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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sung jin Kim Hyun Hee Sung min Yoon Min Cheol Lee School of Interdisciplinary Program in Robotics Pusan National University Busan SouthKorea School of Mechanical Engineering Pusan National University Busan SouthKorea

Scratch defects is occur due to impact drop and friction between the roller and slab in the conventional hot rolling method. The Flying Touch method is one of the proposed methods to improve the scratch defects. Flying Touch method is available to soft touch between the rollers and the slab. Because roller is unfixed and flexible. And Flying Touch method is proposed synchronization of the rollers' angular velocity and the slab's surface velocity. In this paper, a simulator was designed to apply and verify the Flying Touch method. After, the actual implementation was velocity synchronization of Flying Touch method in the designed simulator. Performance of scratch reduction evaluated comparative experiment to velocity de-synchronization and velocity synchronization of Flying Touch method.

关键词： Synchronization Slabs Control systems Frequency modulation

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The changes of the start in the wet season and dry season and potential electrical energy on wet season based on hydrology (Case: Kalijirak River, Karanganyar Regency) 5

The changes of the start in the wet season and dry season an...

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5th International Conference on Climate Change 2020, ICCC 2020

作者： Hadiani, R.R. Solichin Rosyid, M.I. Pariyanto, D. Hadi, S. Civil Engineering Program Faculty of Engineering Sebelas Maret University Jl. Ir. Sutami 36 A Surakarta Kentingan57126 Indonesia Soil Science Department Faculty of Agriculture Sebelas Maret University Jl. Ir. Sutami 36 A Surakarta Kentingan57126 Indonesia Mechanical Engineering Program Faculty of Engineering Sebelas Maret University Jl. Ir. Sutami 36 A Surakarta Kentingan57126 Indonesia

Climate change causes changes at the beginning of the rainy season and the dry season. In Microhydro planning, determining the rainy season's right start is very important to determine the energy potential. The beginning of the dry season is an excellent time to start carrying out structural work. This research was conducted in Kalijirak River, Mount Bromo Forest and Karanganyar Regency, a forest protected by the Indonesian government. The survey shows that the river flow is up to 1,458 m3/s in the dry season. This discharge is the potential to generate electrical energy. The construction must build in the dry season. This research aims to determine the beginning of the rainfall season to know the potential energy can generate and the beginning of the dry season to schedule the construction-analysis of seasonal changes based on rainfall intensity while analyzing energy potential based on dependable discharge. The rainfall-runoff simulation uses the Mock method to produce a dependable discharge. The results show that the beginning of the November rainy season period second means that the rainy season shifts back four periods, and the beginning of the dry season in May period 2 means the dry season shifts back four periods). This means, if the season moves late, the start of construction is also late. It late up to four Periode. Besides that, it also shows that the annual energy potential is 64,774,372 kWh. © Published under licence by IOP Publishing Ltd.

关键词： Rivers

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Global path planning using improved ant colony optimization algorithm through bilateral cooperative exploration

Global path planning using improved ant colony optimization ...

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Inaugural IEEE-IES Digital EcoSystems and Technologies Conference, DEST

作者： Joon-Woo Lee Dong-Hyun Lee Ju-Jang Lee Department of Electrical Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea

We proposed the Heterogeneous Ant Colony Optimization (HACO) algorithm to solve the global path planning problem for autonomous mobile robot in the previous paper. The HACO algorithm was modified and optimized to solve the global path planning problem unlike the conventional ACO algorithm which was proposed to solve the Traveling Salesman Problem (TSP) or Quadratic Assignment Problem (QAP). However, there is a common shortcoming in the ACO algorithms for global path planning, including HACO algorithm. Ants carry out the exploration task relatively well around the starting point. On the other hand, they are hindered in their work as they approached the goal point, because they are attracted by the intensity of heuristic value and the accumulated pheromone while the ACO algorithm works. As a result, they have a strong tendency not to explore and most of them follow the path that found in the beginning of the search. This could cause the local optimal solutions. Thus, we propose a way to solve this problem in this paper. It is the Bilateral Cooperative Exploration (BCE) method. The BCE is the idea that performs the search task again by changing the goal point into the starting point and vice versa. The simulation shows the effectiveness of the proposed method.

