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A Comparative Study on Manipulator Development in Multi-robotic Systems 1

20th International Conference on Cooperative design, Visualization and Engineering, CDVE 2023

作者： Çavuş, Özlem Şencan, İnanç Balcı, Ozan Architectural Design Computing Graduate Program Istanbul Technical University Istanbul Turkey Design Department of Architecture Katholieke Universiteit Leuven Leuven Belgium

ISBN: (数字)9783031438158

ISBN: (纸本)9783031438141

Robotic assembly of modular blocks has a great interest in multi-robotic studies in many disciplines. The existing studies primarily focus on context-specific tasks, especially in the self-assembly of robots, from an engineering perspective. However, considering a modular composition's entire design and fabrication process regarding mereological relationships is significant for the module's reuse in different pattern formations by mobile multi-robots. This study defines mobile robot swarms’ adaptability to the assembly-disassembly-reassembly (ADR) process to any-time change of the 3D pattern being assembled. Hence, the robot's manipulator needs to be compatible with picking up, carrying, attaching, and detaching the modules in the ADR process. This study questions the effects of the ADR process on manipulator development in multi-robotic systems. It aims to customize and develop manipulator systems beyond the existing gripper for multi-robot systems. Accordingly, it introduces a new conceptual understanding of manipulators’ taxonomy as friction-based and active and passive magnetic field-based end-effectors for the ADR process. Active indicates the use of electromagnets, whereas passive refers to using metal parts in the manipulator’s body. A physical experiment is conducted based on the above-stated taxonomies whose manipulators are printed in the Creality Ender3 and mounted to a mobile robot with a differential drive. The process is observed to discuss the introduced magnetic end-effectors, the system’s adaptability needs, and the pros and cons compared to the conventional gripper. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Multipurpose robots

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"There’s Some Sh*t in There": Communication Strategies in the Recording Studio 156

"There’s Some Sh*t in There": Communication Strategies in t...

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AES Madrid 2024: 156th Audio Engineering Society Convention

作者： Brackett, David King, Richard Barg, Lisa Massenburg, George Music History and Musicology Program McGill University Montréal Canada Graduate Program in Sound Recording McGill University Montréal Canada Massenburg Design Works NashvilleTN United States

When musicians, producers, and engineers interact in the recording studio, how do they communicate and negotiate their differences to reach consensus? This paper will address two communication strategies that use a range of sonic associations and aesthetics: 1) the use of metaphors;and 2) the use of references to other recordings, artists, and genres. Using video recordings and interviews with participants, this paper focuses on how these different communication strategies had a significant impact during recording sessions made in November 2019 at McGill University in Montréal. © AES Madrid 2024: 156th Audio Engineering Society Convention. All rights reserved.

关键词： Audio studios

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Pedestrian Avoidance Navigation of Mobile Robots Using Monocular Camera in Urban Environments Based on Deep Reinforcement Learning 50

Pedestrian Avoidance Navigation of Mobile Robots Using Monoc...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Soutome, Kei Morioka, Kazuyuki Network Design Program Graduate School of Advanced Mathematical Sciences Meiji University Tokyo Japan School of Interdisciplinary Mathematical Sciences Meiji University Tokyo Japan

ISBN: (纸本)9781665464543

This study aims to acquire RL models for mobile robots to avoid pedestrians in unknown urban environments using deep reinforcement learning. Training is performed in urban environments in a virtual world created by the Unity game engine. The mobile robot runs using only monocular camera images and positional information, and does not use any external sensors other than the monocular camera, such as a LiDAR. Not only the current step, but also the last 5 steps are utilized for input states in learning. This is so that the robot can learn and predict the pedestrians’ movement. Since this is a challenging learning task for the robots, curriculum learning, in which the difficulty of the learning task increases step by step, is adapted. As a result of the learning, the robot acquired the ability to reach the goal while avoiding pedestrians, even in an unknown urban environment including pedestrians with unknown color appearances. © 2024 IEEE.

关键词： Adversarial machine learning

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ANALYSIS OF ROCKING COLUMN BEHAVIOR CONSIDERING STRESS DISTRIBUTION OF COLUMN USING FIBER ELEMENTS

Journal of Structural and Construction Engineering

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Journal of Structural and Construction Engineering 2022年第802期87卷 1201-1212页

作者： Hu, Rong Muramoto, Makoto Graduate School of Science and Technology Doctoral Program of Architecture Kyoto Institute of Technology Japan Faculty of Design and Architecture Kyoto Institute of Technology Japan

In this paper, a numerical model considering the embedment reaction of column foot by the beam-column finite element method was proposed for evaluating the restoring force characteristics of the rocking column in traditional timber structures. Wood compression tests in contact with stones were conducted to investigate the characteristics of the embedment reaction and initial deformation generated at the end of the wood, and these characteristics were considered in the column foot numerical model. The validity and applicability of the numerical model were verified by analyzing several static loading tests of the rocking column. © 2022 Architectural Institute of Japan. All rights reserved.

