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Machine-learning-driven prediction of flow curves and development of processing maps for hot-deformed Ni–Cu–Co–Ti–Ta alloy

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Journal of Materials Research and Technology 2025年 36卷 7447-7456页

作者： Reliance Jain Sandeep Jain Sheetal Kumar Dewangan M.R. Rahul Sumanta Samal Eunhyo Song Younggeon Lee Yongho Jeon Krishanu Biswas Gandham Phanikumar Byungmin Ahn Department of Materials Science and Engineering Ajou University Suwon 16499 Republic of Korea Department of Mechanical Engineering Ajou University Suwon 16499 Republic of Korea Department of Automation & Robotics Engineering Prestige Institute of Engineering Management and Research Indore 452010 India School of Materials Science and Engineering Yeungnam University Gyeongsan 38541 Republic of Korea Department of Fuel Minerals and Metallurgical Engineering Indian Institute of Technology (ISM) Dhanbad 826004 India Department of Metallurgy Engineering and Materials Science Indian Institute of Technology Indore Indore 453552 India Department of Energy Systems Research Ajou University Suwon 16499 Republic of Korea Department of Materials Science and Engineering Indian Institute of Technology Kanpur Kanpur 208016 India Department of Metallurgical and Materials Engineering Indian Institute of Technology Madras Chennai 600036 India

Optimizing hot deformation conditions is critical for achieving efficient thermo-mechanical processing of advanced alloy systems. In this study, a multicomponent Ni 48 Cu 10 Co 2 Ti 38 Ta 2 alloy was developed, exhibiting a refined eutectic microstructure composed of NiTi and Ni 3 Ti phases, along with coarse Ti 2 Ni and NiTi dendritic phases. High-temperature compression tests were performed using a Gleeble® thermo-mechanical simulator over a temperature range of 973–1273 K and strain rates from 10 −2 to 10 s −1 to investigate the alloy flow behavior. To reduce experimental efforts and enhance prediction accuracy, five machine learning (ML) models random Forest (RF), XGBoost (XGB), decision tree (DT), K-Nearest neighbor (KNN), and gradient boosting (GB) were applied to predict the flow stress–strain response and construct processing maps. Among these, the RF model demonstrated superior predictive performance, particularly at a strain rate of 0.1 s −1 , with R 2 = 0.97, RMSE = 10.1 %, and MAE = 8.9 %. The flow curves predicted by the RF model were used to develop precise processing maps, identifying optimal and safe deformation conditions. The resulting processing maps were validated through experiments, confirming that the alloy can be safely deformed within the temperature range of 1173–1273 K and strain rates between 10 −0.8 and 10 −2 s −1 . This integrated experimental–computational approach offers a reliable and efficient strategy for determining hot working conditions, reducing material and energy consumption. It also presents a robust framework for advancing the development of high-temperature alloy systems through the combination of ML techniques and experimental validation.

关键词： Ni–Ti-Based alloy Hot deformation Kinetic analysis Processing map Machine learning

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Development of micro-and nanorobotics: A review

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Science China(Technological Sciences) 2019年第1期62卷 1-20页

作者： YANG Jia ZHANG Chuang WANG XiaoDong WANG WenXue XI Ning LIU LianQing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Emerging Technologies Institute Department of Industrial & Manufacturing Systems Engineering University of Hong Kong

Micro-and nanorobotic is an emerging field of research arising from the cross-fusion of micro/nano technology and robotics and has become an important part of robotics. Micro-and nanorobots have the advantages of small size, low weight, large thrust-toweight ratio, high flexibility, and high sensitivity. Due to the characteristics distinguishing from macroscopic robots, micro-and nanorobots have stimulated the research interest of the scientific community and opened up numerous application fields such as drug delivery and disease diagnosis. In the past 30 years, research on micro-and nanorobots has made considerable *** article provides a comprehensive overview of the development of these robots. First, the application of the robots is reviewed. Then, the key components of the robots are discussed separately, covering their actuation, design, fabrication and control. In addition, from the perspectives of intelligence and sensing, clinical applications, materials and performance, the challenges that may be encountered in the development of such robots in the future are discussed. Finally, the entire article is summarized, and concepts for future micro-and nanorobots are described.

关键词： micro-and nanorobots magnetic actuation manipulation biohybrid robot

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Collision Position Sensing for Manipulator Using Force/Torque Sensor 34

Collision Position Sensing for Manipulator Using Force/Torqu...

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第三十四届中国控制会议

作者： LENG Yuquan CHEN Zhengcang ZHANG Wei ZHANG Yang HE Xu LUO Haitao ZHOU Weijia Department of Space Automation Technologies & Systems the State Key Laboratory of RoboticsShenyang Institute of Automation University of Chinese Academy of Science

ISBN: (纸本)9781467374439

Force sensing including collision position, force direction and force size makes robots smoothly interact with environment to strongly adapt to outside world. Skin sensing imitates principle of human skin using special material and physical structure with disadvantages of complex design, low sampling rate, and poor generality and so on. In this paper, the method of using fore/torque sensor to calculate collision position, force direction and force size is provided. We detail elaborate algorithm based on physical principle, and unified modeling method for basic geometric surface. Considering algorithm solvability and uniqueness, three constraints are proposed, which are joint constraint, contour constraint and force direction constraint. In order to solve conflict solution of algorithm in redundant constraints, we propose compatibility and method. In addition, gravity compensation and dynamic compensation are also described for working manipulator in gravity and dynamic environment. As a result of our simulation experiment, we would find that this method is effective for manipulator to measure collision position.