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Performance-Based Earthmoving Team Organization Algorithm Enabling Task Completion Under Changing Conditions

Performance-Based Earthmoving Team Organization Algorithm En...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Endo, Wakana Chikushi, Shota Sueoka, Yuichiro Kato, Yuki Kimura, Kaito Ikemoto, Yusuke Komatsu, Ren Nagatani, Keiji Yamashita, Atsushi Asama, Hajime Graduate School of Engineering The University of Tokyo Department of Precision Engineering 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan Kindai University Department of Robotics 1 Takaya Umenobe Hiroshima739-2116 Japan Osaka University Department of Mechanical Engineering 2-1 Yamada-oka Osaka Suita565-0871 Japan Meijo University Department of Mechanical Engineering 1-501 Shiogamaguchi Tempaku-ku Aichi Nagoya468-8502 Japan Graduate School of Frontier Sciences The University of Tokyo Department of Human and Engineered Environmental Studies 5-1-5 Kashiwanoha Chiba Kashiwa277-8563 Japan

ISBN: (纸本)9798350312072

In this study, we propose a methodology for automating earthmoving tasks using autonomous excavators and dump trucks, with an aim to enhance adaptability in response to environmental changes. Our methodology involves a general architecture that fosters self-organized swarm behavior among the robots. Furthermore, we present an illustrative algorithm that evaluates the performance of a team of robots and adjusts the team composition based on this performance evaluation. This algorithm was implemented in a simulation test in a dynamic environment. The results demonstrate that our methodology enables the coordination of excavators and dump trucks in environmental changes. © 2024 IEEE.

关键词： Excavators

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Indoor Localization Using Particle Filter and Map-based NLOS Ranging Model

Indoor Localization Using Particle Filter and Map-based NLOS...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jongdae Jung Hyun Myung Robotics Program and Department of Civil and Environmental Engineering KAIST (Korea Advanced Institu the Department of Civil and Environmental Engineering KAIST (Korea Advanced Institute of Science and

User localization is one of the key technologies for mobile robots to successfully interact with humans. Among various localization methods using radio frequency (RF) signals, time of arrival (TOA) based localization is popular since the target coordinates can be directly calculated from the accurate range measurements. In complex indoor environment, however, RF ranging-based localization is quite challenging since the range measurements suffer not only from signal noise but also from signal blockages and reflections. A set of range measurements taken in complex indoor environment verifies that almost all measurements are non-line-of-sight (NLOS) ranges which have striking difference to the line-of-sight (LOS) distances. These NLOS range measurements make severe degradation in the accuracy of trilateration based localizations if used without any compensation. In this paper we propose a particle filter-based localization algorithm which utilizes indoor geometry from a given map to estimate the NLOS signal path and compensates for the range measurements. The algorithm is verified with experiments performed in real indoor environments.

关键词： Frequency measurement Particle measurements Atmospheric measurements Distance measurement Manganese Nonlinear optics Cascading style sheets

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Analysis of Needle-Tissue Friction during Vibration-Assisted Needle Insertion

Analysis of Needle-Tissue Friction during Vibration-Assisted...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Iman Khalaji Mostafa Hadavand Ali Asadian Rajni V. Patel Michael D. Naish Canadian Surgical Technologies and Advanced Robotics (CSTAR) Lawson Health Research Institute London Canada Biomedical Engineering Graduate Program Western University Department of Electrical and Computer Engineering Western University Department of Electrical and Computer Engineering and the Department of Surgery Western University Department of Mechanical and Materials Engineering and the Department of Electrical and Computer Engineering Western University

ISBN: (纸本)9781467363563

In this paper, a vibration-assisted needle insertion technique has been proposed in order to reduce needle-tissue friction. The LuGre friction model was employed as a basis for the current study and the model was extended and analyzed to include the impact of high-frequency vibration on translational friction. Experiments were conducted to evaluate the role of insertion speed as well as vibration frequency on frictional effects. In the experiments conducted, an 18 GA brachytherapy needle was vibrated and inserted into an ex-vivo soft tissue sample using a pair of amplified piezoelectric actuators. Analysis demonstrates that the translational friction can be reduced by introducing a vibratory low-amplitude motion onto a regular insertion profile, which is usually performed at a constant rate.

关键词： friction high frequency vibration LuGre friction Vibrational frequencies Insertion Mutation Pairing

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Development of a smartphone-based app for determination of formaldehyde concentration indoors 15

Development of a smartphone-based app for determination of f...

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15th Conference of the International Society of Indoor Air Quality and Climate, INDOOR AIR 2018

作者： Zhang, Siyang Shapiro, Nicholas Gehrke, Gretchen Castner, Jessica Liu, Zhenlei Guo, Beverly Zhang, Jianshun Haines, Sarah Kormos, David Frey, Paige Qin, Rongjun Dannemiller, Karen C. Department of Computer Science and Engineering Ohio State University United States Public Laboratory for Open Technology and Science Department of Mechanical and Aerospace Engineering Syracuse University Environmental Science Graduate Program Ohio State University United States Department of Civil Environmental and Geodetic Engineering College of Engineering Ohio State University United States Strand Associates Incorporated Department of Electrical and Computer Engineering Ohio State University United States Department of Environmental Health Sciences College of Public Health Ohio State University United States

ISBN: (纸本)9781713826514

Formaldehyde is a ubiquitous contaminant in the indoor environment that is both a carcinogen and irritant. The goal of this project is to develop a smartphone-based app for use by citizen scientists or researchers that can be paired with low-cost colorimetric badges for detection of indoor formaldehyde. We conducted both national and geographically-targeted surveys prior to app design. We have subsequently developed the app and conducted a beta test. Surveys of 147 individuals indicated broad public interest in formaldehyde testing using smartphone technology. Testing of the badges indicated consistent change in illumination with increasing formaldehyde exposure. Beta testing indicated users were able to navigate the existing app, and highlighted areas for improvement including incorporation of public surveys. Planned future analysis includes extensive calibration testing and a community-based field test. © 2018 15th Conference of the International Society of Indoor Air Quality and Climate, INDOOR AIR 2018. All rights reserved.

