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Control of a Two-wheeled Self-balancing Robot With a Sliding Mechanism

Journal of Institute of Control, robotics and Systems 2025年第1期31卷 37-43页

作者： Kim, David Kim, Hyun Seok Choi, Dongil Department of Mechanical Engineering Myongji University Korea Republic of Smart Robotics Team Hyundai Rotem Korea Republic of

Two-wheeled self-balancing robot maintains balance and performs driving functions using two wheels, featuring excellent mobility due to its simple structure and wheel-driven system. However, when a long longitudinal structure is applied to increase space efficiency, challenges may arise in balance control and slope entry. In this study, a sliding mechanism and Model Predictive Control (MPC) were applied to achieve balance and driving control for a robot with a long longitudinal body. The system dynamics were analyzed using the Lagrangian method, and a reference for the sliding mechanism was generated to support balance control. Through Gazebo simulations, the performance of the MPC algorithm was verified, confirming that the robot could reach a stable balance state through Swing-up motion and maintain balance consistently. Additionally, stable driving performance was demonstrated in slope driving tests. We conducted experiments by applying the same algorithm to the actual robot, confirming that it successfully performed stable balance control and slope driving control in real-world environments. © ICROS 2025.

关键词： Model predictive control

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Synthesis and Characterization of Magnetic Nano Particle Materials (Fe2O3 & Fe3O4) Synthesized by Arc Discharge Method

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Journal of The Institution of Engineers (India): Series D 2025年 1-12页

作者： Junaidi, Md. Abdul Raheem Ranjitha, P. Kumar, K. V. Pradeep Rajanish, M. Reddy, Maramreddy Raghu Tilak Manjulaiah, Hareesha Thanuj Kumar, M. Nagaraj, P. Revanna, K. Raghavendra, N. Udayashankar, S. Mechanical Engineering Department Muffakham Jah College of Engineering & Technology Telangana Hyderabad500034 India Mechanical Engineering Department Dayanand Sagar College of Engineering Karnataka Bangalore560078 India Mechanical Engineering Department Ramaiah Institute of Technology Karnataka Bengaluru560054 India Mechanical Engineering Department Dayananda Sagar Academy of Technology and Management Karnataka Bengaluru560082 India Mechanical Engineering Department New Horizon College of Engineering Karnataka Bangalore560103 India Department of Mechanical Engineering Malnad College of Engineering Hassan573202 India Visvesvaraya Technological University Karnataka Belagavi590018 India Department of Robotics and Automation Rajarajeswari College of Engineering Bengaluru560074 India Department of Chemistry Yenepoya Institute of Technology Karnataka Mangalore574225 India Department of Mechanical Engineering Government Engineering College Krishnarajapet571426 India Department of Mechanical Engineering BNM Institute of Technology Karnataka Bangalore560070 India Department of Mechanical Engineering VTU Karnataka Belgaum590018 India

This research work thoroughly describes the process of obtaining and characterizing iron oxide (Fe3O4) nanoparticles as well as emphasizes how different pH levels, reaction environments and synthesis methods can respectively control its size or activity. Characterization of the crystalline structure, morphology and size of the nanoparticles was carried out. It describes key methods of synthesis such as arc discharge or electrode configuration in electrolyte solutions emphasizing on applied voltage or processing time, which resulted in good quality of nanoparticles, concluding with comparing particle diameters and prepared form of nanoparticles in mentioned methods. In this proposed synthesis mechanism, ferrous and ferric ions are hydroxylated in a controlled anaerobic process to yield Fe3O4 precipitates. Synthesis of the iron oxide (Fe3O4) nanoparticles was found to highly depend on pH parameters, and pH 11 was optimized as the favorable pH parameter based on the results acquired, as it well controls the growth and stability of the particles. The findings highlight the promise of Fe3O4 nanoparticles for various biomedicine and environmental remediation applications where particle stability, magnetic properties and cheap synthesis are crucial. © The Institution of Engineers (India) 2025.

