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Emerging Smart Technologies and Applications (eSmarTA), International Conference on

作者： Yunes Alqudsi Murat Makaraci Aerospace Engineering Department Faculty of Aeronautics and Astronautics Kocaeli University Kocaeli Türkey Mechanical Engineering Department Faculty of Engineering Kocaeli University Kocaeli Türkey Mechatronics and Robotics Engineering Department Faculty of Engineering & IT Taiz University Taiz Yemen

ISBN: (数字)9798350354133

ISBN: (纸本)9798350354140

With the aim of revolutionizing various industries, the field of Swarm robotics (SRs) continuously offers efficient solutions to complex tasks. This paper provides a comprehensive review of recent advancements and emerging trends in SR, with a specific focus on the coordination and control of Swarm Aerial Robots (SARs). It examines the key features and characteristics of SR, its integration with swarm intelligence, and fundamental algorithms such as Ant Colony Optimization (ACO), Particle Swarm Optimization (PSO), Genetic Algorithm (GA), and Differential Evolution (DE). The paper also discusses various swarm control techniques, infrastructure requirements, and challenges associated with implementing SR in Aerial Robots. Additionally, the paper outlines future research directions, emphasizing the need for robust, energy-efficient, adaptive algorithms and ethical considerations in deploying autonomous Aerial robot swarms. This study aims to provide a solid foundation for researchers and practitioners, paving the way for future advancements and interdisciplinary collaboration in this promising field.

关键词： Industries Ethics Reviews Swarm robotics Autonomous aerial vehicles Solids Market research

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Direct Multi-group Cross-sections via NJOY/ETEN For TRISO Fuel Compacts

Direct Multi-group Cross-sections via NJOY/ETEN For TRISO Fu...

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2024 Annual Conference on Transactions of the American Nuclear Society, ANS 2024

作者： Kimball, Taylor S. Sjoden, Glenn E. Wang, Meng-Jen Nuclear Engineering Program CVEEN University of Utah 110 Central Campus Dr Rm 2000 SLC Utah84112 United States Department of Mechanical Engineering University of Nevada Las Vegas 4505 S Maryland Pkwy Las VegasNV89154 United States

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Corrosion behavior of new titanium alloys for medical applications

Corrosion behavior of new titanium alloys for medical applic...

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作者： Guerra-Yánez, Héctor Florido-Suárez, Néstor Rubén Voiculescu, Ionelia Mirza-Rosca, Julia Claudia Mechanical Engineering Department University of Las Palmas de Gran Canaria Campus Universitario de Tafira Las Palmas de Gran Canaria35017 Spain Faculty of Industrial Engineering and Robotics Politehnica University of Bucharest 313 Splaiul Independentei Bucharest060042 Romania

In this study, the ability of two titanium alloys to resist corrosion has been analyzed. This was accomplished by analyzing how the corrosion potential evolves with time as well as observing the Bode and Nyquist diagrams obtained with electrochemical impedance spectroscopy. The proportions of each alloy were A1 (94.4 % Ti, 4 % Mn, 0.6 % Al, 1 % Fe) and A2 (96.5 % Ti, 3 % Mn, 0.6 % Al, 0.2 % V). The two samples were covered in epoxy resin, cut in pieces, and polished using silicon carbide sheets of abrasive paper, the polishing was done progressively, using gradings from 280 to 1200 grit, ultimately using a 0.1 alpha alumina suspension for a last polish. Electrochemical tests were performed by immersing the polished samples in a Ringer Lactate solution. While the samples were immersed, they were connected to a saturated calomel electrode as reference electrode and to a platinum electrode acting as counter electrode. The two materials can resist to the effects of corrosion efficiently;initially it seemed that the alloy A1 improves its capacity to resist at corrosion when a positive potential is applied and loses it partially when a negative potential is applied. In alloy A2 the situation was similar but easier to observe, as when the supplied potential was too high or too low, the passivation of the material was not so good. © 2022

关键词： Electrochemical impedance spectroscopy

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3D Affordance Keypoint Detection for Robotic Manipulation

3D Affordance Keypoint Detection for Robotic Manipulation

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

作者： Zhiyang Liu Ruiteng Zhao Lei Zhou Chengran Yuan Yuwei Wu Sheng Guo Zhengshen Zhang Chenchen Liu Marcelo H. Ang Francis EH Tay Advanced Robotics Centre National University of Singapore Singapore Department of Mechanical Engineering National University of Singapore Singapore

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts’ functionality. The proposed approach provides direct information about what the potential use of objects is, as well as guidance on where and how a manipulator should engage, whereas conventional methods treat affordance detection as a semantic segmentation task, focusing solely on answering the what question. To address this gap, we propose a Fusion-based Affordance Keypoint Network (FAKP-Net) by introducing 3D keypoint quadruplet that harnesses the synergistic potential of RGB and Depth image to provide information on execution position, direction, and extent. Benchmark testing demonstrates that FAKP-Net outperforms existing models by significant margins in affordance segmentation task and keypoint detection task. Real-world experiments also showcase the reliability of our method in accomplishing manipulation tasks with previously unseen objects. Our source code and video demo will be public.

