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arXiv 2025年

作者： Yao, Tianliang Ban, Madaoji Lu, Bo Pei, Zhiqiang Qi, Peng Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electrical and Electronic Engineering Faculty of Engineering The University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Jiangsu Suzhou China School of Oriental Pan-Vascular Devices Innovation College University of Shanghai for Science and Technology 516 Jungong Road Shanghai200093 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Robotic-assisted percutaneous coronary intervention (PCI) holds considerable promise for elevating precision and safety in cardiovascular procedures. Nevertheless, current systems heavily depend on human operators, resulting in variability and the potential for human error. To tackle these challenges, Sim4EndoR, an innovative reinforcement learning (RL) based simulation environment, is first introduced to bolster task-level autonomy in PCI. This platform offers a comprehensive and risk-free environment for the development, evaluation, and refinement of potential autonomous systems, enhancing data collection efficiency and minimizing the need for costly hardware trials. A notable aspect of the groundbreaking Sim4EndoR is its reward function, which takes into account the anatomical constraints of the vascular environment, utilizing the geometric characteristics of vessels to steer the learning process. By seamlessly integrating advanced physical simulations with neural network-driven policy learning, Sim4EndoR fosters efficient sim-to-real translation, paving the way for safer, more consistent robotic interventions in clinical practice, ultimately improving patient outcomes. © 2025, CC BY.

关键词： Reinforcement learning

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Stability of a planetary climate system with the biosphere species competing for resources

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Physical Review E 2021年第2期103卷 022202-022202页

作者： Sergey A. Vakulenko Ivan Sudakov Sergei V. Petrovskii Dmitry Lukichev Institute for Problems in Mechanical Engineering Russian Academy of Sciences St. Petersburg 199178 Russia Faculty of Control Systems and Robotics ITMO University Saint Petersburg 197101 Russia Department of Physics University of Dayton 300 College Park SC 111 Dayton Ohio 45469-2314 USA School of Mathematics and Actuarial Science University of Leicester Leicester LE1 7RH United Kingdom S. M. Nikol'skii Mathematical Institute Peoples' Friendship University of Russia (RUDN University) Moscow 117198 Russia

With the growing number of discovered exoplanets, the Gaia concept finds its second wind. The Gaia concept defines that the biosphere of an inhabited planet regulates a planetary climate through feedback loops such that the planet remains habitable. Crunching the “Gaia” puzzle has been a focus of intense empirical research. Much less attention has been paid to the mathematical realization of this concept. In this paper, we consider the stability of a planetary climate system with the dynamic biosphere by linking a conceptual climate model to a generic population dynamics model with random parameters. We first show that the dynamics of the corresponding coupled system possesses multiple timescales and hence falls into the class of slow-fast dynamics. We then investigate the properties of a general dynamical system to which our model belongs and prove that the feedbacks from the biosphere dynamics cannot break the system's stability as long as the biodiversity is sufficiently high. That may explain why the climate is apparently stable over long time intervals. Interestingly, our coupled climate-biosphere system can lose its stability if biodiversity decreases; in this case, the evolution of the biosphere under the effect of random factors can lead to a global climate change.

关键词： Climate research Ecology & evolution Planets & planetary systems

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Integrated intelligent and predictive control: A multi-agent adaptive type-2 fuzzy control architecture

arXiv

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arXiv 2019年

作者： Jamshidnejad, Anahita Frazzoli, Emilio Mahjoob, Mohammad J. de Schutter, Bart Department of Mechanical and Process Engineering Institute for Dynamic Systems and Control ETH Zürich Switzerland Faculty of Mechanical Engineering University of Tehran Iran Delft Center for Systems and Control Delft University of Technology Netherlands

We propose a novel two-layer multi-agent architecture aimed at efficient real-time control of large-scale and complex-dynamics systems. The proposed architecture integrates intelligent control approaches (which have a low computation time and fit real-time applications) with model-predictive control (which takes care of the optimality requirements of control). The bottom control layer (intelligent-control module) includes several distributed intelligent-control agents, the design parameters of which are tuned by the top layer (model-predictive control module). The model-predictive control module fulfills two significant roles: looking ahead to the effects of the control decisions, and coordinating the intelligent-control agents of the lower control layer. The resulting multi-agent control system has a very low computation time, and provides adaptivity, control coordination, and aims at excellent performance. Additionally, we give a general treatment of type-2 fuzzy membership functions, and introduce two categories for them: probabilistic-fuzzy (which is a novel concept introduced in this paper) and fuzzy-fuzzy (which is a new treatment of the existing type-2 fuzzy membership functions). The performance of the proposed modeling and control approaches are assessed via a case study involving a simple urban traffic network: the results show that the novel concept of probabilistic-fuzzy membership function outperforms the type-1 and type-2 membership functions that have already been introduced in the literature. Furthermore, the proposed two-layer integrated multi-agent control architecture significantly outperforms a multi-agent decentralized fuzzy control system (without coordination among the agents), while requiring a comparable computation *** Codes 49-XX Copyright © 2019, The Authors. All rights reserved.

