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8th Conference on Robot Learning, CoRL 2024

作者： Bauer, Erik Blöchlinger, Marc Strauch, Pascal Raayatsanati, Arman Cavelti, Curdin Katzschmann, Robert K. Soft Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Switzerland

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally, researchers have relied on offboard perception systems, which are limited to expensive and impractical specially equipped indoor environments. In this work, we introduce a novel platform for autonomous aerial manipulation that exclusively utilizes onboard perception systems. Our platform can perform aerial manipulation in various indoor and outdoor environments without depending on external perception systems. Our experimental results demonstrate the platform's ability to autonomously grasp various objects in diverse settings. This advancement significantly improves the scalability and practicality of aerial manipulation applications by eliminating the need for costly tracking solutions. To accelerate future research, we open source3 our ROS 2 software stack and custom hardware design, making our contributions accessible to the broader research community. © 2024 Proceedings of Machine Learning Research.

关键词： Open source software

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Taguchi and ANN approaches for predicting the FSW parameters to analyse the mechanical properties

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Interactions 2024年第1期245卷 1-12页

作者： Manickam, Selvaraj Kavitha, N. Rao, N. Srinivasa Indira, K.P. Pydi, Hari Prasadarao Cheepurupalli, N. Rao Department of Automation and Robotics IMPACT College of Engineering and Applied Sciences Bangalore India Department of Physics NPR College of Engineering and Technology Tamilnadu Natham Dindigul624 401 India Department of Mechanical Engineering Shri Vishnu Engineering College for Women Bhimavaram India Department of Biomedical Engineering Saveetha School of Engineering SIMATS Chennai Kuthambakkam India Department of Mechanical Engineering College of Engineering and Technology Bule Hora University Bule Hora Ethiopia Department of Mineral Processing and Metallurgical Engineering Faculty of Mines Aksum University Aksum Ethiopia

Taguchi design utilized to execute mathematical analysis to assess friction stir welding factors on the mechanical properties like ultimate tensile strength (UTS) and Hardness (BHN). Tool rotational speed (TO), pin depth of tool (PI) and welding speed (WE) were selected. The collected experimental data were used to train ANN model using the LM backpropagation algorithm, aiming to achieve accurate predictions of the maximize the mechanical properties. The optimized ANN was structured as a multilayer perceptron with a feed-forward architecture, consisting of 3 input nodes, 10 neurons in the hidden layer, and 2 output node (3-10-3 structure). The developed model accurately which predicted UTS and BHN values, with an overall R of 0.99335 which indicates a high level of accuracy. The optimal settings for UTS at the highest and lowest levels in Exp. No 8 and Exp. No 3 are identified as TO3-WE2-PI1(1600 rpm, 200 mm/min, and 0.3 mm) and TO1-WE3-PI3 (1200 rpm, 250 mm/min, and 0.9 mm). © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Aluminum alloys

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Investigating the Failure Mechanisms During the Epoxy-Coated Bearing Steel–Steel and Uncoated Bearing Steel–Steel Interactions (Crack Formation, Surface Tears, Schallamach-like Waves) and Their Corrosion Resistance in NaCl Environment

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-21页

作者： Alavanthar, Amirthalakshmi Bhaumik, Shubrajit Paleu, Viorel Department of Science and Humanities Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics and Robotics Department Mechanical Engineering Faculty "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania

The anti-wear properties of coatings are important to enhance the life of the steel surfaces. Thus, understanding the wear mechanisms of any coating matrix is important while designing and choosing a new coating matrix on steel surfaces. The present work investigated the thermal, mechanical, anti-wear, and anti-corrosion performance of semi-liquid epoxy-coated EN8 steel surfaces under reciprocating motion. The semi-liquid LY556 epoxy mixed with HY951 hardener was used to coat EN8 surfaces. The tribo-tests were conducted at different loads (5 N, 10 N, 15 N, and 20 N), spindle frequencies (1 Hz, 2 Hz, 3 Hz, and 4 Hz), and temperatures (40 °C, 60 °C, 80 °C, and 100 °C), maintaining a stroke length of 15 mm. The differential scanning calorimeter readings indicated the glass transition temperature of the cured epoxy to be 80 °C with the endothermic peak at 119 °C. The thermal degradation of the cured epoxy was found to be 330 °C using a thermal gravimetric analyzer. Artificial neural network models indicated that the frictional coefficient of the coated EN 8 samples increased with an increase in load, frequency, and temperature with the minimum frictional coefficient at 40 °C (0.0767 ± 0.014). The coating peel-off was observed from 80 °C. The optical microscope and scanning electron microscope images of the coating wear scar exhibited cracks and Schallamach-like material waves. Additionally, the corrosion studies indicated a significant corrosion resistance of the coated bars even after 120 h as compared to non-coated bars. Thus, the present work will be highly beneficial in developing new anti-wear and anti-corrosive coatings for steel surfaces. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Cracks