关键词： Magnetic nanoparticles

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Evaluation of optimal responses in Monel 400 alloy using computer based unconventional machining process

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Interactions 2025年第1期246卷 1-11页

作者： Manohar, Gunaselvi Chandrasekar, G. Radhakrishnan, G. Raj, P. Anantha Christu Ram, S. Department of Electronics and Instrumentation Engineering Easwari Engineering College Chennai India Department Mechanical Engineering PSNA College of Engineering and Technology Dindigul India Department of Electrical and Electronics Engineering Sri Krishna College of Engineering and Technology Tamilnadu Coimbatore India Division of Robotics Engineering Karunya Institute of Technology and Sciences Tamilnadu Coimbatore India Department of Mechanical Engineering Gokaraju Rangaraju Institute of Engineering and Technology Hyderabad India

The unconventional machining is an essential role in metal forming process. The dimensional accuracy and super finish are the main features of modern machining methods. Electric discharge machining is a competent process to any materials and composites. In this article is used to machining characteristics of Monel 400 alloy with monitored by computer networks. The response variables are mainly depending on input variables and their levels. Taguchi method is utilized to evaluate the optimal control factors. The mean and SN ratio is evaluated by based on the criteria of the responses. The involvement of control variables to the responses have been validated by variance analysis. The best possible MR was attained at a discharge current of 40 A, pulse on time of 140µs, and spark voltage of 25 *** finest RTW and SR was occurred at a discharge current of 40 A, pulse on time of 140µs, and spark voltage of 20 V. The scope of the work is to maximize the metal removal and minimize the tool wear. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2025.

关键词： Metal forming

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A possible solution for noise attenuation material for urban buses: The downtown São Paulo case study

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Noise and Vibration Worldwide 2025年第3期56卷 137-147页

作者： Monteiro, Elvis C Avila, Antonio F Division Stellantis Betim Brazil Mechanical Engineering Graduate Studies Program Universidade Federal de Minas Gerais Belo Horizonte Brazil Department of Mechanical Engineering and Mechanical Engineering Graduate Studies Program Universidade Federal de Minas Gerais Belo Horizonte Brazil

Urban buses, particularly in large cities, are exposed to significant noise pollution. This paper presents a new family of materials at the micro/nano level designed for urban noise attenuation, specifically for application in urban buses. Melamine foam is combined in series with nanomembranes, creating a composite material that functions as a Helmholtz resonator. As sound waves pass over the nanomembranes, they are disturbed, and the sound resonates within the melamine foam. This interaction reduces the energy of the sound waves and enhances the noise absorption coefficient. In ten cases studied, the average sound absorption coefficient was approximately 89%, with peak frequencies ranging from 2400 Hz to 4300 Hz. The average thickness of the nanomembranes was around 5.0 µm, while the melamine foam had a thickness of 13 mm. The mean noise reduction achieved was about 11 dB, which depends on factors such as the morphology, thickness, and pore size of the nanomembranes. A case study conducted in downtown São Paulo demonstrated that applying these materials to urban buses can significantly reduce interior noise levels. Finally, the proposed system is fully scalable and adaptable for various applications where acoustic insulation is required. © The Author(s) 2025.

关键词： Noise pollution

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Enhancement of Material Properties of AZ80 Mg Alloy Processed by Combined Severe Plastic Deformation

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Journal of Bio- and Tribo-Corrosion 2025年第1期11卷 1-12页

作者： Danappa, G.T. Nagaraj, C. Mahesh, K. Dutt Mahantesh, M. Math Rajesh, K. Bavan, Saravana Department of Mechanical Engineering Government Engineering College Karnataka Huvinahadagali583219 India Department of Mathematics Dayananda Sagar Academy of Technology and Management Bangalore560082 India Department of Mechanical Engineering Dayananda Sagar Academy of Technology and Management Bangalore560082 India Department of Mechanical Engineering RV College of Engineering Bengaluru560059 India Department of Robotics and Automation Symbiosis Institute of Technology Symbiosis International [Deemed University Maharashtra Pune422115 India Department of Mechanical Engineering Dyananda Sagar University Bengaluru560068 India