关键词： Three-dimensional displays Codes Affordances Source coding Semantic segmentation Focusing Manipulators Planning Reliability Intelligent robots

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Learning from failure - Development of a Culture of Failure Scale for Higher Education

Learning from failure - Development of a Culture of Failure ...

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2022 IEEE IFEES World engineering Education Forum - Global engineering Deans Council, WEEF-GEDC 2022

作者： Malschutzky, Michael M. Gurganus, Jamie R. Department of Management Sciences Germany Mechanical Engineering and Graduate School University of Maryland Baltimore County Engineering and Computing Education Program Baltimore United States

ISBN: (纸本)9781665475280

Benefits of a failure friendly culture, e.g., learning from failure, are widely known in occupational settings. Validated scales have been developed to measure organizational failure culture and individuals' mind-sets on failure. While research on learning from failure exists in secondary education, scales for higher education are lacking. To support both higher education engineering instructors and students, this contribution aims to develop a Culture of Failure Scale to assess students' and lecturers' handling of failures in engineering higher education settings. This data-driven approach helps inform instructors about aspects of educational settings that are safe and conducive to learning and supports their students to develop a mind-set where failures are seen as a source for improvements and learning. Exemplary application of the developed scale is shown by assessing the failure culture in different groupings, e.g., gender, between two participating German and US institutions. © 2022 IEEE.

关键词： Failure (mechanical)

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Comparing the Performance of Quaternion, Rotation Matrix, and Euler Angles Based Attitude PID Controllers for Quadrotors

Comparing the Performance of Quaternion, Rotation Matrix, an...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Arshia Rezaei Amin Talaeizadeh Aria Alasty Department of Mechanical Engineering Advanced Research Lab for Control and Agricultural Robotics (Sharif AgRoLab) Sharif University of Technology

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Attitude states are critical parameters in the control, navigation, and guidance of aerial robotics. Various models, including Euler angles, rotation matrices, and quaternions, are used to represent the orientation of multirotors. The performance of a quadrotor's attitude controller is significantly influenced not only by optimal gain design but also by the structure and strategy of error allocation and control command management. Given the dynamic behavior of the quadrotor, challenges arise with the Proportional-Integral-Derivative (PID) controller, which, as a Single Input Single Output (SISO) controller, struggles to manage the system's channels independently. This paper presents three attitude control strategies for a quadrotor, focusing on both controller design and state estimation by utilizing three-dimensional spatial rotation models. The aim is to compare and improve quadrotor attitude control strategies by applying diverse criteria through these spatial rotation models. The models are implemented on a 3 Degrees of Freedom (DoF) quadrotor stand. The comparison evaluates tracking error, energy consumption, computational effort, and other key performance metrics.

关键词： Solid modeling Attitude control Quaternions Computational modeling 3-DOF Stability criteria Resource management State estimation Robots Quadrotors

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Specular inverse Faraday effect in transition metals

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Physical Review Materials 2023年第12期7卷 125202-125202页

作者： Victor H. Ortiz Shashi B. Mishra Luat Vuong Sinisa Coh Richard B. Wilson Department of Mechanical Engineering and Materials Science and Engineering Program University of California Riverside 92521 CA United States

The inverse Faraday effect is an optomagnetic phenomenon that describes the ability of circularly polarized light to induce magnetism in solids. The capability of light to control magnetic order in solid state materials and devices is of interest for a variety of applications, such as magnetic recording, quantum computation, and spintronic technologies. However, significant gaps in understanding about the effect persist, such as what material properties govern the magnitude of the effect in metals. In this work, we report time-resolved measurements of the specular inverse Faraday effect in nonmagnetic metals, i.e., the magneto-optic Kerr effect induced by circularly polarized light. We measure this specular inverse Faraday effect in Cu, Pd, Pt, W, Ta, and Au at a laser wavelength of 783 nm. For Ta and W, we investigate both α and β phases. We observe that excitation of these metals with circularly polarized light induces significant circular dichroism. This nonlinear magneto-optical response to circularly polarized light is an order of magnitude larger in α-W than other metals, e.g., Pt or Au, and is greater than nearly all other reported values for the inverse Faraday effect in other materials. Our results benchmark the range of the inverse Faraday effect that can be observed in nonmagnetic metals and provide insight into what material properties govern the inverse Faraday effect in metals.

关键词： Light-induced magnetic effects Magneto-optics Ultrafast optics Magneto-optical Kerr effect Sputtering Ultrafast femtosecond pump probe

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Coverage Path Planning of Agricultural Spraying Drones with Graph Convolutional Network