关键词： Finite element method

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Connection Phase Estimation of Pole Mounted Distribution Transformers by Majority Voting of High-quality Solutions using Only Selected Stages

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IEEJ Transactions on Power and Energy 2025年第4期145卷 350-358页

作者： Takahashi, Ryu Fukuyama, Yoshikazu Yoshida, Hotaka Oi, Akihiro Jintsugawa, Toru Fujimoto, Hisashi Network Design Program Graduate School of Advanced Mathematical Sciences Meiji University 4-21-1 Nakano Nakano-ku Tokyo164-8525 Japan R&D Headquarters Fuji Electric Co. Ltd. No.1 Fuji-machi Hino191-8502 Japan

This paper proposes connection phase estimation of pole mounted distribution transformers by majority voting of high-quality solutions using sampled stages. The essential challenge of the connection phase estimation of pole mounted distribution transformers problem is that the correct connection phase combination and the combination with the best objective function value do not match because of using inconsistent data. In order to solve the challenge, the proposed method utilizes the concept of majority voting of ensemble learning andtheproximate optimality principle. The proposed method is verified to estimate the connection phase accurately and specify pole mounted distribution transformers with insufficient estimation accuracy using a distribution system model. © 2025 The Institute of Electrical Engineers of Japan.

关键词： Distribution transformers

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Evaluation of negative stiffness mechanism on a pitch-type wave energy converter 33rd

Evaluation of negative stiffness mechanism on a pitch-type w...

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33rd International Ocean and Polar Engineering Conference, ISOPE 2023

作者： Poguluri, Sunny Kumar Kim, Dongeun Bae, Yoon Hyeok Mechanical and System Design Engineering Hongik University Seoul Korea Republic of Multidisciplinary Graduate School program for Wind Energy Jeju National University Jeju Korea Republic of

ISBN: (纸本)9781880653807

The current study focuses on the application of the nonlinear negative stiffness mechanism to a Salter's duck, which is a well-known wave energy conversion (WEC) device known for its efficiency of 90% in 2D regular waves. Despite the proven efficiency of WEC devices, they face the challenge of producing a stable system that can effectively extract energy from constantly changing wave conditions. Recent studies have shown that the use of negative stiffness can address this issue, and this approach has been adopted in the present study for the pitch-type WEC-rotor (Salter’s duck). The study employed a time domain analysis based on linear potential theory to examine the impact of factors such as spring length and stiffness on wave energy extraction in both regular and irregular wave conditions. The results of the study showed that the incorporation of negative stiffness improves the extraction of wave energy. © 2023 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Extraction

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Vehicle Speed Control in the Dilemma Zone Using Deep Learning

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Journal of Institute of Control, Robotics and Systems 2022年第3期28卷 209-217页

作者： Lee, Jaewook Kim, Bongsang Sim, Hongseok Choi, Hyohyuk Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle･Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical and System Design Engineering Hongik University Korea Republic of

The dilemma zone refers to the area where a vehicle approaching an intersection as the light turns yellow must decide whether to stop or not. Often, the vehicle’s speed is too fast for it to stop at the stop line before the light turns red, but the vehicle cannot completely clear the intersection before the three-second yellow signal ends. This can lead to a major accident as the departing vehicle has not cleared the intersection before the opposite light changes to a green signal and cars on the other side of the intersection start to move. To prepare for this situation, traffic light patterns were modified using pre-trained data sets, then the traffic patterns at these lights were recorded using cameras. Autonomous vehicles were introduced into these areas and their speed was controlled based on the recognized traffic light patterns. This paper explores whether deep learning algorithms can effectively control vehicle speed when autonomous vehicles face the dilemma zone. © ICROS 2022.