The process of bringing about a novel microstructure can be a good way of improving on the uses of magnesium and its alloys. This study examines the AZ80 Mg with an ultra-fine grain (UFG) that has an average grain size of less than 1 µm by the use of equal channel angular pressing (ECAP), rolling, and multi-direction forged (MDF) processes in combination. The present UFG structure offers better performance characteristic as structural material for Mg alloy. From the as-received state, the AZ80 Mg alloy has better mechanical properties with UTS of 367 MPa and elongation of 16% after the three MDF passes with addition of further two ECAP passes and two passes of rolling. Similarly, the as-received Mg alloy had a corrosion rate of 13.74 mm/y. conventionally, the MDF-3P followed by the ECAP-2P enabled the AZ80 alloy to be improved to 3.69 mm/y. Thus, the corrosion rate has been significantly reduced to 0.95 mm/y using the synergistic treatment of MDF, ECAP, and rolling. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Magnesium alloys

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Performance Analysis of Re-ID in YOLOv9 and BoT-SORT Algorithm for Multi-object Detection and Tracking

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Journal of Institute of Control, robotics and Systems 2025年第2期31卷 160-165页

作者： Young Kim, Sun Ho Kang, Chang School of Mechanical Engineering Kunsan National University Korea Republic of Department of Artificial Intelligence and Robotics Sejong University Korea Republic of

This paper proposes a method for integrating YOLOv9 and BoT-SORT algorithms for multi-object tracking in a multi-camera environment. Particularly, it focuses on analyzing the impact of re-identification (Re-ID) techniques on the overall tracking system performance. Three Re-ID methods-MobileNetV2, OSNet, and OSNet-AIN-are evaluated using the MSMT17 dataset and then applied to the BoT-SORT algorithm to compare multi-object tracking performances. Experimental results show that BoT-SORT with OSNet-AIN achieves the best performance in HOTA, MOTA, and IDF1 metrics. This demonstrates that effective Re-ID techniques can significantly contribute to improving object tracking performance in complex real-world environments. © ICROS 2025.

关键词： Object detection

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Impact of different descriptions for diffusion, heat transfer, and capillary pressure on a physics-based proton-exchange membrane fuel cell model

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International Journal of Hydrogen Energy 2025年 133卷 386-401页

作者： Carneiro, Leonardo F. Costa Junior, Esly F. de P. Andrade, Samuel T. Matencio, Tulio Postgraduate Program in Chemical Engineering PPGEQ-UFMG Brazil Postgraduate Program in Mechanical Engineering PPGMEC-UFMG Brazil Department of Chemistry DEQ/ICEX-UFMG UFMG Brazil

A physics-based, two-phase, and non-isothermal proton-exchange membrane fuel cell model is developed and used to evaluate the impact of three common modeling assumptions concerning mass and heat transport in a single-cell system. Firstly, using Fick's law to describe the diffusive transport caused significant differences in the concentration profiles when compared to the Stefan-Maxwell equation, resulting in considerable deviations in the polarization curve. Moreover, the description of thermal effects is found to be crucial to obtaining accurate water molar fraction profiles for the cathode, even when heat removal is effective. Finally, while the impact related to the capillary pressure description in the polarization curve is insignificant when ohmic losses dominate, as they considerably affect the liquid water and oxygen profiles, they may be crucial to obtain precise values at high current densities when water removal is less efficient. These results should provide valuable insights for the development of better models. © 2025 Hydrogen Energy Publications LLC

关键词： Maxwell equations

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Wake Homing Torpedo Guidance Using a Hierarchical Deep Reinforcement Learning Framework

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IEEE Access 2025年 13卷 72938-72952页

作者： Hwang, Kunchul Kim, Jinwhan KAIST Robotics Program Daejeon34141 Korea Republic of Agency for Defense Development Gyeongsangnam-do Changwon51667 Korea Republic of KAIST Department of Mechanical Engineering Daejeon34141 Korea Republic of

This paper proposes a novel Hierarchical Deep Reinforcement Learning (HRL) framework for wake homing torpedo guidance, applying the Discrete Event System Specification (DEVS) formalism to design high-level policies and reward shaping functions. Wake homing torpedo guidance generates course commands to enable the torpedo to follow the wake trajectory of a target ship. When the target ship evades the incoming torpedo, the wake trajectory becomes curved, often causing the torpedo to lose track due to the narrow detection range of the wake detection sensor. This necessitates a sophisticated algorithm to consistently track the target ship, particularly in scenarios where the torpedo exits and re-enters the wake trajectory in noisy environments. While heuristic algorithms can handle typical wake trajectories, developing a robust solution for unknown trajectories remains a significant challenge. To address this, we apply a novel reinforcement learning approach to develop the guidance logic and compare its performance with a conventional algorithm-based method. The performance and effectiveness of the proposed approach are demonstrated through numerical simulations. © 2013 IEEE.

