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A Novel Microdefect Imaging System for High-Reflective Material Surfaces

IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Zhiyong Lin, Song Xiao, Yafeng Fang, Hao Sun, Lining Soochow University School of Mechatronic Engineering Department of Automation Engineering Suzhou215000 China Soochow University Robotics and Microsystems Research Center Suzhou215000 China Institute of Robotics School of Mechatronic Engineering Harbin Institute of Technology Harbin150000 China

Highly reflective materials, owing to their reflective characteristics, pose challenges in imaging microdefects under conventional lighting, resulting in a substantial number of missed detections. This article presents an imaging method tailored for microdefects on the surfaces of such materials. An investigation into the imaging mechanisms of microdefects under varying illumination conditions is conducted, leading to the proposal of an edge-light scanning technique. Initially, this technique enhances the contrast of defect imaging optically, yielding a sequence of images with high-contrast defects. Subsequently, a contrast-weighted image synthesis algorithm is introduced to effectively mitigate the interference caused by bright and dark stripe backgrounds. Experimental evaluations of defect detection based on different algorithms demonstrate that the proposed imaging method is applicable to defects of various sizes and significantly improves the detection accuracy of microdefects. © 1963-2012 IEEE.

关键词： Imaging Surface morphology Optical surface waves Optical imaging Defect detection Feature extraction Lighting Image edge detection Steel Optical reflection

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast Mechanical Switches for Hybrid Circuit Breakers 2

Robust-Tube Model Predictive Control for Piezoelectrically A...

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2nd International Conference on Artificial Intelligence and automation Control, AIAC 2024

作者： Chai, Yu Yang, Chen Dong, Huijuan Zhao, Jie Shardt, Yuri A. W. Ju, Bingfeng ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Technical University of Ilmenau Department of Automation Engineering Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798331529147

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%. © 2024 IEEE.

关键词： Predictive control systems

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Optimizing Steering Angle Predictive Convolutional Neural Network for Autonomous Car

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Computers, Materials & Continua 2022年第5期71卷 2285-2302页

作者： Hajira Saleem Faisal Riaz Asadullah Shaikh Khairan Rajab Adel Rajab Muhammad Akram Mana Saleh Al Reshan Control Automotive and Robotics Lab Affiliated lab of National Center of Robotics and Automation(NCRA HEC Pakistan)and with the Department of Computer Science and Information TechnologyMirpur University of Science and Technology(MUST)Mirpur Azad Kashmir10250Pakistan College of Computer Science and Information System Najran UniversityNajran61441Saudi Arabia College of Computer Science and Engineering University of South FloridaTampa33620United States

Deep learning techniques,particularly convolutional neural networks(CNNs),have exhibited remarkable performance in solving visionrelated problems,especially in unpredictable,dynamic,and challenging *** autonomous vehicles,imitation-learning-based steering angle prediction is viable due to the visual imagery comprehension of *** this regard,globally,researchers are currently focusing on the architectural design and optimization of the hyperparameters of CNNs to achieve the best *** has proven the superiority of metaheuristic algorithms over the manual-tuning of ***,to the best of our knowledge,these techniques are yet to be applied to address the problem of imitationlearning-based steering angle ***,in this study,we examine the application of the bat algorithm and particle swarm optimization algorithm for the optimization of the CNN model and its hyperparameters,which are employed to solve the steering angle prediction *** validate the performance of each hyperparameters’set and architectural parameters’set,we utilized the Udacity steering angle dataset and obtained the best results at the following hyperparameter set:optimizer,Adagrad;learning rate,0.0052;and nonlinear activation function,exponential linear *** per our findings,we determined that the deep learning models show better results but require more training epochs and time as compared to shallower *** show the superiority of our approach in optimizing CNNs through metaheuristic algorithms as compared with the manual-tuning *** testing was also performed using the model trained with the optimal architecture,which we developed using our approach.