关键词： Multi agent systems

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Experimental implementation of a new non-redundant 6-DOF quadrotor manipulation system

arXiv

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arXiv 2019年

作者： Khalifa, Ahmed Fanni, Mohamed Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menofia University Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Mansoura University Egypt

This paper presents an experimental validation of a new quadrotor-based aerial manipulator. A quadrotor is equipped with a 2-DOF robotic arm that is designed with a new topology to enable the end-effector of the whole system to track a 6-DOF trajectory. An identification experiment is carried out to find out the system parameters. The mathematical model of the whole system is presented. A measurement scheme is proposed to get the accurate pose of the vehicle considering the motion of the manipulator below the quadrotor. The system controller is designed and implemented based on PID with a gravity compensation algorithm. System simulation is implemented in the MATLAB/SIMULINK environment with real system parameters, to better emulate a realistic setup. Real-time Experiments are conducted. Both simulation and experimental results show the feasibility and a satisfactory efficiency of the proposed system in achieving the position holding and transferring an object to a specific target position. Copyright © 2019, The Authors. All rights reserved.

关键词： Manipulators

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Thermometry of photosensitive and optically induced electrokinetics chips

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Microsystems & Nanoengineering 2018年第1期4卷 190-198页

作者： Feifei Wang Lianqing Liu Gongxin Li Pan Li Yangdong Wen Guanglie Zhang Yuechao Wang Gwo-Bin Lee Wen Jung Li State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences110016 ShenyangChina University of Chinese Academy of Sciences 100049 BeijingChina Shenzhen Academy of Robotics 518057 ShenzhenChina Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education Institute of AutomationJiangnan University214122 WuxiChina Department of Power Mechanical Engineering National Tsing Hua University30013 HsinchuTaiwan Department of Mechanical and Biomedical Engineering City University of Hong KongKowloon TongHong KongChina

Optically induced electrokinetics(OEK)-based technologies,which integrate the high-resolution dynamic addressability of optical tweezers and the high-throughput capability of electrokinetic forces,have been widely used to manipulate,assemble,and separate biological and non-biological entities in parallel on scales ranging from micrometers to ***,simultaneously introducing optical and electrical energy into an OEK chip may induce a problematic temperature increase,which poses the potential risk of exceeding physiological conditions and thus inducing variations in cell behavior or activity or even irreversible cell damage during ***,we systematically measure the temperature distribution and changes in an OEK chip arising from the projected images and applied alternating current(AC)voltage using an infrared *** have found that the average temperature of a projected area is influenced by the light color,total illumination area,ratio of lighted regions to the total controlled areas,and amplitude of the AC *** an example,optically induced thermocapillary flow is triggered by the light image-induced temperature gradient on a photosensitive substrate to realize fluidic hydrogel *** studies show that the projected light pattern needs to be properly designed to satisfy specific application requirements,especially for applications related to cell manipulation and assembly.

关键词： exceeding illumination manipulation

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Applicability of magnetic hysteresis models for predicting the behaviour of MR dampers 9

Applicability of magnetic hysteresis models for predicting t...

引用

9th ECCOMAS Thematic Conference on Smart Structures and Materials, SMART 2019

作者： Goldasz, J. Sapinski, B. Jastrzebski, L. Kubik, M. Faculty of Electrical Engineering and Computer Science Cracow University of Technology ul. Warszawska 24 Krakow31-155 Poland BWI Technical Center BWI Group ul. Podgorki Tynieckie 2 Krakow30-399 Poland Department of Process Control AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland Faculty of Mechanical Engineering Brno University of Technology Technicka 2869/2 Brno616 69 Czech Republic

ISBN: (纸本)9788494919466

This study concerns modeling the magnetic hysteretic behaviour of magnetorheological (MR) dampers. Magnetic hysteresis is one of factors influencing the output of such actuators. The origin of magnetic hysteresis in the actuator’s output is obvious - it is the inherent property of ferromagnetic materials which form the electromagnet’s assembly of the actuator. Prior work on solenoid actuators indicates that hysteresis plays a major role in the flux generation mechanism, and it should be accounted for in the controls development process. So far less attention has been paid to studying the contribution of magnetic hysteresis on the output of MR dampers. Majority of studies on the hysteretic behaviour of MR dampers have virtually neglected that specific contributor. Instead, the hysteretic behaviour of MR actuators was studied by observing the relationships between the output (force/torque) and the inputs (current, velocity, position). Instead, in the present study we separate the magnetic hysteresis from the mechanical/hydraulic one by investigating the magnetic flux vs exciting current relationship of an exemplary MR damper subjected to sinusoidal current (voltage) loading. The resulting behaviour of the electromagnets is then examined using the nonlinear inductor approach with hysteresis. The performance of several hysteretic operators is then evaluated based on their ability to reproduce the magnetic flux output of the MR actuator. © 2019 9th ECCOMAS Thematic Conference on Smart Structures and Materials, SMART 2019. All rights reserved.