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Optimization Process to Develop Tungsten Carbide Reinforced with Aluminium MMCs Using Surface Plots and ANN

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Journal of The Institution of Engineers (India): Series D 2024年 1-9页

作者： Arunadevi, M. Patil, Chetan Kapadani, Kaustubh R. Chapke, Yashwant Sridevi, G. Kumar, R. Vaishnava Shekokar, Santosh R. Kawade, Mahesh M. Department of Mechanical Engineering Dayananda Sagar College of Engineering Bengaluru560111 India Department of Mechanical Engineering Dr. Vishwanath Karad MIT WPU Maharashtra Pune411038 India Department of Mechanical Engineering PES Modern COE Maharashtra Pune411005 India Department of Automation and Robotics JSPM’S Rajarshi Shahu College of Engineering Maharashtra Pune India Department of Mechanical Engineering Centurion University of Technology and Management Odisha Paralakhemundi761200 India Department of Civil Engineering R.V.R. & ampJ.C. College of Engineering Andhra Pradesh Chowdavaram Guntur522019 India Department of Mechanical Engineering Padm. Dr. V. B. Kolte College of Engineering Maharashtra Malkapur India Department of Mechanical Engineering PES’s Modern College of Engineering Savitribai Phule Pune University Maharashtra Pune411005 India

Material selected for this study is A356 and four percentage of tungsten carbide (WC) powder for the fabrication of metal matrix composites. In this paper, a methodology is identified to find the co-relating higher order and the interactive influences of different input parameters affecting performance characteristics such as MRR, tool wear rate and surface roughness in wire electric discharge machining process using surface plots and artificial neural network. Voltage, flushing pressure, pulse on time and discharge current are the process parameters needed to be optimized to achieve optimum material removal rate, surface roughness and tool wear rate. Finding the ideal set of process parameters is achieved using artificial neural network which is a supervised machine learning algorithm and results are compared with RSM method. Results show that supervised machine learning technique (ANN) is performing better than the Response surface methodology (RSM) in terms of performance predictions. © The Institution of Engineers (India) 2024.

关键词： Tungsten carbide

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Exploring Classification, Size, and Quality of Mangifera Indica L. Through Image Processing and AI Techniques 2

Exploring Classification, Size, and Quality of Mangifera Ind...

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2nd International Conference on Mechanics, Electronics, Automation and Automatic Control, MEAAC 2024

作者： Wanthong, Irin Sri-On, Theeraphat Seangsri, Soontaree Khaengkarn, Sorada Srisertpol, Jiraphon Mechatronics Engineering Program School of Mechanical Engineering Suranaree University of Technology Nakhon Ratchasima Thailand Department of Mechatronics and Robotics Engineering School of Engineering and Innovation Rajamangala University of Technology Tawan-ok Chonburi Thailand

ISBN: (纸本)9781643685403

This paper introduces methods for efficiently classifying mangoes intended for export, a market valued at approximately 4,500 million baht annually. The classification process is divided into two primary components: size categorization and quality assessment. The first phase involves categorizing mango sizes into four distinct categories (M, 1L, 2L, 3L), while the second phase focuses on assessing mango quality, particularly detecting anthracnoseâ€"a prevalent disease affecting mangoes. This detection is achieved through image processing techniques, where images are converted into binary representations and analyzed using both Artificial Neural Networks (ANNs) and Convolutional Neural Networks (CNNs). Comparative analysis reveals that CNN outperforms ANN in size classification, achieving a remarkable train accuracy of 99.16% and a test accuracy of 88.0%. Furthermore, in quality classification, CNN demonstrates a train accuracy of 91.0% and a test accuracy of 88.0%. These findings underscore the effectiveness of CNN techniques in accurately classifying mangoes for export, thereby facilitating improved quality control and market competitiveness. Â© 2024 The Authors.

