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IEEE International Conference on robotics and Biomimetics

作者： Md Azizul Islam Jacob Rodriguez Achintya K. Saha Yongwon Hwang Bruce W. Jo Department of Mechanical Engineering Tennessee Tech. University Cookeville TN USA Dept. of Robotics Kwangwoon University Korea Department of Mechanical Engineering Tennessee Technological University Cookeville TN USA

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Inspired by nature and avionic birds, this paper introduces effective airfoil morphing mechanisms followed by its detailed design, implementation, and control aspects. Unlike conventional fixed-wing aircraft that use control surfaces such as flaps and ailerons for flight control, the concept of morphing is a more substantial and conformal shape change that has the advantages of enhanced aerodynamic performances, including longer flight time and range, radar signature, from reduced D (drag force) or improved L (lift force)/D, L and D ratio. Camber is the curvature in the airfoil, and camber morphing is one way of adjusting the camber rate or curvature to modify the flight profile by adjusting L and D. Various works have shown the effectiveness of camber morphing; however, the actual implementation and control of effective mechanisms have not been fully developed for UAVs since camber morphing requires specific internal mechanisms that are light and simple and conformally change the camber rate accordingly. This paper shares detailed design, implementation, and expected costs for converting from conventional to morphing UAVs in future applications.

关键词： Costs Shape Force Aerospace electronics Birds Autonomous aerial vehicles Aerodynamics Automotive components Robots Aerospace control

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Non-Prehensile Aerial Manipulation using Model-Based Deep Reinforcement Learning

Non-Prehensile Aerial Manipulation using Model-Based Deep Re...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Cora A. Dimmig Marin Kobilarov Department of Mechanical Engineering The Laboratory for Computational Sensing and Robotics (LCSR) Johns Hopkins University Baltimore MD USA

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

With the continual adoption of Uncrewed Aerial Vehicles (UAVs) across a wide-variety of application spaces, robust aerial manipulation remains a key research challenge. Aerial manipulation tasks require interacting with objects in the environment, often without knowing their dynamical properties like mass and friction a priori. Additionally, interacting with these objects can have a significant impact on the control and stability of the vehicle. We investigated an approach for robust control and non-prehensile aerial manipulation in unknown environments. In particular, we use model-based Deep Reinforcement Learning (DRL) to learn a world model of the environment while simultaneously learning a policy for interaction with the environment. We evaluated our approach on a series of push tasks by moving an object between goal locations and demonstrated repeatable behaviors across a range of friction values.

关键词： Space vehicles Robust control Friction Geometric modeling Deep reinforcement learning Stability analysis Robustness Planning Standards Robots

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Aerial Dockable Multirotor UAVs: Design, Control and Flight Time Extension through In-flight Battery Replacement

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IEEE Access 2025年 13卷 96782-96799页

作者： Song, Yeongin Kim, Hyunmin Byun, Jeonghyun Park, Keun Kim, Murim Lee, Seung Jae Department of Mechanical Design and Robot Engineering Seoul01811 Korea Republic of Seoul National University Department of Aerospace Engineering Seoul05116 Korea Republic of Human-centered Robotics R&D Division Pohang37666 Korea Republic of

This paper presents the development and evaluation of the AirDock system, a novel aerial docking and in-flight battery exchange solution designed to extend the operational flight time of multirotor unmanned aerial vehicles (mUAVs). The proposed system enables seamless mid-flight battery replacement through an aerial docking mechanism and a rail-Car-based battery transfer and retrieval system. The AirDock platform utilizes a fully actuated multirotor design, allowing independent control of six degrees of freedom (DoF) motion to maintain a constant attitude during battery exchange operations, facilitating easy docking. In this research, a generalized control allocation algorithm is introduced to manage dynamic shifts in the center of mass (CoM) during inter-modular battery transportation, ensuring safe flight control and mitigating thruster overloading: a critical factor in avoiding flight failure. Both simulations and real-world experiments validate the system's effectiveness, demonstrating stable aerial docking, reliable in-flight battery exchange performance, and extended flight durations for mission modules. These findings highlight the AirDock system's potential to overcome the energy limitations of battery-powered UAVs, extending missions across various applications. © 2013 IEEE.

关键词： Micro air vehicle (MAV)

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Effects of Chemical Treatment on Natural (Rice Straw/Neem Saw Dust) Fiber Morphology and mechanical Properties of its Composite Material

SSRN

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SSRN 2023年

作者： Thangapandian, P. Kumar, P. Raj Kailasavalli, S. Paulsingarayar, S. Seenivasan, S. Department of Mechanical Engineering Rathinam Technical Campus India Department of Robotics and Automation Engineering Dhaanish Ahmed Institute of Technology India Department of Mathematics PSNA College of Engineering and Technology India Department of Mechanical Engineering NPR College of Engineering & Technology

Natural fibres derived from agricultural waste have gained traction in recent years. A natural fibre/rice straw hybrid composite has been created to recycle agricultural waste easily while eliminating smoke and fine silica ash pollution. As per ASTM standards, hand lay-up is used to create composite specimens. Scanning electron microscopy has studied rice straw's interfacial bonding and dispersion in unsaturated polyester resin. Composites reinforced with Rice Straw and Neem Powder (Hybrid) show better mechanical properties. The optimal fibre content is 50% by volume fraction for impact and flexural strength. Volume proportion decreases flexural strength, but volume proportion increases impact value. © 2023, The Authors. All rights reserved.