Coverage Path Planning of Agricultural Spraying Drones with ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Amirmasood Khaloujini Amin Talaeizadeh Alireza Taheri Aria Alastya Advanced Research Lab for Control and Agricultural Robotics Department of Mechanical Engineering Social and Cognitive Robotics Lab. Sharif University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Optimal route planning for autonomous robots is a crucial element of contemporary agriculture, especially for activities like spraying and pollination. This paper presents a Graph Convolutional Network (GCN) model especially developed to address the Coverage Path Planning (CPP). The aim of this paper is to convert the CPP problem into a Traveling Salesman Problem (TSP), so that by solving the TSP using the proposed neural network, an optimal route can be extracted for each agricultural field in the shortest possible time and with sufficient accuracy, ensuring full coverage of the field's area. The proposed model is a GCN, augmented with a transformer layer and a Multi-Layer Perceptron (MLP), was trained using datasets produced by a Genetic Algorithm (GA) Method. The model obtained a network error of 0.12 while solving TSP cases with 20 points. It showed robust generalization skills, as evidenced by validation and test errors of 0.1261 and 0.1264, respectively. Significantly, the GCN model reduces the solution time to approximately one-tenth compared to conventional approaches, a benefit that increases as the number of points increases. The effectiveness of the model in producing ideal coverage routes highlights its potential for wider use in optimization and coverage path planning, especially in dynamic and extensive agricultural environments.

关键词： Training Accuracy Graph convolutional networks Neural networks Spraying Traveling salesman problems Transformers Path planning Vehicle dynamics Genetic algorithms

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Design and Modeling of a Cable-Driven Hollow Continuum Manipulator 8

Design and Modeling of a Cable-Driven Hollow Continuum Manip...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Sun, Changchao Kang, Rongjie Yuan, Peikang Chang, Le Dong, Xin Wan, Shumin Song, Zhibin Dai, Jian S. School of Mechanical Engineering Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin300072 China Materials and Manufacturing Engineering University of Nottingham Department of Mechanical NottinghamNG7 2RD United Kingdom Institute for Robotics Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9798350300178

Continuum manipulators (CMs) have redundancy and flexibility and show good adaptability in unstructured environments. Traditional CMs mostly utilize a backbone to provide structural support and produce bending, which limits the internal space. In this paper, an internally hollow CM is designed. The orthogonal segment ensures two bending degrees of freedom in a single module. In this design, each module contains four cables that can be divided into two pairs driven by two motors respectively, forming a closed-loop cable drive mechanism. For each pair of cables, they have different length change when the module bends. Thus, the actuation space of the manipulator is further mapped to the 'motor space' to form the complete kinematic model. As the multi-moduled body has motion coupling, kinematic decoupling is achieved through using Bowden tube. Simulated and experimental results show that the CM designed in our work has high structural load capacity and flexible motion ability. © 2023 IEEE.

关键词： Manipulators

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Biogas production and its utilization in internal combustion engines - A review

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Process Safety and Environmental Protection 2024年 186卷 518-539页

作者： Vasan, Vinod Sridharan, Naveen Venkatesh Feroskhan, M. Vaithiyanathan, Sugumaran Subramanian, Balaji Tsai, Pei-Chien Lin, Yuan-Chung Lay, Chyi-How Wang, Chin-Tsan Ponnusamy, Vinoth Kumar Vellore Institute of Technology Chennai600127 India Department of Mechanical Engineering Faculty of Engineering and Technology SRM Institute of Science and Technology Kattankulathur Chennai603203 India Kaohsiung City807 Taiwan Department of Computational Biology Institute of Bioinformatics Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Tamil Nadu Chennai602105 India Institute of Environmental Engineering National Sun Yat-sen University Kaohsiung804 Taiwan Center for Emerging Contaminants Research National Sun Yat-sen University Kaohsiung804 Taiwan Master's Program of Green Energy Science and Technology Feng Chia University Taichung City407102 Taiwan Department of Mechanical and Electro-Mechanical Engineering National I-Lan University I Lan Taiwan Research Center for Precision Environmental Medicine Kaohsiung Medical University Kaohsiung City807 Taiwan Kaohsiung City807 Taiwan Division of Operation and Maintenance Engineering Luleå University of Technology Luleå Sweden Department of Chemistry National Sun Yat-sen University Kaohsiung804 Taiwan

This review presents the significance and current challenges associated with fossil fuels, highlighting the need for cleaner and more sustainable energy sources. The significant object of the current study is to concentrate on increased interest in utilizing biogas as a viable substitute for traditional fuels, delving into its characteristics, benefits, accessibility, feasibility, and prospects as an environmentally sustainable energy option. The current study extensively analyses the prospect and significance of biogas in mitigating emissions regulations in Internal Combustion Engines (ICEs). This paper provides a comprehensive overview of recent research on incorporating biogas in internal combustion engines, focusing on emission reduction and the corresponding impact on engine performance. The subject matter encompasses a range of facets about biogas, encompassing its origins, chemical composition, purification, enhancement techniques, and requisite engine adjustments to enable the effective utilization of biogas as an alternative fuel. The study also evaluates the performance of biogas-fuelled ICEs based on the results of cross-referencing with contemporary research and investigates peripheral aspects such as additive inclusion to increase biogas capabilities as fuel and potential applications in advanced engine modes of operation. The review identifies research gaps in the domains of biogas processing and utilization in ICEs and acknowledges existing challenges specific to the adoption of biogas as a conventional fuel alternative. Future research directions are also prescribed, further highlighting the importance of transitioning from fossil fuels to meet environmental goals and global energy demands. © 2024 The Institution of Chemical Engineers

关键词： Biogas

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