关键词： Bat algorithm convolutional neural network hyperparameters metaheuristic optimization algorithm steering angle prediction

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Vector Detection Network: An Application Study on Robots Reading Analog Meters in the Wild

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2021年第5期2卷 394-403页

作者： Dong, Zhipeng Gao, Yi Yan, Yunhui Chen, Fei The School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China The Smart Manipulation Robots Laboratory Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

Analog meters equipped with one or multiple pointers are wildly utilized to monitor vital devices' status in industrial sites for safety concerns. Reading these legacy meters autonomously remains an open problem since estimating pointer origin and direction under imaging damping factors imposed in the wild could be challenging. Nevertheless, high accuracy, flexibility, and real-time performance are demanded. In this work, we propose the vector detection network (VDN) to detect analog meters' pointers given their images, eliminating the barriers for autonomously reading such meters using intelligent agents like robots. We tackled the pointer as a 2-D vector, whose initial point coincides with the tip, and the direction is along tail-to-tip. The network estimates a confidence map, wherein the peak pixels are treated as vectors' initial points, along with a two-layer scalar map, whose pixel values at each peak form the scalar components in the directions of the coordinate axes. We established the Pointer-10 K dataset composing of real-world analog meter images to evaluate our approach due to no similar dataset is available for now. Experiments on the dataset demonstrated that our methods generalize well to various meters, robust to harsh imaging factors, and run in real-time. Impact Statement-From the automatic meter recognition perspective, this work proposes an accurate, flexible, and ready-to-use pointer detection algorithm that contributes to dealing with legacy pointer-type meters, which still serve in industrial sites to date and require extensive human inspection. Adopting this technique to automatic agents could save human labor and promote the effectiveness and efficiency of getting data. It also inspires particular object detection problems, wherein the object could be considered a vector whose position is concerned, and its orientation also matters. The proposed VDN is agnostic to the semantic meaning of the vectors it detects. Thus it could also be used to

关键词： Vectors

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An effect of process parameters during wire cut electrical discharge machining of Inconel 738

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Materials Today: Proceedings 2023年 84卷 83-88页

作者： C. Devanathan M.S. Natarajan E. Shankar R. Giri K. Vigneshwaran Department of Mechanical Engineering Rajalakshmi Engineering College Chennai 602 105 India Department of Robotics and Automation Rajalakshmi Engineering College Chennai 602 105 India

In the recent days, super alloys especially nickel based materials are used more than 50% of aerospace gas turbine components such as turbine disc, blades etc., It becomes very hard to shape these materials with the use of traditional machining processes due to its improved strength at higher temperature. To overcome the issues faced during conventional machining, the various advanced machining techniques are tried for machining these super alloys. In the present study, Inconel 738 was cut by wire electrical discharge machining using 0.25 mm diameter copper wire. Demineralized water was used as dielectric fluid between tool and workpiece electrode. During the process, voltage, wire feed rate, time of pulse on and pulse off were adjusted at four different values and totally sixteen slots were cut to analyze the machining characteristics. The machined surfaces were tested for its surface finish, rate of material removal and kerf width. The ANOVA was performed using Minitab software to find out the optimized variables and percentage contribution of each parameter in providing the influencing results. Wire feed rate was the most influencing parameter to have the lowest kerf width. As far as Material removal rate, the four parameters were had the significant impact in increasing the MRR. Voltage is the important process parameter to reduce the surface roughness .

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Water Indicator Measurement and Data Processing From Internet of Things Modules

Water Indicator Measurement and Data Processing From Interne...

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IEEE International Conference on Electrical Engineering and Photonics (EExPolytech)

作者： Yeldos A. Altay Lashin Bazarbay Raisa K. Uskenbayeva Alexey V. Fedorov Zhuldyz B. Kalpeyeva Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Vice-Rector Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation Institute of Automation and Information Technologies Satbayev University Almaty Kazakhstan

ISBN: (数字)9798350388879

ISBN: (纸本)9798350388886

This article presents the results of the implementation of a measuring system based on an IoT module for remote transmission of aggregate measurement data obtained during analytical monitoring of five water parameters via a wireless communication channel. A model of an experimental setup is presented and discussed, demonstrating the operability and consistency of the model for monitoring physical parameters during aggregate measurements. The obtained results of remote data transmission via a wireless communication channel revealed a statistically significant correlation between spring water parameters and the most influential predictor of acidity, conductivity, turbidity and oxidation-reduction potential is water temperature. The discovered relationship between the measured parameters is mainly associated with the effect of temperature on the processes occurring with an increase and decrease in the temperature of the analyzed water samples.