关键词： Autonomous vehicles

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Urban recreation areas and climate change resilience: Hunter's Point South Park, New York City

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Discover Cities 2024年第1期1卷 1-20页

作者： Simais, Nur Korgavus, Bengi Graduate School of Applied Science Urban Design and Landscape Architecture Department Yeditepe University Istanbul Turkey Graduate School of Natural and Applied Science Urban Design and Landscape Architecture Masters Program Yeditepe University Istanbul Turkey

Urban areas experiencing the escalating impacts of climate change-induced disasters face challenges exacerbated by rapid urbanization and inadequate infrastructure. Despite more than four decades of warnings from the Intergovernmental Panel on Climate Change (IPCC), the actual outcomes of climate change remain more severe than anticipated, affecting millions of people annually. This study focused on resilience as a response to the detrimental effects of climate change, emphasizing its importance in urban design to address climate-related disasters. Specifically, the research centers on Hunter's Point South Park in Long Island City, New York, examining its design resilience in the aftermath of Hurricane Sandy. This study aimed to develop an updated resilience toolkit for the designated area using assessment tools from organizations such as the Resilience Alliance, the Rockefeller Foundation, A RUP, and UN-Habitat. The toolkit includes a comprehensive questionnaire derived from crucial elements of existing assessment tools, fostering a systems-thinking approach to resilience in urban studies. Stakeholder involvement is crucial, as this study advocates incorporating community input, local authorities, and the natural environment in project development. The objective is to achieve long-term sustainability, efficiency, and resilience by choosing durable materials, low maintenance greenery, and engaging stakeholders. Also, given the high urban population, health is essential for climate-resilient urban development, as mentioned throughout the study. Prioritizing health in urban resilience planning reduces adverse impacts and fosters adaptable communities. While encouraging further field studies and research, this study underscores the necessity of ongoing efforts to enhance climate change resilience and guide sustainable development decisions.

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Real-time Path Planning Algorithm based on Ridge Detection for Solid-State LiDAR-based Autonomous Agricultural Robot

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Journal of Institute of Control, Robotics and Systems 2022年第2期28卷 146-152页

作者： Baek, Seungbeom Kim, Bongsang Lee, Jaewook Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle·Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

Autonomous robots driving in agricultural environments need to create accurate routes to prevent damaging farmland. Herein, a real-time path planning algorithm based on ridge detection using the Livox Mid70 LiDAR is proposed. The field has a steep slope between the furrow and the ridge, and we find data corresponding to this slope from the lidar data. Using two Mid70 LiDARs, we collect the left and right slope data and linearly fit the slope data using the RANSAC algorithm. Finally, the driving route is obtained from the average of the two straight lines. To verify the algorithm, the steering angle needed to follow the driving path was calculated, and an autonomous driving test was conducted in the actual field environment: it was observed that the robot drove stably. Additional tests will be conducted in more rugged terrain. © ICROS 2022.

关键词： Optical radar

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Superabsorbent Ternary Composite Desiccants Towards Energy-Efficient Dehumidification in Cooling Systems 13

Superabsorbent Ternary Composite Desiccants Towards Energy-E...

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13th IEEE International Conference and Expositions on Electric and Power Engineering, EPEi 2024

作者： Wee, Mei Gui Vanessa Chinnappan, Amutha Ramakrishna, Seeram National University of Singapore Integrative Sciences and Engineering Program NUS Graduate School Singapore Singapore National University of Singapore Centre for Nanotechnology and Sustainability Department of Mechanical Engineering College of Design and Engineering Singapore Singapore

ISBN: (纸本)9798350356199

Desiccant-coated heat exchangers (DCHEs) enable energy-efficient dehumidification, alleviating the overall heat load on vapor compression refrigeration systems. However, conventional desiccants have limited water uptake capacities and high regeneration temperature requirements. This work presents ternary composite desiccants comprising the metal-organic framework, MIL-101(Cr) (where MIL denotes Materials Institute Lavoisier), the superabsorbent polymer polyvinyl alcohol (PVA), and hygroscopic salts for enhanced moisture sorption. Gravimetric water sorption analyses revealed that desiccants containing lithium chloride (LiCl) attained water uptakes greater than their calcium chloride- and copper (II) sulfate-containing counterparts. Subsequent cyclic tests identified the optimal MIL-101(Cr)/PVA/LiCl composite that adsorbed and desorbed moisture readily. From its water sorption isotherm, the 3MIL-101(Cr)/1PVA/1 LiCl desiccant has a water uptake capacity of 2.49g {water} g desiccant-1 - nearly double that of MIL-101(Cr) and more than nine times that of silica gel. When coated onto a prototype heat exchanger, the 3MIL-101(Cr)/1PVA/1 LiCl composite demonstrated a gravimetric water uptake more than double that of the silica gel-coated control across three adsorption-desorption cycles. Moreover, low-grade waste heat of 50°C could partially regenerate these DCHEs, leaving behind residual moisture of less than 0.5g{water} gdesiccant-1. Consequently, the 3MIL-101(Cr)/1PVA/1LiCl-coated heat exchangers are effective dehumidifiers for addressing the latent heat load towards energy savings in cooling systems. © 2024 IEEE.

关键词： Silica gel

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