关键词： Formaldehyde

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Development of a biologically inspired multi-modal wing model for aerial-aquatic robotic vehicles

Development of a biologically inspired multi-modal wing mode...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Richard J. Lock Ravi Vaidyanathan Stuart C. Burgess Department of Mechanical Engineering University of Bristol Bristol UK US Naval Postgraduate School Monterrey CA USA Bristol Robotics Laboratory Department of Mechanical Engineering University of Bristol Bristol UK

This paper presents a numerical model of a morphing wing supporting the development of a biologically inspired vehicle capable of aerial and aquatic of locomotion. The model draws inspiration from the seabird Uria aalge, the common guillemot. It is implemented within a parametric study associated with aerial and aquatic performance, specifically aiming at minimizing energy of locomotion. The implications of varying wing geometry and kinematic parameters are investigated and presented in the form of nested performance charts. Trends within both the aquatic and aerial model are discussed highlighting the implications of parameter variation on the power requirements associated with both mediums. Conflicts of geometric parameter selection are contrasted between the aerial and aquatic model, as well as other trends that impact the design of concept vehicles with this capability. The model has been validated by implementing a heuristic optimization of its key parameters under conditions akin to those of the actual bird; optimal parameters output by the model correlate to the actual behaviour of the guillemot.

关键词： Vehicles Drag Mathematical model Kinematics Tensile stress Equations Robots

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program synergy: engineering labs using foundry resources

Program synergy: Engineering labs using foundry resources

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113th Annual ASEE Conference and Exposition, 2006

作者： Johnson, Craig Fuerte, Joe Protzeller, James Central Washington University United States Cast Metals Industrial Technology Programs Central Washington University United States Department of Metallurgy ASEE Materials Division Engineering Technology Program Central Washington University United States Mechanical Engineering Technology Program Central Washington University United States Foundry Eucational Foundation

Materials programs have followed trends in cost reduction by closing foundries and other expensive facilities. They have also oriented curricula to popular topics such as composites and MEMS. When partnered with other disciplines, materials curricula are even further pressured to effectively match resources to that discipline's vision. At the Central Washington University, Cast Metals is part of the Industrial Technology program, and has some shared courses with mechanical engineering Technology (MET). With support from the Foundry Educational Foundation, and a majority of students from the MET program, the foundry is a small but viable resource. In an attempt to utilize this resource more, it was decided to use the foundry to support MET labs. On example is the use of SOLIDCastTMin a Heat Transfer lab. The MET program has outcomes which stress conceptual and applied knowledge and skills. Experiments exist that guide students through predictions and experimental verification of simple transient heat conduction. Numerical analysis enables a greater depth and realism in this process. Instead of a prediction of temperature at a point, gradients can be discussed, illustrated and applied. At a cost of a few hundred dollars per year, a basic solidification tool can support a core MET course. Students showed great interest in the software, and the use of the software increased. This addressed specific program outcomes. Lab reports (the most relevant evidence) had greater scope as measured by a created metric. An added benefit was an increased use of the foundry and interaction between the programs. © American Society for engineering Education, 2006.

关键词： engineering education

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Precursor to the Onset of the Bulk Oxidation of Cu(100)

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Physical Review Letters 2012年第17期108卷 176101-176101页

作者： Liang Li Xi Mi Yunfeng Shi Guangwen Zhou Department of Mechanical Engineering & Multidisciplinary Program in Materials Science and Engineering State University of New York Binghamton New York 13902 USA Department of Materials Science and Engineering Rensselaer Polytechnic Institute Troy New York 12180 USA

Using density-functional theory within the generalized gradient approximation, we investigate the energetics of oxygen subsurface adsorption governing the onset of bulk oxidation of Cu(100) surface. It shows that the presence of boundaries formed from merged missing-row nanodomains mismatched by a half unit-cell leads to preferred oxygen adsorption at the subsurface tetrahedral sites. The resulting Cu-O tetrahedrons along the domain boundary strikingly resemble that of the bulk oxide phase of Cu2O. These results provide direct atomic-scale insight into the microscopic origin of the crystallographic orientation relationships for oxide overlayer growth. Our results also suggest that the oxidation of an atomically flat terrace can still be a heterogeneous nucleation process controlled by defects in the oxygen-chemisorbed adlayer.

关键词： COPPER -- Oxidation DENSITY functionals GENERALIZATION APPROXIMATION theory COPPER surfaces TETRAHEDRA CRYSTALLOGRAPHY

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