关键词： Scanning electron microscopy

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Integrated Pressure and Proximity Sensors on Silicone and PU Substrates That Supports Flexible Hybrid Electronics

IEEE Journal on Flexible Electronics

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IEEE Journal on Flexible Electronics 2024年第6期3卷 259-265页

作者： Pundrikaksha Pancham, Padmanabh Mukherjee, Anupam Lek Yuan, Boong Tsai, Cheng-Han Yu, Peichen Lo, Cheng-Yao Institute of NanoEngineering and MicroSystems National Tsing Hua University Hsinchu300044 Taiwan General Silicones Department of Marketing Hsinchu300104 Taiwan National Yang Ming Chiao Tung University Department of Photonics Hsinchu300093 Taiwan Industrial Technology Research Institute Intelligent Robotics Technology Division Hsinchu310401 Taiwan National Tsing Hua University Institute of NanoEngineering and MicroSystems The Department of Power Mechanical Engineering Hsinchu300044 Taiwan

In this work, we demonstrate an integrated, simple, yet highly sensitive parallel-plate and co-planar capacitive pressure sensors on a silicone-based composite substrate that addresses the issue of low surface energy (LSE) of silicone. The composite substrate exhibited flexibility and appropriate bonding strength after high-temperature vulcanization. Meanwhile, by utilizing deionized water in dielectric mixture (10%-30%), micropores in different sizes and distributions in the dielectric were realized as a novel solution to enhance its flexibility and thus its sensitivity. The parallel-plate pressure capacitor exhibited adjustable detection sensitivity between 5.3 and 6.6 kPa-1 and the highest sensitivity outperformed existing demonstrations in literature with large dynamic window between 0.05 and 83.3 kPa with a resolution of 0.05 kPa and a response time of 0.25 s. On the other hand, the co-planar proximity sensor showed supportiveness on real-time detection, exhibiting a multifunctional sensing system together with the parallel-plate pressure sensor. Related design, fabrication, evaluation, and discussion were thoroughly conducted in this work. © 2022 IEEE.

关键词： Substrates

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Molecular Dynamics Study of Nanoparticle Collision with a Surface — Implication to Nanoparticle Filtration

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Aerosol and Air Quality Research 2024年第3期7卷 278-303页

作者： Sato, Shintaro Chen, Da-Ren Pui, David Y. H. Particle Technology Laboratory Mechanical Engineering Department University of Minnesota Minneapolis USA Fujitsu Laboratories Ltd. Atsugi Kanagawa Japan Department of Mechanical Engineering Join Program in Environmental Engineering Science Washington University in St. Louis St. Louis USA

Collision dynamics of nanoparticles with a surface was studied by classical molecular dynamics simulations. Silver, nickel and silica were selected as the particle materials, and silver as the surface material. Particle sizes ranged approximately from 0.5 to 2 nm. The results indicate that particles with thermal energy at room temperature do not bounce off a surface, even when a very weak interaction potential between the particles and the surface is assumed. The loss mechanisms of the center-of-mass energy of nanoparticles colliding with a surface were also investigated. The findings indicate that energy losses to the surface and the rotational degree of freedom are important. The loss to the surface is significant when a harder particle hits a softer surface. This is because the center-of-mass energy is mainly transferred to the surface as elastic energy, and the energy is not effectively transferred back to the particle. Non-spherical silica particles were found to lose more energy than the other types of particles. This phenomenon is due to a large energy transfer to the rotational degree of the freedom upon collision.

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Universal Real-Time Control of an Electro-Hydraulic Servo System Utilizing Mathematical Model and Multibody Simulation

Universal Real-Time Control of an Electro-Hydraulic Servo Sy...

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Electrics and Computer (INTCEC), Interdisciplinary Conference on

作者： Jussi Asikainen Daniel Roozbahani Marjan Alizadeh Heikki Handroos Mechanical Engineering Dept. Lappeenranta-Lahti University of Technology Lappeenranta Finland Department of Robotics Engineering. Widener University Chester PA USA

ISBN: (数字)9798350349450

ISBN: (纸本)9798350349467

The objective of this study was to generate two digital models based on an existing electro-hydraulic servo system aiming to identify the most effective control strategy for the real machine. The first model was developed based on the system's mathematical model using MATLAB-Simulink, while the second was constructed using the multibody dynamics of the system via the Mevea platform. The intelligent controller incorporated a fuzzy logic controller and a genetic algorithm-tuned PID controller. The proposed control platform is characterized by its universal applicability. The experiment was replicated with the actual machine. A real-time cost comparison of the control methodologies was conducted to identify the most efficient controller for the real system. The findings indicated that the genetic algorithm-tuned PID controller yielded the lowest cost function compared to other controllers. Experimental results confirmed the satisfactory performance of the proposed controller.

