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RSC Applied Interfaces 2024年第4期1卷 684-688页

作者： Li, Shuhao Wu, Wenjin Chang, Yu Chen, Weiquan Liu, Yijie He, Zifeng Pu, Yan Babichuk, Ivan S. Ye, Terry Tao Gao, Zhaoli Yang, Jian School of Mechanical and Automation Engineering Jiangmen Key Laboratory of Intelligent Manufacturing of Polymer Materials Wuyi University Guangdong Jiangmen 529020 China V. Lashkaryov Institute of Semiconductor Physics NAS of Ukraine Kyiv 03680 Ukraine Department of Electrical and Electronic Engineering University Key Laboratory of Advanced Wireless Communications of Guangdong Province Southern University of Science and Technology Shenzhen 518055 China Biomedical Engineering Department The Chinese University of Hong Kong New Territories Shatin 999077 Hong Kong CUHK Shenzhen Research Institute Nanshan Shenzhen 518060 China

Flexible strain sensors have a wide range of electronic skin and health monitoring applications. In this paper, flexible strain sensors with unique direction designs were prepared using silver nanowires (AgNWs) and UV-curable acrylate elastomer films. They show an extensive strain range (tensile strain >50%), sensitivity up to 97 of gauge factor, and good reproducibility of up to 10% strain under cyclic tensile tests. The parallel and perpendicular placement of the sensors to strain direction allows us to detect wrist movement in a 360-degree direction with high accuracy. © 2024 RSC.

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Constrained Generative Sampling of 6-DoF Grasps

Constrained Generative Sampling of 6-DoF Grasps

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

作者： Jens Lundell Francesco Verdoja Tran Nguyen Le Arsalan Mousavian Dieter Fox Ville Kyrki KTH Royal Institute of Technology Sweden Department of Electrical Engineering and Automation Intelligent Robotics Group School of Electrical Engineering Aalto University Finland NVIDIA Corporation USA Paul G. Allen School of Computer Science & Engineering University of Washington Seattle USA

Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific tasks, such as squeezing out liquid from a bottle, we want the grasp to be on a specific part of the object's body while avoiding other locations, such as the cap. This work presents a generative grasp sampling network, VCGS, capable of constrained 6-Degrees of Freedom (DoF) grasp sampling. In addition, we also curate a new dataset designed to train and evaluate methods for constrained grasping. The new dataset, called CONG, consists of over 14 million training samples of synthetically rendered point clouds and grasps at random target areas on 2889 objects. VCGS is benchmarked against GraspNet, a state-of-the-art unconstrained grasp sampler, in simulation and on a real robot. The results demonstrate that VCGS achieves a 10-15% higher grasp success rate than the baseline while being 2–3 times as sample efficient. Supplementary material is available on our project website.

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Fully implantable and battery-free wireless optoelectronic system for modulable cancer therapy and real-time monitoring

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npj Flexible Electronics 2023年第1期7卷 119-130页

作者： Kiho Kim In Sik Min Tae Hee Kim Do Hyeon Kim Seungwon Hwang Kyowon Kang Kyubeen Kim Sangun Park Jongmin Lee Young Uk Cho Jung Woo Lee Woon-Hong Yeo Young Min Song Youngmee Jung Ki Jun Yu Functional Bio-integrated Electronics and Energy Management Lab School of Electrical and Electronic EngineeringYonsei University50 Yonsei-roSeodaemun-guSeoul 03722Republic of Korea Center for Biomaterials Biomedical Research InstituteKorea Institute of Science and Technology(KIST)Seoul 02792Republic of Korea Department of Fusion Research and Collaboration Biomedical Research InstituteSeoul National University HospitalSeoul 03080Republic of Korea School of Electrical Engineering and Computer Science(EECS) Gwangju Institute of Science and Technology(GIST)Gwangju 61005Republic of Korea PA1 Foundry BusinessSamsung Electronics1 Samsungjeonja-roHwaseong-siGyeonggi-doRepublic of Korea R&D Center DNA Lab PharmaresearchSeongnam 13486Republic of Korea KU-KIST Graduate School of Converging Science and Technology Korea UniversitySeoul 136-705Republic of Korea School of Materials Science and Engineering Energy Materials for Soft Electronics LaboratoryPusan National UniversityBusan 46241Republic of Korea IEN Center for Human-Centric Interfaces and Engineering and George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Robotics and Intelligent Machines Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for MaterialsNeural Engineering CenterGeorgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Electronic Engineering YU-Korea Institute of Science and Technology(KIST)InstituteYonsei University50Yonsei-roSeodaemun-guSeoul 03722Republic of Korea

