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Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat

Cyborg and Bionic systems 2023年第1期4卷 225-232页

作者： Hongzhao Xie Zihang Gao Guanglu Jia Shingo Shimoda Qing Shi Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Nagoya University Graduate School of Medicine NagoyaJapan

In this paper,we propose a novel method for emulating rat-like behavioral interactions in robots using reinforcement ***,we develop a state decision method to optimize the interaction process among 6 known behavior types that have been identified in previous research on rat *** novelty of our method lies in using the temporal difference(TD)algorithm to optimize the state decision process,which enables the robots to make informed decisions about their behavior *** assess the similarity between robot and rat behavior,we use Pearson *** then use TD-λto update the state value function and make state decisions based on *** robots execute these decisions using our dynamics-based *** results demonstrate that our method can generate rat-like behaviors on both short-and long-term timescales,with interaction information entropy comparable to that between real ***,our approach shows promise for controlling robots in robot-rat interactions and highlights the potential of using reinforcement learning to develop more sophisticated robotic systems.

关键词： robot enable similarity

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Damage evolution and removal behaviors of GaN crystals involved in double-grits grinding

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International Journal of Extreme Manufacturing 2024年第2期6卷 469-484页

作者： Chen Li Yuxiu Hu Zongze Wei Chongjun Wu Yunfeng Peng Feihu Zhang Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China Key Laboratory of Microsystems and Microstructures Manufacturing(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China College of Mechanical Engineering Donghua UniversityShanghai 201620People’s Republic of China Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361005People’s Republic of China

Elucidating the complex interactions between the work material and abrasives during grinding of gallium nitride(GaN)single crystals is an active and challenging research *** this study,molecular dynamics simulations were performed on double-grits interacted grinding of GaN crystals;and the grinding force,coefficient of friction,stress distribution,plastic damage behaviors,and abrasive damage were systematically *** results demonstrated that the interacted distance in both radial and transverse directions achieved better grinding quality than that in only one *** grinding force,grinding induced stress,subsurface damage depth,and abrasive wear increase as the transverse interacted distance ***,there was no clear correlation between the interaction distance and the number of atoms in the phase transition and dislocation *** interacted distances between abrasives can decrease grinding force,coefficient of friction,grinding induced stress,subsurface damage depth,and abrasive wear during the grinding *** results of grinding tests combined with cross-sectional transmission electron micrographs validated the simulated damage results,*** atoms,high-pressure phase transition,dislocations,stacking faults,and lattice *** results of this study will deepen our understanding of damage accumulation and material removal resulting from coupling between abrasives during grinding and can be used to develop a feasible approach to the wheel design of ordered abrasives.

关键词： grinding double-grits molecular dynamics damage material removal gallium nitride

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Inline induction heating for high-pressure fuel-based testing applications

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Journal of engineering and Applied Science 2023年第1期70卷 111页

作者： Thampy, Tom Rivington, Emmanuel Gospel Raj Avulapati, Madan Mohan Murthy, Niroop Srinivasa Aerospace Systems Central Manufacturing Technology Institute Karnataka Bengaluru India Department of Mechanical Engineering Indian Institute of Technology Tirupati Andhra Pradesh Tirupati India

Induction heating offers numerous advantages over conventional methods for heating high-pressure fluids in hydraulic testing applications. It simplifies complex processes, mitigates the risks associated with high-pressure environments, and enhances overall safety. The design of an efficient induction heating system requires a clear understanding of its key components, including the resonant tank circuit, impedance matching and isolation stage, high-frequency inverter, driver circuitry, and controller. The configuration of the resonant circuit plays a crucial role in device ratings and control methods. To meet the demanding requirements of switching devices like IGBTs, the driver circuit must ensure high immunity to interferences and failure. Effective system design allows the heating circuit to operate close to resonant switching, minimizing switching losses and cooling requirements. This paper presents the design and development of a 4-kW induction heater specifically tailored for inline heating of aviation fuel under high pressure. The system aims to achieve a precise temperature profile for testing line-replaceable units (LRUs) used in aircraft. The design methodology encompasses the selection of the resonant tank circuit configuration, impedance matching and isolation stage, high-frequency inverter, driver circuitry, and control strategies. Through extensive simulations in LTspice and experimental measurements, power losses in different components of the power conversion circuits are assessed, and overall system efficiency is evaluated. The results demonstrate the proposed induction heating system’s remarkable energy efficiency, reduced switching losses, and improved reliability. Furthermore, a comprehensive comparison with existing designs and industry norms is presented, highlighting the distinct advantages of the proposed system in terms of cost-effectiveness, energy efficiency, material utilization, and processing time. This research contributes valuable ins

关键词： Closed loop systems

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Robotic Stacking of Irregular Objects with Load Position Identification and Compensation 19