关键词： Fuzzy logic Adaptation models Accuracy Costs Software packages Hydraulic systems Mathematical models

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Nonlinear Crack-Wave Modulations in Shear Horizontal Wave Propagation for Fatigue Crack Detection

SSRN

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SSRN 2024年

作者： Radecki, Rafel Trybulec, Wojciech Osika, Mariusz Staszewski, Wieslaw J. AGH University of Krakow Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronic Al. A. Mickiewicza 30 Krakow30-059 Poland

The nonlinear interaction of shear horizontal waves with fatigue cracks is investigated for structural damage detection. The focus is on the non-classical modulation effect in the presence of damage. The major principle of the method is explained theoretically and supported by a semi-analytical solution. The method is tested experimentally in aluminium beams with fatigue cracks. A combination of high-frequency ultrasonic and low-frequency vibration shear excitations are introduced to monitored beam components using low-profile piezoceramic shear actuators. Nonlinear vibro-acoustic responses are gathered using laser vibrometry. Vibration excitation frequencies are selected using experimental and numerical modal analysis. A series of vibro-acoustic experiments is performed for fatigue crack detection. The results show that the non-classical nonlinear vibro-acoustic effect – based on shear horizontal wave propagation – can be used for crack detection. In addition, the method also allows for damage localisation. © 2024, The Authors. All rights reserved.

关键词： Damage detection

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Designing a digitalized cell for remanufacturing of automotive frames 32

Designing a digitalized cell for remanufacturing of automoti...

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32nd CIRP Design Conference, CIRP Design 2022

作者： Stavropoulos, Panos Papacharalampopoulos, Alexios Athanasopoulou, Lydia Kampouris, Konstantinos Lagios, Panagiotis Department Of Mechanical Engineering And Aeronautics University Of Patras Rio Patras26504 Greece Gizelis Robotics Schimatari Viotias 32009 Kormatzini Area Greece

Circular economy introduction in industry is globally recognized as one of the most effective green strategies towards sustainability and resources reduction. As the automotive sector has been historically one of the biggest energy consumers, significant efforts are being constantly made to reduce the environmental impact and to increase energy efficiency at the manufacturing stage, both at production and process level. This study focuses on proposing a framework for automotive defective parts identification and remanufacturing in the main production line. In particular, the concept of an automotive microfactory is taken into consideration. To achieve this, a vision-based monitoring system performing the defect identification drives the whole procedure that is considered to be realized through a remanufacturing cell. The software tool is considered to be utilized right before the scheduling process of orders and tasks performed in the remanufacturing cell, taking into account specific performance parameters. The architecture of the software is presented along with some discussion regarding the types of control that can be enforced at both processing and line level, while the use of synthetic data is regarded to test the efficiency of the monitoring system. © 2022 The Authors.

关键词： Machine learning

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DEVELOPMENT OF 3D PRINTED SOFT PNEUMATIC HAND MOTION SENSORS

DEVELOPMENT OF 3D PRINTED SOFT PNEUMATIC HAND MOTION SENSORS

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ASME 2022 International mechanical engineering Congress and Exposition, IMECE 2022

作者： Papendorp, Sky Iyun, Olukayode Schneider, Christian Tekes, Ayse Ashuri, Turaj Amiri Moghadam, Amir Ali Robotics and Mechatronics Department Kennesaw State University MariettaGA United States Mechanical Engineering Department Kennesaw State University MariettaGA United States

ISBN: (纸本)9780791886663

This paper reports on the design, fabrication, and evaluation of a novel 3D printed vacuum based soft sensor and its application as hand motion sensor. Soft sensors are an integral part of soft robotics as an emerging field of science that enables safe and easy human to machine interaction. The conventional sensors used to interface with humans in robotic systems are mechanically incompliant. Because of this mechanical compliance mismatch, these sensors cause unsafe interactions with humans. Recent advancements in 3D printing technology have allowed fabrication of complex geometries with soft polymers, perfect for more delicate and user-friendly sensors. While the existing soft pneumatic sensors work based on the positive pressure due to deformation, the proposed sensor in this work works based on vacuum due to deformation. In comparison with the similar positive pressure sensor, our vacuum-based sensor is much softer and has minimum interference with hand motion. Finite element analysis (FEA) is used to analyze the design. Also, a kinematic model of the hand is developed using Matlab to visualize the hand motion based on the sensor data. This could show the potential application of the soft hand motion sensor in virtual reality and telehealth. Copyright © 2022 by ASME.

关键词： Finite element method

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