Photodynamic therapy(PDT)is attracting attention as a next-generation cancer treatment that can selectively destroy malignant tissues,exhibit fewer side effects,and lack pain during *** PDT systems have recently been developed to resolve the issues of bulky and expensive conventional PDT systems and to implement continuous and repetitive *** implantable PDT systems,however,are not able to perform multiple functions simultaneously,such as modulating light intensity,measuring,and transmitting tumor-related data,resulting in the complexity of cancer ***,we introduce a flexible and fully implantable wireless optoelectronic system capable of continuous and effective cancer treatment by fusing PDT and hyperthermia and enabling tumor size monitoring in *** system exploits micro inorganic light-emitting diodes(μ-LED)that emit light with a wavelength of 624 nm,designed not to affect surrounding normal tissues by utilizing a fully programmable light intensity ofμ-LED and precisely monitoring the tumor size by Si phototransistor during a long-term implantation(2–3 weeks).The superiority of simultaneous cancer treatment and tumor size monitoring capabilities of our system operated by wireless power and data transmissions with a cell phone was confirmed through in vitro experiments,ray-tracing simulation results,and a tumor xenograft mouse model in *** all-in-one single system for cancer treatment offers opportunities to not only enable effective treatment of tumors located deep in the tissue but also enable precise and continuous monitoring of tumor size in real-time.

关键词： optoelectronic enable battery

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Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations

Cascaded Model Predictive Control of Underactuated Bipedal W...

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IEEE-RAS International Conference on Humanoid Robots

作者： Sait Sovukluk Christian Ott M. Mert Ankaralı Automation and Control Institute (ACIN) TU Wien Vienna Austria Department of Electrical and Electronics Engineering Middle East Technical University (METU) Ankara Turkey Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany METU Robotics and AI Technologies Application and Research Center (METU-ROMER) Ankara Turkey

This study demonstrates a cascaded model predictive control (C-MPC) method for input constrained control of underactuated planar bipedal walking with any predefined sta-bilizable trajectory. Our approach aims to increase the trajectory tracking performance of the system and produce realistic and applicable responses while respecting friction constraints and considering impact dynamics. Primarily focusing on zero dynamics with PD (ZD+PD) control, this proposed control method constitutes a second layer controller on top of the well-known trajectory tracking controllers for underactuated bipedal walking systems. We successfully implement this model-based controller and test against large modeling errors, noises, and disturbances, where the conventional ZD+PD control fails to maintain stability.

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Aggregating Single-Wheeled Mobile Robots for Omnidirectional Movements

Aggregating Single-Wheeled Mobile Robots for Omnidirectional...

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

作者： Meng Wang Yao Su Hang Li Jiarui Li Jixiang Liang Hangxin Liu National Key Laboratory of General Artificial Intelligence Beijing Institute for General Artificial Intelligence (BI-GAI) Department of Advanced Manufacturing and Robotics College of Engineering Peking University Department of Robot Engineering School of Automation Science and Electrical Engineering Beihang University

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggregating multiple modules and forming a structure that can cage a target object, we have developed an optimization-based method to compute the distribution of all wheels' heading directions, which enables efficient omnidirectional movements of the structure. By implementing a hierarchical controller on our prototyped system in both simulation and experiment, we validated the trajectory tracking performance of an individual module and a team of six modules in multiple navigation and collaborative object transportation settings. The results demonstrate that the proposed system can maintain a stable caging formation and achieve smooth transportation, indicating the effectiveness of our hardware and locomotion designs.

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Exploration of Standardized Market Trading Models for Industrial Adjustable Load Participation in Power Grid Service

Exploration of Standardized Market Trading Models for Indust...

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IEEE Conference on Energy Internet and Energy System Integration (EI2)

作者： Hao Wang Jing Zhou Jun Xie Yanpei Song Yuanyu Ge Denghui Fu College of Energy and Electrical Engineering Hohai University Nanjing China Power Automation Department China Electric Power Research Institute Nanjing China

With the large-scale integration of new energy sources such as wind and solar power into the grid, there is a growing demand for adjustable resources on the demand side of the system. By studying the production characteristics of industrial adjustable loads, the potential for these resources to provide grid services is explored. Taking into account the flexible load characteristics from the perspective of industrial users, a standardized market model for industrial adjustable loads participating in power grid services is constructed, providing users with opportunities for independent participation in market transactions. A simulation model was established using the AIMMS optimization simulation platform to verify the effectiveness and accuracy of the proposed standardized market trading model.