Robotic Stacking of Irregular Objects with Load Position Ide...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Zhou, Xiangyu Zhao, Guangbao Xing, Yan Wu, Jianhua Xiong, Zhenhua Institute of Robotics School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9798350320695

Autonomous facility construction is a challenging task in the field of robotic manipulation, which is faced with the uncertainty of operating objects and the construction environment. This paper proposes a set of algorithms for the autonomous stacking of irregular objects by robots, including size recognition of objects, position identification and compensation of load using a force sensor, and stacking position detection. The method effectively compensates for the uncertainty in the position of the object relative to the gripper after grasping. We have performed stacking experiments on the robot. For four randomly placed irregular stones in the sand, the robot autonomously and successfully completed a stable positive pyramidal stacking. Our experiments demonstrate the feasibility of the proposed method. © 2023 IEEE.

关键词： Robots

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Influence of heat treatment time on oxide scale formed on Mg containing Al based alloys

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Keikinzoku/Journal of Japan institute of Light Metals 2024年第3期74卷 147-152页

作者： Jo, Atsushi Kato, Masaaki Yamauchi, Akira Department of Production Systems Engineering National Institute of Technology Gunma College 580 Toriba-machi Gunma Maebashi-shi371-8530 Japan Department of Mechanical Engineering National Institute of Technology Gunma College Maebashishi Gunma Japan

Cube specimens of AC4B aluminum alloy, Al-1%Mg, and Al-3%Mg were oxidized in air at 773 K for up to 25 h to investigate the influence of heat treatment time and Mg concentration. The original specimens and oxidation products were characterized by X-ray diffractometry, scanning electron microscopy, and X-ray photoelectron spectroscopy. SEM observation showed that the oxide scale grew thick and the surface of the oxide scale consisted of granular grain. Simultaneously, the tone color of the specimens became darker. The XRD and XPS analysis indicated that oxide scales mainly consist of MgO and MgAl2O4, and the top surface was covered with MgO. In addition, the ratio of MgAl2O4 on the surface of oxide scales tended to increase with heat treatment time. The XPS depth profile of Al-3%Mg alloy showed that oxide scale grew up to the thickness of 6 μm. The thermodynamic calculations suggested that the most stable compound on the surface of specimens is MgAl2O4 and then the kinetic factor is strongly influenced by the surface oxidation of Mg-containing Al alloys. © 2024 The Japan institute of Light Metals.

关键词： Binary alloys

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Generalized Two-Point Visual Control Model of Human Steering for Accurate State Estimation1

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ASME Letters in Dynamic systems and Control 2025年第1期5卷 011004页

作者： Mai, Rene E. Sears, Katherine Roessling, Grace Julius, Agung Mishra, Sandipan Department of Mechanical Aerospace and Nuclear Engineering Rensselaer Polytechnic Institute TroyNY12180 United States Department of Cognitive Science Rensselaer Polytechnic Institute TroyNY12180 United States Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180 United States

We derive and validate a generalization of the two-point visual control model, an accepted cognitive science model for human steering behavior. The generalized model is needed as current steering models are either insufficiently accurate or too complex for online state estimation. We demonstrate that the generalized model replicates specific human steering behavior with high precision (85% reduction in modeling error) and integrate this model into a human-as-advisor framework where human steering inputs are used for state estimation. As a benchmark study, we use this framework to decipher ambiguous lane markings represented by biased lateral position measurements. We demonstrate that, with the generalized model, the state estimator can accurately estimate the true vehicle state, providing lateral state estimates with under 0.15 m error across participants. However, without the generalized model, the estimator cannot accurately estimate the vehicle's lateral state. © 2024 by ASME.

关键词： Man machine systems

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Optimization of Center of Gravity Position and Anti-Wave Plate Angle of Amphibious Unmanned Vehicle Based on Orthogonal Experimental Method

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Computer Modeling in engineering & Sciences 2024年第5期139卷 2027-2041页

作者： Deyong Shang Xi Zhang Fengqi Liang Chunde Zhai Hang Yang Yanqi Niu School of Mechanical Electronic&Information EngineeringChina University of Mining and Technology(Beijing)Beijing100083China Institute of Intelligent Mining&Robotics China University of Mining and Technology(Beijing)Beijing100083China

When the amphibious vehicle navigates in water,the angle of the anti-wave plate and the position of the center of gravity greatly influence the navigation *** the relevant research on reducing the navigation resistance of amphibious vehicles by adjusting the angle of the anti-wave plate,there is a lack of scientific selection of parameters and reasonable research of simulation results by using mathematical methods,and the influence of the center of gravity position on navigation characteristics is not considered at the same *** study the influence of the combinations of the angle of the anti-wave plate and the position of the center of gravity on the resistance reduction characteristics,a numerical calculation model of the amphibious unmanned vehicle was established by using the theory of computational fluid dynamics,and the experimental data verified the correctness of the numerical *** on this numerical model,the navigation characteristics of the amphibious unmanned vehicle were studied when the center of gravity was located at different positions,and the orthogonal experimental design method was used to optimize the parameters of the angle of the anti-wave plate and the position of the center of *** results show that through the parameter optimization analysis based on the orthogonal experimental method,the combination of the optimal angle of the anti-wave plate and the position of the center of gravity is *** the numerical simulation result of resistance is consistent with the predicted optimal *** with the maximum navigational resistance,the parameter optimization reduces the navigational resistance of the amphibious unmanned vehicle by 24%.