关键词： Temperature measurement Wireless communication Correlation coefficient Temperature distribution Correlation Turbidity Conductivity Internet of Things Springs Monitoring

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Evaluation on the microhardness of Ni-TiO2 nanocomposite coatings on AISI 1022 substrate

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Materials Today: Proceedings 2022年 62卷 811-817页

作者： Natarajan, P. Mohanraj, M. Sathish Kumar, R. Thirumoorthy, A. Prabhakaran, S. Department of Mechanical Engineering Government College of Engineering Salem 636011 India Department of Automobile Engineering Hindustan Institute of Technology and Science Chennai 603103 India Department of Mechanical Engineering Velalar College of Engineering and Technology Thindal Erode 638012 India Department of Robotics and Automation Engineering PSG College of Technology Coimbatore 641004 India

The surface strength and performance of the material depends mainly on the appropriate coating techniques and also on the selection of the appropriate process parameters. From in this, electroplating is broadly used to protecting the material's surface and hence increases the life of industrial components. The present study pulse electrodeposition of Ni-TiO2 nanocomposite coating was developed on the surface of AISI 1022 Carbon Steel from watts bath. Such nanocoatings greatly enhanced the better hardness, wear and corrosion resistance in the automotive industry. The present work purpose to examine the influence of the coating process parameters on the microhardness (MH) of Ni-TiO2 nanocomposite coating on AISI 1022 Carbon Steel with the aid of response surface methodology (RSM). The Pulse frequency (Hz), Current density (A/cm2) and Duty cycle (%) parameters are considered and integrated into the RSM three factors and three level orthogonal arrays to determine the optimized condition for improved hardness of the coating. The contribution of the coating parameters was studied with the help of analysis of variance (ANOVA). The result revealed frequency: 20 Hz, current density: 0.2 A/cm2 and duty cycle: 30% coated specimen uniformly distributed cauliflower structure than compared to the frequency: 30 Hz, current density: 0.2 A/cm2 and duty cycle: 20%. To explore that uniformly coated specimen EDX, field emission scanning electron microscopy (FESEM) and X-ray diffraction (XRD) respectively. © 2022

关键词： Titanium dioxide

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From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models

arXiv

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arXiv 2024年

作者： Pulli, Tessa Thalhammer, Stefan Schwaiger, Simon Vincze, Markus Vision for Robotics Laboratory Automation and Control Institute TU Wien Austria Industrial Engineering Department UAS Technikum Vienna Austria

Robots are increasingly envisioned to interact in real-world scenarios, where they must continuously adapt to new situations. To detect and grasp novel objects, zero-shot pose estimators determine poses without prior knowledge. Recently, vision language models (VLMs) have shown considerable advances in robotics applications by establishing an understanding between language input and image input. In our work, we take advantage of VLMs zero-shot capabilities and translate this ability to 6D object pose estimation. We propose a novel framework for promptable zero-shot 6D object pose estimation using language embeddings. The idea is to derive a coarse location of an object based on the relevancy map of a language-embedded NeRF reconstruction and to compute the pose estimate with a point cloud registration method. Additionally, we provide an analysis of LERF’s suitability for open-set object pose estimation. We examine hyperparameters, such as activation thresholds for relevancy maps and investigate the zero-shot capabilities on an instance- and category-level. Furthermore, we plan to conduct robotic grasping experiments in a real-world setting. © 2024, CC BY.

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A Miniaturized Pneumatic Electrode Gripper for Robotic Cochlear Implant Surgery

A Miniaturized Pneumatic Electrode Gripper for Robotic Cochl...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Gao, Hongyan Zou, Yun Huang, Shaoping Chen, Weidong Gao, Anzhu Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Cochlear implant surgery is one of the most challenging surgeries due to the limited workspace and delicate inner structure. A traditional electrode implant instrument is a passive elastic forceps, which needs another forceps to help grip or release the electrode. It is not convenient to achieve delicate operations in a confined space. This paper develops a miniaturized pneumatic electrode gripper at the tip of forceps to achieve active gripping. It transmits the pressurized air through 3D-printed inner lumens to form two inflated soft bubbles to push the electrode to the rigid shell for accurate positioning. The finite element analysis is carried out to evaluate the shape of inflated soft bubbles with variable soft films. A prototype of a gripper with inner tortuous airways is fabricated using micro 3D printing technique, and experiments are carried out to validate its accuracy and demonstrate its ability to grip and release. Finally, robotic teleoperation using a robotic arm and a joystick is implemented for cochlear implant surgery. Results demonstrate that the developed miniaturized pneumatic gripper has successfully achieved electrode implantation in a 3D-printed cochlear phantom. © 2022 IEEE.

关键词： Electrodes

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