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Robust Control of Feeding Speed for Coal Mine Tunnel Drilling Machines

Robust Control of Feeding Speed for Coal Mine Tunnel Drillin...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Xiao Liu Luefeng Chen Min Wu Weihua Cao Chengda Lu Witold Pedrycz School of Automation China University of Geosciences Wuhan China School of Automation the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems and the Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Systems Research Institute Polish Academy of Sciences Warsaw Poland Department of Computer Engineering Istinye University Sariyer/Istanbul Turkey

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

Changes in coal seam hardness cause fluctuations in the feed resistance at the drill bit during the drilling process, leading to unstable feeding speed. This paper proposes a robust dynamic output feedback controller to suppress disturbances caused by the variations in coal seam hardness in the feed system. Firstly, an unknown parameter measuring coal seam hardness is introduced, and an uncertain model of the feeding system is established based on the finite element model of the drill string. By designing weighted functions based on industrial field requirements and constructing a generalized plant, the controller achieves loop shaping, reducing the low-frequency impact of coal seam hardness variations on the feed system and suppressing the systems resonance peak. Simulation results demonstrate that the controller effectively suppresses parameter variations and external disturbances caused by changes in coal seam hardness, achieving stable control of the drilling speed.

关键词： Drilling Robust control Uncertainty Robust stability Simulation Coal Resonance

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Deep-Learning Based Classification of Engagement for Child-Robot Interaction

Deep-Learning Based Classification of Engagement for Child-R...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Gabriela Simões Ana Lopes Carlos Carona Ricardo Pereira Urbano J. Nunes Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal Polytechnic Institute of Tomar Portugal Center for Research in Neuropsychology and Cognitive and Behavioral Intervention University of Coimbra

This work aims to describe the research and development of an engagement classification system based on emotion recognition through the use of facial expressions, to be used in robotic applications for children interacting with a NAO humanoid robot during therapy sessions. An emotion classification model based on different Convolution Neural Networks (CNN) architectures was first fed by faces provided from different public datasets to train and validate the emotion classification models. Two engagement classification methodologies are proposed: Method-1 first classifies 7-classes of emotions, using the ConvNeXt network, and then infers the levels of engagement based on the affective model developed by [1]; Method-2 employs the same classification network to directly classify the four levels of engagement. The results obtained for both engagement classification methodologies using the CAFE dataset proved their effectiveness, however Method-1 performs slightly better in terms of engagement classification accuracy. A novel child-robot activity with a NAO humanoid robot, that consists in a breathing-based relaxation exercise, is also proposed and the results of offline classification system showed to be promising, and with potential to be applied in psychology therapies in the future.

关键词： Emotion recognition Convolution Neural networks Medical treatment Humanoid robots Psychology Human-robot interaction

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Coordinating EV Charging via Blockchain

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Journal of Modern Power Systems and Clean Energy 2020年第3期8卷 573-581页

作者： Jian Ping Zheng Yan Sijie Chen Liangzhong Yao Minhui Qian Department of Electrical Engineering School of Electronics Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghaiChina School of Electrical Engineering and Automation Wuhan UniversityWuhanChina China Electric Power Research Institute BeijingChina

The increasing electric vehicle(EV) penetration in a distribution network triggers the need for EV charging coordination. This paper firstly proposes a hierarchical EV charging coordination model and an algorithm based on Lagrangian relaxation. A barrier to the implementation of the coordination algorithm is that there usually does not exist a reliable coordinator of charging stations. This paper shows that an unreliable coordinator may collude with some charging stations and behave dishonestly by disobeying the coordination algorithm. Thus, the collusion coalition can gain more profits while lowering the profits of others and the total social welfare. To provide reliable coordination of charging stations, a novel blockchain-based coordination platform via Ethereum is established, including a coordination structure and a smart contract. A mathematical analysis is given to show that the proposed platform can mitigate the collusion behaviors in the coordination. Simulation results show the consequence of collusion and how blockchain can prevent the collusion.

关键词： Electric vehicle(EV)charging coordination collusion blockchain smart contract

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research on online monitoring system for MOA based on ZnO varistor characteristics 3

Research on online monitoring system for MOA based on ZnO va...

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3rd International Conference on Smart Energy and electrical engineering, SEEE 2024

作者： Zuo, Jie Zhang, Guoqing Zhang, Yuxin Mo, Caiyun Li, Ziliang Department of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China State Grid Liaoning Electric Power Co. Ltd. Electric Power Science Research Institute Shenyang110006 China

To address the challenges in metal oxide arrester (MOA) health monitoring, where obtaining operating voltages is difficult, and the current lack of a comprehensive overvoltage measurement system for lightning overvoltage protection, this paper proposes a novel MOA model based on the characteristics of zinc oxide varistors and completes the relevant simulations. Initially, simulation tools were utilized to construct and adjust the model. The protective performance, impulse voltage measurement capability, and leakage current measurement capability of the proposed structure were verified through simulations. The simulation results demonstrate that the proposed structure can accurately measure lightning overvoltages and leakage currents without compromising the protective performance of the MOA. © 2025 institute of Physics Publishing. All rights reserved.

关键词： Leakage currents

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