关键词： Convolutional neural networks

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Thermoelastic rotating contact of an FGM coating with temperature-dependent and arbitrary varying properties

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Science China(Technological Sciences) 2023年第4期66卷 1038-1049页

作者： ZHOU JiaLin SHEN Fei LIU Jing EL-BORGI Sami KE LiaoLiang Department of Mechanics School of Mechanical EngineeringTianjin UniversityTianjin 300350China College of Engineering Huazhong Agricultural UniversityWuhan 430070Chin Mechanical Engineering Program Engineering BuildingTexas A&M University at QatarP.O.Box 23874Qatar

This paper investigates the frictional thermoelastic contact of a rigid spherical punch and functionally graded material(FGM)coated half-space with arbitrarily varying material *** material parameters include the elastic modulus,Poisson’s ratio,heat conduction parameter,and thermal expansion *** material parameters of the FGM coating and half-space are assumed to be temperature *** spherical punch is rotated in the FGM-coated half-space at a constant angular *** generated frictional heat is related to the friction coefficient,contact radius,angular velocity,and contact pressure.A theoretical formula for the thermoelastic rotating contact problem is established and solved using the finite element *** main objective of this paper is to investigate the effects of temperature dependence,gradient index,friction coefficient,angular velocity,and gradient form on the surface temperature and stresses.

关键词： rotating punch frictional heat functionally graded materials temperature dependence arbitrary properties

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Predictive Control of Achilles Tendon Force During Cyclic Motions in a Simulated Musculoskeletal System With Parallel Actuation

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 814-825页

作者： Nabipour, Mahdi Sawicki, Gregory S. Sartori, Massimo University of Twente Neuromuscular Robotics Laboratory Department of Biomechanical Engineering Enschede7522 NB Netherlands Georgia Institute of Technology Human Physiology of Wearable Robotics Laboratory George W. Woodruff School of Mechanical Engineering School of Biological Sciences Institute for Robotics and Intelligent Machines AtlantaGA30332 United States

Recent advancements in wearable exoskeletons for human lower extremities have primarily focused on augmenting walking capacity by either reducing metabolic costs or providing joint torque support based on measured electromyography or predicted joint torques. However, less attention has been given to the use of robotic exoskeletons for controlling the mechanics of specific biological tissues, such as elastic tendons. Achieving closed-loop control over in-vivo musculotendon mechanics during movement could revolutionize injury prevention and personalized rehabilitation. Here, we introduce a framework utilizing musculoskeletal modeling and nonlinear model predictive control (NMPC) to close the loop around tendon force in a simulation of cyclic force production of the human ankle plantarflexors in parallel with a powered exoskeleton. The proposed framework integrates a computationally efficient model comprising explicit closed-form ordinary differential equations governing musculotendon and ankle joint with parallel actuation dynamics. The model’s computational time, in the microsecond range, allows prediction of future states in real-time closed-loop control. Compared to a predictive proportional-derivative controller, the NMPC-based framework more effectively maintained Achilles tendon force within a predetermined threshold across varying levels of muscle excitation amplitude and frequency. Remarkably, the NMPC framework demonstrates robustness to muscle excitation variations during cyclic motions, making it suitable for real-world applications. © 2018 IEEE.

关键词： Exoskeleton (robotics)

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Hybrid air conditioning and seawater desalination system assisted by solar energy: thermoeconomic investigation and optimization

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Journal of engineering and Applied Science 2024年第1期71卷 148页

作者： Yosry, Nashwa Elgendy, Essam Mostafa, Ahmed Fatouh, Mohamed Mechanical Power Engineering Department Faculty of Engineering at El-Mattaria Helwan University Cairo Egypt Mechanical Engineering Department College of Engineering & ampTechnology at Arab Academy for Science Technology & ampMaritime Transport Sheraton Cairo Egypt Energy and Renewable Energy Engineering Program Faculty of Engineering and Technology Egyptian Chinese University Ain Shams Egypt