关键词： Amphibious unmanned vehicle orthogonal experimental design anti-wave plate center of gravity resistance characteristic

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A study on the noise reduction method in turbid water environments using Spatial frequency characteristics 9

A study on the noise reduction method in turbid water enviro...

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9th International Conference on Intelligent Informatics and BioMedical Sciences, ICIIBMS 2024

作者： Koura, Ayumu Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Graduate School of Computer Science and Systems Engineering Iizuka city Japan Hankyong National University School of ICT Robotics and Mechanical Engineering Iitc Anseong-si Korea Republic of

ISBN: (纸本)9798350363043

Scattering noise reduction is a challenging project to remove noise under scattering media conditions such as fog or turbid water. In previous study, blurring caused by scattering medium particles in fog or turbid water was removed by low-pass filtering. However, in this method, the accurate color information of the object may be lost due to rough low-frequency filtering. In addition, it is difficult to the obtain object shape information in heavy turbid environments. To solve this problem, we propose a new de-scattering algorithm that combines Fourier-domain filtering and integral imaging by creating a filter tailored to the frequency to be removed. To prove the proposed method, we perform a numerical analysis of experimental results using conventional and proposed methods. © 2024 IEEE.

关键词： Noise abatement

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A study on Image Processing Method for Noise Reduction in Digital Holographic Microscopy 9

A study on Image Processing Method for Noise Reduction in Di...

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9th International Conference on Intelligent Informatics and BioMedical Sciences, ICIIBMS 2024

作者： Nagashima, Masaharu Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Graduate School of Computer Science and Systems Engineering Iizuka city Japan Iitc Hankyong National University School of Ict Robotics and Mechanical Engineering Anseong-si Korea Republic of

ISBN: (纸本)9798350363043

Digital Holographic Microscopy (DHM) can obtain three-dimensional (3D) information about the fine structure of an object by utilizing the phase information of coherent light. In DHM, during the process of reconstructing the shape of an object, phase information is extracted by windowing the sideband containing the phase information. The 3D information of the object is then obtained from the acquired phase information. When windowing the sideband in a narrow range, it can remove noise caused by the DC spectrum, but detailed shape information of the object is lost. On the other hand, when windowing in a wide range, detailed shape information of the object can be obtained, but noise from the DC spectrum increases. To solve this trade-off relationship, we propose a method of determining the range for windowing the sideband using a function and then averaging the windowed sidebands. This proposed method can reduce the impact of noise from the DC spectrum and enables the acquisition of the detailed shape information. In this paper, we explain the reconstruction algorithm of this method and compare it with conventional methods and the previous study, phase differences averaging (PDA). © 2024 IEEE.

关键词： Noise abatement

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Guidelines For Optimal Human Mesh Generation Using Deep Learning-Driven Avatar Reconstruction For Gait Analysis 23

Guidelines For Optimal Human Mesh Generation Using Deep Lear...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Stavrakakis, Odysseas I. Mastrogeorgiou, Athanasios Smyrli, Aikaterini Papadopoulos, Evangelos National Technical University of Athens School of Mechanical Engineering Greece Athena Rc Robotics Institute Marousi15125 Greece

ISBN: (纸本)9798350373578

Gait analysis is essential in many scientific fields;to study it marker-based or markerless motion capture (MoCap) techniques are used. The latter have significantly benefited from the recent rise of research in deep learning (DL) and its applications on human mesh generation. However, insufficient and suboptimal camera viewpoint selections often lead to low-grade human mesh geometries. This paper presents an approach to consistently obtain accurate human meshes using DL-based avatar reconstruction algorithms (ARAs). Our framework provides a systematic approach, utilizing a simulated environment to inform decisions on the number of cameras and their spatial configuration to achieve optimal reconstruction results. These results are enhanced through mesh evaluation, mesh alignment, and surface reconstruction to remove poorly formed geometries and artifacts. Additionally, we present a gait analysis tool, tested in simulation and reality (Fig. 1), that detects gait phase changes, extracts the significant human body joint angles and recreates the animation of the gait cycle in 3D space. The proposed approach is open-source, adjustable, and applicable to various research contexts where gait analysis is essential. © 2024 IEEE.

关键词： Deep learning

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