Van der Waals forces

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Research of Methods for Stabilizing the Position of a Two-Mass Electromechanical System with Backlash and Motor Current Limitation

Research of Methods for Stabilizing the Position of a Two-Ma...

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Electrical engineering, Automation & Control Systems, Theory and Practical Applications (EEACS), Seminar on

作者： Kirill K. Ershov Nikolay S. Blagodarnii Oleg A. Kundyukov Department of Automated Electric Drive and Electrical Engineering Saint Petersburg State University of Industrial Technologies and Design Saint-Petersburg Russian Federation Department of Robotics of Automated Production Systems Saint Petersburg Electrotechnical University "LETI" Saint Petersburg Russia

The paper deals with the problem of stabilization of a two-mass system with a backlash in the kinematic transmission and motor current limitation. A model of the two-mass system accounting for internal viscous friction is constructed. The structures with state feedback position controller and cascade position controller with internal state feedback speed controller are proposed. Based on the results of the simulation, recommendations for the choice of the control system structure and controller settings are formulated.

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PROPRIOCEPTIVE STATE ESTIMATION FOR AMPHIBIOUS TACTILE SENSING

arXiv

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arXiv 2023年

作者： Guo, Ning Han, Xudong Zhong, Shuqiao Zhou, Zhiyuan Lin, Jian Dai, Jiansheng Wan, Fang Song, Chaoyang Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Ocean Science and Engineering Southern University of Science and Technology Shenzhen518055 China Institute of Robotics Southern University of Science and Technology Shenzhen518055 China School of Design Southern University of Science and Technology Shenzhen518055 China Design & Learning Research Group China

This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's unique metamaterial structure, which facilitates omni-directional passive adaptation during grasping, protecting delicate objects across diverse scenarios. A compact in-finger camera captures high-framerate images of the finger's deformation during contact, extracting crucial tactile data in real-time. We present a volumetric discretized model of the soft finger and use the geometry constraints captured by the camera to find the optimal estimation of the deformed shape. The approach is benchmarked using a motion capture system with sparse markers and a haptic device with dense measurements. Both results show state-of-the-art accuracies, with a median error of 1.96 mm for overall body deformation, corresponding to 2.1% of the finger's length. More importantly, the state estimation is robust in both on-land and underwater environments as we demonstrate its usage for underwater object shape sensing. This combination of passive adaptation and real-time tactile sensing paves the way for amphibious robotic grasping applications. © 2023, CC BY-NC-ND.

关键词： Robot applications

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A Novel Tactile Sensing Skin for Surface Perception

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IEEE Sensors Journal 2025年

作者： Das, Subham Thiyagarajan, Karthick Kodagoda, Sarath Krishnan, Athul Bhattacharjee, Mitradip Indian Institute of Science Education and Research Bhopal i-Labs Electrical Engineering and Computer Science Department Madhya Pradesh 462066 India Centre for Advanced Manufacturing Technology School of Engineering Design and Built Environment PenrithNSW2751 Australia UTS Robotics Institute University of Technology Sydney Australia SydneyNSW2007 Australia

Humans employ a fusion of pressure and temperature signals to perceive tactile stimuli. While replicating the complexity of human tactile sensing poses challenges, advancements in artificial tactile sensing skins play a crucial role in the progress of robotics and prosthetics. Here, we present a novel tactile sensing skin designed for the perception of diverse surfaces. It utilizes a microstructured porous tactile sensor, exhibiting notable sensitivity at 21.5 kPa-1 under low-pressure conditions and 2.5 kPa-1 in high-pressure scenarios. The sensor also boasts an impressively low detection limit of 2.5 Pa, allowing for discernment of subtle pressure variations. Simultaneously, we utilize a flexible temperature sensor exhibiting a sensitivity of 0.58 % ∘C-1 and swift response attributes to facilitate the detection of radiated heat from diverse surfaces. The incorporation of a multilayer perceptron algorithm into the developed glove-like system, equipped with tactile and temperature sensors, achieves 87% accuracy in classifying eleven distinct surfaces. © 2001-2012 IEEE.

关键词： Tactile sensors

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A Track-based Colon Endoscopic Robot with Depth Perception Stereo Cameras for Haustral Fold Detection during Colonic Navigation

A Track-based Colon Endoscopic Robot with Depth Perception S...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Shujing He Yujie Zhang Baoyi Huang Jie Lin Chaoyang Shi Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Guangzhou University of Chinese Medicine Shenzhen China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Tianjin University Tianjin China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Colon endoscopic robots represent a promising screening modality for the visualization of colon cancers with high sensitivity. However, current colonoscopy robots are often characterized by intricate and bulky mechanical structures, which pose practical challenges when moving through the complex and narrow environment of the colon. Moreover, these robots are typically equipped with a single camera, limiting their ability to accurately estimate the depth of haustral folds in the colon, which is of great importance for the active colonic navigation of the robots. To address these challenges, we develop a track-based stereoscopic endoscopic robot (TSER) which is equipped with four tracks positioned at the corners of its body. This innovative design maximizes the contact between the tracks and the colon wall, enhancing maneuverability. The tracks are constructed from de-molded polydimethylsiloxane (PDMS) and incorporate micro-patterns on their outer surfaces. We have proposed a straightforward strategy for detecting haustral folds using TSER’s stereo camera, which allows for precise identification of their position and depth. The TSER achieves an average motion speed of 9.8 mm/s in a bellows tube that contains silicone oil and a speed of 5.2 mm/s in an exvivo porcine intestinal segment. Impressively, the TSER boasts an 88.11% accuracy rate in haustral fold depth estimation, surpassing the performance of existing geometric shape fitting methods. These results demonstrate that the TSER holds great potential for effective and efficient movement and inspection within the colon, offering a promising solution for improved colon cancer screening.

关键词： Visualization Sensitivity Tracking Navigation Shape Stereo image processing Oils

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Development of a Remote-Control System for a Mobile Vibration-Driven Robot

Development of a Remote-Control System for a Mobile Vibratio...

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International Conference on CAD Systems in Microelectronics (CADSM)

作者： Vitaliy Korendiy Oleksandr Kachur Rostyslav Predko Department of Technical Mechanics and Dynamics of Machines Lviv Polytechnic National University Lviv Ukraine Department of Computer-Aided Design Lviv Polytechnic National University Lviv Ukraine Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine

Vibration-driven locomotion system is a relatively new branch of mobile robotics. The design variety of vibration-driven robots is quite wide, while their control systems need constant improvement from the viewpoint of the robot's operational efficiency, accuracy, production, and maintenance costs. The purpose of this paper is the development, simulation, and practical implementation of a novel control system for a mobile vibration-driven robot. The proposed control system is based on Arduino hardware and software. The developed wheeled robot can be remotely controlled using the Bluetooth interface and the mobile phone with the corresponding Android application installed. The experimental prototype of the mobile robot is tested under different operational conditions (supplied voltages and forced frequencies) regulated by the developed control system. The corresponding kinematic parameters of the robot's wheeled platform and the impact body are registered by the WitMotion accelerometers, and the experimental data are processed with the help of the WitMotion and MathCad software. The results of the presented research can be effectively used while designing and implementing mobile robotic systems for inspecting, cleaning, or maintaining the internal surfaces of various pipelines, tubes, vessels, intestines, etc.

关键词： Voltage measurement Intestines Pipelines Oscilloscopes Control systems Robot sensing systems Software

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