关键词： Deep reinforcement learning

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Impact of nano fillers on the mechanical and rheological behaviour of polydimethylsiloxane based nanocomposite elastomer

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Ceramics International 2025年第14期51卷 18852-18864页

作者： Mandal, Swaroop Kumar Kumar, Rahul Pradhan, Asisha Ranjan Kumar, Deepak Kumar, Satish Department of Automation and Robotics Dr. DY Patil Institute of Technology Pimpri Pune411018 India Advanced Composite and Smart Material Laboratory Department of Mechanical Engineering National Institute of Technology Jamshedpur 831014 India Department of Mechanical Engineering Parala Maharaja Engineering College Odisha 761003 India Rheology Lab Department of Mechanical Engineering National Institute of Technology Jamshedpur 831014 India

In this work, an advanced elastomer which is reinforced with nanocomposite of reduced graphene oxide and calcium carbonate (rGO/CaCO3) is fabricated. Its mechanical and rheological properties are investigated experimentally. The effect of rGO/CaCO3 nanocomposite was experimentally investigated using Dynamical mechanical Analysis (DMA), Tensile test and Rheological test. The results indicate improved adhesion and physical strengthening effect between rGO/CaCO3 nanocomposite and the PDMS, that leads towards the decrement of extensional loss factor and hence increment in the extensional storage modulus. Also, the ultimate tensile stress and percentage elongation of the elastomers was found to be increased with increasing wt. % of rGO in CaCO3. It has been observed that 5 % rGO/CaCO3 nanocomposite in PDMS exhibits a higher tensile stress of 0.81 ± 0.040 MPa in comparison to pure PDMS (0.48 ± 0.024 MPa). The bare PDMS material has a maximum force of 12.94 ± 0.647 N, but the 5 % rGO/CaCO3/PDMS nanocomposite can tolerate a maximum force of 22.1 ± 1.105 N. Furthermore, the rheological properties of the material were altered, resulting in an increase in the viscosity of PDMS as the percentage (%) of rGO concentration in the rGO/CaCO3 nanocomposite increased. The presence of CaCO3 increases viscosity, however when 4 % (wt. %) rGO is added to CaCO3, the viscosity decreases compared to other filler concentrations in the elastomers. © 2025 Elsevier Ltd and Techna Group S.r.l.

关键词： Polydimethylsiloxane

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Heat Transfer Area Optimization for Heat Exchanger System

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Computer Modeling in engineering & Sciences 2025年第4期143卷 335-349页

作者： Yu-Cheng Liao Fu-I Chou Po-Yuan Yang Jyh-Horng Chou Department of Electrical Engineering National Kaohsiung University of Science and TechnologyKaohsiung807Taiwan Department of Intelligent Robotics National Pingtung UniversityPingtung900Taiwan Department of Mechanical and Computer-Aided Engineering Feng Chia UniversityTaichung407Taiwan

This paper presents an allowable-tolerance-based group search optimization(AT-GSO),which combines the robust GSO(R-GSO)and the external quality design planning of the Taguchi ***-GSO algorithm is used to optimize the heat transfer area of the heat exchanger *** R-GSO algorithm integrates the GSO algorithm with the Taguchi method,utilizing the Taguchi method to determine the optimal producer in each iteration of the GSO algorithm to strengthen the robustness of the search process and the ability to find the global *** conventional parameter design optimization,it is typically assumed that the designed parameters can be applied accurately and consistently throughout ***,for systems that are sensitive to changes in design parameters,even minor inaccuracies can substantially reduce overall system ***,the permissible variations of the design parameters are considered in the tolerance-optimized design to ensure the robustness of the *** optimized design of the heat exchanger system assumes that the system’s operating temperature parameters are ***,fixing the systemoperating temperature parameters at a constant value is *** paper assumes that the system operating temperature parameters have an uncertainty error when optimizing the heat transfer area of the heat exchanger *** results show that the AT-GSO algorithm optimizes the heat exchanger system and finds the optimal operating temperature in the absence of tolerance and under three tolerance conditions.

关键词： Heat exchanger system allowable tolerance-based group search optimization Taguchi method tolerance design

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