The demand for freshwater has become progressively critical due to population growth and water scarcity. The current work investigates the energetic performance of a hybrid absorption refrigeration and desalination system. A parametric study for the system operating conditions has been performed to get the optimal conditions. Also, economic analysis and a multi-objective optimization method are used with the aim of maximizing the energy utilization factor of the system and minimizing total costs. The specific cost of desalinated water from the multi-objective optimization is calculated as (1.728 Cent/L) with the greatest energy utilization factor of (2.214). It turns out that, the system performs optimum at condensation and generation temperatures of 30 and 65 °C respectively, with resultant COP and GOR of 0.84 and 1.37. Using the optimum conditions, TRNSYS has been used to investigate the transient performance of the system for Marsa–Matrouh City in Egypt. The cooling and freshwater demands are 10 kW and 24 L/h. It was concluded that the input energy required to run the hybrid system decreased by about 65% less than that required for separate systems. With the assistance of solar energy, it became clear that the energy required was 60% less than the hybrid system as well. © The Author(s) 2024.

关键词： Hybrid systems

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Design and Fabrication of an Eco-Friendly Remote controlled Fish Catching Bot for Coastal Fishing

Design and Fabrication of an Eco-Friendly Remote controlled ...

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2024 IEEE International Conference on Recent Advances in Science and engineering Technology, ICRASET 2024

作者： Dsouza, Vincent Linish Sherigar, Anurag R. Poojary, Avish N. Bangera, Dheeraj M. Harshith, Kumar S. Hemaraju Department of Robotics & Artificial Intelligence Nitte India Department of Mechanical Engineering Nitte India Adichunchangiri University Bgsit Department of Mechanical Engineering BG Nagara India

ISBN: (纸本)9798350388602

This research presents the design and fabrication of an eco-friendly, remote-controlled fish-catching bot for coastal fishing, aimed at minimizing ecological impacts while ensuring efficient operation. Conventional fishing techniques often harm non-target aquatic species and involve non-selective fishing practices. In contrast, the fish-catching bot developed in this study aims to minimize these issues by selectively capturing fish without causing physical harm, allowing them to be kept alive for extended periods. This feature makes the device suitable for research, recreational fishing, and bulk capture while ensuring the well-being of the fish. Additionally, the bot is designed to reduce the human risks associated with fishing in unpredictable and harsh weather conditions. A key challenge in the design process was mitigating the sensitivity of fish to external vibrations. To address this, the bot was engineered to operate with minimal noise and vibration, with motors selectively driven to reduce disturbance. The fish-catching bot has been successfully designed, fabricated, and tested in aquatic environments demonstrating its viability for sustainable fishing. © 2024 IEEE.

关键词： Fishing (oil wells)

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Orifice plate surface temperature measurement of a LaB6 hollow cathode using a near-infrared two-color radiation thermometer

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Journal of Electric Propulsion 2024年第1期3卷 1-19页

作者： Oshio, Yuya Hirai, Keito Watanabe, Hiroki Horisawa, Hideyuki Funaki, Ikkoh Mechanical Engineering and Robotics Course Ryukoku University Otsu-Shi520-2194 Japan Department of Mechanical Engineering Tokai University Hiratsuka259-1292 Japan Japan Aerospace Exploration Agency Kanagawa Sagamihara252–5210 Japan

This study measured the two-dimensional orifice plate surface temperature of a 20-A-class LaB6 hollow cathode using a near-infrared two-color radiation thermometer. The thermometer technique resolved the orifice plate temperature with an accuracy of approximately 166 ℃. With this technique, the surface temperature of the orifice plate was found nearly uniform, with no observed temperature gradient on the orifice plate. Consequently, the operational characteristics of the hollow cathode are discussed in relation to the average surface temperature. Data analysis revealed that the orifice plate temperature was not sensitive to the mass flow rate;conversely, it was highly sensitive to the discharge current. Moreover, for the same input power, the orifice plate temperature was higher in the high-current, low-voltage mode also known as the spot mode indicating efficient emitter heating. The measurement system developed in this study provides a more precise evaluation of the orifice plate temperature and allows for estimating the internal conditions of a hollow cathode, thus facilitating more appropriate design evaluations under various operating conditions. © The Author(s) 2024.

关键词： Infrared devices

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