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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Cheng, Haibo He, Yunpeng Zeng, Peng Li, Shichao Vyatkin, Valeriy Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Luleå University of Technology Department of Computer Science Electrical and Space Engineering Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350331820

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction. © 2023 IEEE.

关键词： Forecasting

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Chance Constrained Routing and Charging Problem of Electric Vehicles

Chance Constrained Routing and Charging Problem of Electric ...

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2022 Chinese Automation Congress, CAC 2022

作者： Chen, Shibo Yao, Canqi Miao, Haoyu Li, Zhicheng Yang, Zaiyue The Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Internet of Things Research Institute Shenzhen Polytechnic Shenzhen518055 China

ISBN: (纸本)9781665465335

Different from traditional vehicles, the routing problem of electric vehicles (EVs) is closely coupled with their charging. Hence, operating EV requires a joint optimization of both routing and charging. Moreover, the travel time and energy consumption uncertainties also bring challenges to the EV operation in practice. In this paper, we study the routing and charging problem of EVs under the chance constrained optimization framework, where uncertainties are tackled with probabilistic constraints. An iterative algorithm is proposed, which transforms the original challenging mixed-integer nonlinear program into the iteration of two linear programs. The finite convergence of this algorithm is also proved. Numerical results show that our proposed algorithm can achieve near-optimal solutions in rather short computation times. © 2022 IEEE.

关键词： Electric vehicles

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Robust Optimization of a Stator Tooth Chamfering IPMSM for Electric Power Steering Applications

Robust Optimization of a Stator Tooth Chamfering IPMSM for E...

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2024 International Conference on Electrical Machines, ICEM 2024

作者： Liu, Liyang Ma, Yiming Wang, Ruichi Li, Zequan Sun, Lu Zhao, Hang Robotics and Autonomous Systems Thrust Guangzhou China CSG PGC Energy Storage Research Institute China Southern Power Grid Energy Storage Co. Ltd Guangzhou China School of Mechanical Electrical and Manufacturing Loughborough University Loughborough United Kingdom School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350370607

The impact of manufacturing errors on motor performance is a crucial issue in the mass production of electric motor products. However, robust indexes are complicated to consider in the design process due to the enormous computational complexity. This paper presents a surrogate- assisted robust optimization method that integrates sensitivity analysis with Pareto front infill criteria. The approach enables efficient sampling in the regions where the optimal solution is most probable, thereby ensuring the local generalization capability of the surrogate model. As a result, robust optimization of probabilistic manufacturing error variables is effectively accomplished. An interior permanent-magnet synchronous machine (IPMSM) employing the stator tooth chamfering technique to mitigate cogging torque is examined for electric power steering applications. To verify the effectiveness of this approach, a limited series of prototypes were fabricated and rigorously tested, confirming the practicality of the proposed method. © 2024 IEEE.

关键词： Stators

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Recyclable thin-film soft electronics for smart packaging and e-skins

arXiv

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arXiv 2025年

作者： Carneiro, Manuel Reis de Almeida, Aníbal T. Tavakoli, Mahmoud Majidi, Carmel Soft Machines Lab Department of Mechanical Engineering Carnegie Mellon University PittsburghPA15213 United States Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal

Despite advances in soft, sticker-like electronics, few efforts have dealt with the challenge of electronic waste. Here, we address this by introducing an eco-friendly conductive ink for thin-film circuitry composed of silver flakes (Ag) and a water-based polyurethane (WPU) dispersion. This ink uniquely combines high electrical conductivity (1.6x105 S/m), high resolution digital printability, robust adhesion for microchip integration, mechanical resilience, and recyclability. Recycling is achieved with an ecologically-friendly processing method to decompose the circuits into constituent elements and recover the conductive ink with a decrease of only 2.4% in conductivity. Moreover, adding liquid metal enables stretchability of up to 200% strain, although this introduces the need for more complex recycling steps. Lastly, we demonstrate on-skin electrophysiological monitoring biostickers along with a recyclable smart package with integrated sensors for monitoring safe storage of perishable foods. © 2025, CC BY-NC-ND.

关键词： Electronic Waste

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ARIADNE: A Wearable Platform for Evaluating Vibrotactile Motion Guidance

SSRN

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SSRN 2024年

作者： Rokhmanova, Nataliya Martus, Julian Faulkner, Robert Fiene, Jonathan Kuchenbecker, Katherine J. Haptic Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart Germany Department of Mechanical Engineering Carnegie Mellon University PittsburghPA United States Robotics Central Scientific Facility Max Planck Institute for Intelligent Systems Stuttgart Germany

Vibrotactile biofeedback can enhance motor learning, sports training, and rehabilitation, but the immature designs of existing devices limit effectiveness and adoption. The common approach of strapping devices to the body introduces variability in vibration amplitude;stretchable adhesive devices standardize skin contact but require specialized manufacturing and may suffer from hysteresis and degradation. We present ARIADNE (Adhesive Resonant Interface for Applying Directional Nudges Effectively), a portable open-source platform that delivers reliable vibrotactile feedback to any part of the body. ARIADNE was validated first by using its accelerometers to examine how mechanical actuator vibration, anatomical site, and body composition affect perceived vibration strength in 20 participants. Second, ARIADNE was paired with an optical motion-capture system to teach six participants a toe-in gait, showing potential for real-time, tailored clinical studies. By openly sharing ARIADNE's hardware, software, and dynamic model, we provide tools for delivering standardized vibrations and benchmarking feedback strategies in diverse applications. © 2024, The Authors. All rights reserved.