关键词： Collision Position Force/Torque Sensor Skin Sensor Manipulator

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Controlling CAN Servo Step Drives and Their Remote Monitoring by Using Protocol OPC UA

Controlling CAN Servo Step Drives and Their Remote Monitorin...

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2019 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2019

作者： Martinov, G. Issa, A. Martinova, L. Institute of Automation and Robotics Dept. Computer Control Systems Moscow Russia

ISBN: (纸本)9781728100616

The diverse requirements of customers in automation systems increase the need for improved adaptability, flexibility and of simplicity production processes. which creates new horizons for modern production systems. Fortunately, the achievements of the Industry 4.0 (fourth industrial revolution) have provided many solutions to these problems. In this study, an OPC UA-based solution is proposed for monitoring the working process of CAN servo drives. By integrating C++ based OPC UA libraries to implement common OPC UA functionality and developing protocol of interaction between the kernel of CNC system and OPC UA server. The aim of this work is to ensure the connection mechanism between OPC UA Server of CNC system and OPC UA clients which are currently existed on the market. This flexible model allows users to remotely tune and set up CAN servo drives and monitor their work. © 2019 IEEE.

关键词： Digital storage

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Parallel Learning:a Perspective and a Framework

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 389-395页

作者： Li Li Yilun Lin Nanning Zheng Fei-Yue Wang Department of Automation TNListTsinghua University IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences Institute of Artificial Intelligence and Robotics(IAIR) Xi'an Jiaotong University Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology

The development of machine learning in complex system is hindered by two problems *** first problem is the inefficiency of exploration in state and action space,which leads to the data-hungry of some state-of-art data-driven *** second problem is the lack of a general theory which can be used to analyze and implement a complex learning *** this paper,we proposed a general methods that can address both two *** combine the concepts of descriptive learning,predictive learning,and prescriptive learning into a uniform framework,so as to build a parallel system allowing learning system improved by *** a new perspective of data,knowledge and action,we provide a new methodology called parallel learning to design machine learning system for real-world problems.

关键词： Descriptive learning machine learning parallel learning parallel systems predictive learning prescriptive learning

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Evaluation of a vibrotactile feedback device for spatial guidance

Evaluation of a vibrotactile feedback device for spatial gui...

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2011 IEEE World Haptics Conference, WHC 2011

作者： Weber, Bernhard Schätzle, Simon Hulin, Thomas Preusche, Carsten Deml, Barbara University of Magdeburg Institute of Ergonomics Manufacturing Systems and Automation Germany Institute of Robotics and Mechatronics Germany

ISBN: (纸本)9781457702976

In the present study, a vibrotactile feedback device for spatial guidance was evaluated in a tracking task paradigm. Participants (N = 18) had to translate and rotate virtual objects according to the vibrotactile vs. verbal cues without visual information. Both types of spatial guidance were evaluated using objective performance data (i.e. speed, accuracy) as well as subjective judgments. Results indicate that distinguishing spatial cues during the translational task was more difficult when being guided by vibrotactile feedback compared to verbal feedback. Nevertheless, individuals with vibrotactile guidance showed better performance at rotational tasks. Implications for the further design process and other areas of application are discussed. © 2011 IEEE.

关键词： Accuracy Actuators Analysis of variance Atmospheric measurements Haptic I/O Human Factors Humans Particle measurements Visualization Voice I/O

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Parallel Driving in CPSS:A Unified Approach for Transport automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Ground condition sensing of a snake-like robot

Ground condition sensing of a snake-like robot

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IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Lu, Y Ma, SG Li, B Chen, L Robotics Laboratory Shenyang Institute of Automation CAS China Department of Systems Engineering Ibaraki University Japan

ISBN: (纸本)078037925X

Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot locomotion on different terrains simply, then point out the significance to sense the ground status that is the base of choosing different locomotion form on different ground. Last we use force sensors to distinguish the different ground status.

关键词： Robots

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A Simple Manufactured Hardness Sensor Based on Multi-Layer Liquid Metal Sensing for Surgical robotics

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Advanced Electronic Materials 2025年

作者： Yue, Tao Zhang, Yuyin Gan, Yuanjie Hu, Chengzhi Wang, Yue School of Mechatronics Engineering and Automation Shanghai University Shangda Road 99 Shanghai 200436 China Shanghai Institute of Intelligent Science and Technology Tongji University Siping Road 1239 Shanghai 200092 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China School of Future Technology Shanghai University Shangda Road 99 Shanghai 200436 China

Tactile information, serving as the most intricate form of data humans gather from the external environment, has long been a significant area of focus for wearable flexible sensors. The advancement of wearable technology and robotics in healthcare has spurred research into integrating thin, compact flexible sensors into robotic systems for mimicking human tactile tissue manipulation during surgery and data collection. Here, a continuous injection method is used to fabricate a multi-layer liquid metal sensor. By laminating multiple PDMS microfluidic layers, the two parameters of pressure and deformation are simultaneously measured in a decoupled manner. The compact and thin design of the sensor facilitates its integration into fingers or robotic digits, enabling assistance by deforming upon contact with materials and identifying their hardness through applied pressure. Separate performance tests of the two sensors show that the strain and pressure functions are decoupled from each other, and their ratios can identify and classify the hardness of different contact materials (glass, PDMS, and silicone). The hardness sensor can assist robots in operating human tissues during medical surgeries. The demonstrated fabrication and integration approaches provide a path toward tactile sensor applications in medical treatment, rehabilitation, services, and other processes. © 2025 The Author(s). Advanced Electronic Materials published by Wiley-VCH GmbH.

关键词： flexible sensor hardness sensor liquid metal

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