关键词： Damping

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Astatism analysis of time delay controllers towards effective anti-windup schemes

Astatism analysis of time delay controllers towards effectiv...

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International Conference on process control (PC)

作者： Jaroslav Bušek Pavel Zítek Tomáš Vyhlídal Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

The paper provides astatism analysis of controllers with time delays arising from compensation schemes such as internal model control and Smith predictor. As the rather straightforward result a condition for the astatism is provided. From the spectral analysis, it results that even if all the infinitely many roots of the controller lie on the imaginary axis, the astatism brought by the root at the origin is predominant in the controller responses. Subsequently, applying the final value theorem, a methodology to derive the asymptotic slope of the astatic time delay controller is proposed. Besides, delay approximation based methods such as Maclaurin series and Pade approximation are involved in the analysis. The presented research is motivated by broader analysis of time delay controllers towards effective design of anti-windup schemes. Full understanding of the astatism nature is the key aspect for this research task.

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Risk identification as a part of project granted by eu funds 18

Risk identification as a part of project granted by eu funds

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18th International Multidisciplinary Scientific Geoconference, SGEM 2018

作者： Nagyova, Anna Markulik, Stefan Teplicka, Katarina Technical University of Kosice Faculty of Mechanical Engineering Safety and Quality Department Slovakia Technical University of Kosice Faculty of Mining Ecology Process Control and Geotechnologies Institute of Earth resources Slovakia

ISBN: (纸本)9786197408355

In the last decade we have noticed how European Funds have expanded and today, half of EU funding is channelled through the 5 European Structural and Investment Funds (ESIF). Those are mainly focused on research and innovation, digital Technologies, supporting the low-carbon economy, sustainable management of natural resources and small businesses. They are jointly managed by the European Commission and the EU countries. The purpose of all these funds is to invest in job creation and a sustainable and healthy European economy as well as environment. Even though the topic of every fund is different;the implementation of methodology of each project is the same. Going through several calls it is possible to notice, that there are some formal and financial requirements, which are the same regardless of the type or objectives of the particular call. The aim of this article is to focus on specific requirements, which need to be fulfilled during planning and preparation of the project granted by EU funds. The article also describes major risk, which occurs during the project preparation, needs to be identified and correctively managed. © SGEM2018.

关键词： Sustainable development

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Heat distribution in the deep drawing device components working by high temperatures 10

Heat distribution in the deep drawing device components work...

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10th International Conference Machine and Industrial Design in mechanical engineering, KOD 2018

作者： Tropp, M. Brumerčík, F. Šteininger, J. Weis, P. Glowacz, A. Univerzity of Žilina Faculty of Mechanical Engineering Department of Design and Mechanical Elements Univerzitná 1 Žilina010 26 Slovakia AGHUniversity of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. A. Mickiewicza 30 Kraków30-059 Poland

The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results. © 2018 Institute of Physics Publishing. All rights reserved.

关键词： Deep drawing

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Corrigendum to ‘Graphical pinch analysis-based method for heat exchanger networks retrofit of a residuum hydrogenation process’ [Energy volume 299 (2024) 131538]

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Energy 2024年 310卷

作者： Keke Zhi Bohong Wang Lianghui Guo Yujie Chen Wei Li Paweł Ocłoń Jin Wang Yuping Chen Hengcong Tao Xinze Li Petar Sabev Varbanov China University of Petroleum-Beijing at Karamay Karamay China National & Local Joint Engineering Research Center of Harbor Oil & Gas Storage and Transportation Technology/Zhejiang Key Laboratory of Petrochemical Environmental Pollution Control Zhejiang Ocean University No. 1 Haida South Road 316022 Zhoushan China School of Mechanical Engineering Beijing Key Laboratory of Pipeline Critical Technology and Equipment for Deepwater Oil & Gas Development Beijing Institute of Petrochemical Technology Beijing 102617 China Jiangsu Key Laboratory of Process Enhancement and New Energy Equipment Technology School of Mechanical and Power Engineering Nanjing Tech University Nanjing 211816 China Cracow University of Technology Faculty of Environmental and Energy Engineering Energy Department Al. Jana Pawła II 37 31-864 Cracow Poland School of Energy and Environmental Engineering Hebei University of Technology Tianjin 300401 China Zhejiang Petrochemical Co. Ltd Yushan Island Zhoushan China Széchenyi István University H-9026 Győr Egyetem tér 1 Hungary

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