关键词： Biofeedback

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Model-Based Shape Estimation and Closed-Loop Control of Magnetic Continuum Robot Based on Monocular Vision

Model-Based Shape Estimation and Closed-Loop Control of Magn...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhu, Junfeng Huang, Yuanrui Chen, Jian Liu, Hongbin School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100049 China Hong Kong Institute of Science Innovation Chinese Academy of Sciences Centre of AI and Robotics China School of Biomedical Engineering and Imaging Sciences King's College London United Kingdom

ISBN: (纸本)9781665481090

Magnetic continuum robots (MCRs) show promising potential for applications in narrow lumens, such as vascular interventions. Accurate shape sensing of these robots is crucial for the success of interventional surgeries. However, the submillimeter dimensions of MCRs poses significant challenges for integrating additional sensors. An alternative approach is shape estimation from images, yet the lack of precise MCR kinematics can make this process time-consuming. In this work, we propose a novel MCR design featuring a rectangular tip capable of specific planar bending, along with a corresponding kinematic model and a mechanical model. Additionally, we introduce a model-based shape estimation method that enables the estimation of the MCR's shape from a single-view image without the need for external markers. Experimental results demonstrate that our method can estimate an MCR's shape with a mean absolute error (MAE) of 0.58 ± 0.41 mm within 85ms, facilitating real-time application. Furthermore, closed-loop control based on this method has achieved an end position error below 11% of the tip's total length, highlighting the accuracy and practicality of our approach for surgical interventions. © 2024 IEEE.

关键词： Closed loop control systems

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StixelNExT: Toward Monocular Low-Weight Perception for Object Segmentation and Free Space Detection

StixelNExT: Toward Monocular Low-Weight Perception for Objec...

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IEEE Symposium on Intelligent Vehicle

作者： Marcel Vosshans Omar Ait-Aider Youcef Mezouar Markus Enzweiler Institute for Intelligent Systems Which is Part of the Faculty of Computer Science and Engineering University of Applied Sciences Esslingen Germany Institut Pascal ISPR (Image Systems of Perception Robotics) Universite Clermont Auvergne INP / CNRS France

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

In this work, we present a novel approach for general object segmentation from a monocular image, eliminating the need for manually labeled training data and enabling rapid, straightforward training and adaptation with minimal data. Our model initially learns from LiDAR during the training process, which is subsequently removed from the system, allowing it to function solely on monocular imagery. This study leverages the concept of the Stixel-World to recognize a medium level representation of its surroundings. Our network directly predicts a 2D multi-layer Stixel-World and is capable of recognizing and locating multiple, superimposed objects within an image. Due to the scarcity of comparable works, we have divided the capabilities into modules and present a free space detection in our experiments section. Furthermore, we introduce an improved method for generating Stixels from LiDAR data, which we use as ground truth for our network.

关键词： Training Space vehicles Adaptation models Laser radar Image recognition Intelligent vehicles Training data

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Forearm-Driven Soft Prosthetic Hand Designed for Children with the Ability to Execute Intricate and Skillful Motions 11

Forearm-Driven Soft Prosthetic Hand Designed for Children wi...

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11th International Conference on Mechatronics and robotics engineering, ICMRE 2025

作者： Taniguchi, Hironari Yakami, Ren Morinaga, Kosuke Wakimoto, Shuichi Osaka Institute of Technology Department of Robotics and Design Osaka Japan Hiroshima International University Department of Rehabilitaion Higashi-Hiroshima Japan Okayama University Department of Systems Engineering Okayama Japan

ISBN: (纸本)9798331509293

The prosthetic hand we have developed is powered by air pressure, and its functionality is not impaired even when the finger joints are flexibly deformed. This makes it possible to grasp objects of various shapes, and it has the advantages of durability and high safety for the user and others. We have evaluated the performance of the developed prosthetic hand and conducting user tests using only the prosthetic hand. Of the 19 tasks performed, 14 were successfully completed. The user was able to achieve movements that were comparable to those of normal subjects in the task using grip strength grasping. The results of the user test confirmed several issues regarding the functionality of the prosthetic hand, but it was thought that it could sufficiently fulfill the purpose of assisting bimanual motion in an environment where children actually use the prosthetic hand. © 2025 IEEE.

关键词： prosthetic hand soft actuator soft robotics

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A testing model for the mechatronic system

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UPB Scientific Bulletin, Series D: Mechanical engineering 2021年第1期83卷 113-124页

作者： Sima, Liviu Mihai Zapciu, Miron University POLITEHNICA of Bucharest Faculty of Industrial and Robotics Engineering Department of Robots and Production Systems Bucharest Romania University POLITEHNICA of Bucharest Scientific Director of Research Institute SC INCERTRANS SA Bucharest Romania

Mechatronics is a technology that has developed and continues to develop more and more. The mechatronic system considered is the result of the integration of mechanical, electrical / electronic parts, as well as information processing. In order to carry out a systematic design of a mechatronic system, an interdisciplinary discipline of integrated design is required. To organize the design of activities in different disciplines and help designers to achieve multidisciplinary design integration, a design methodology is on a multidisciplinary interface model proposed. According to engineering systems, an extended "V"-model used as a macro-level process in the proposed design methodology. This starts with identifying system-wide requirements and ends with a user-validated system. The hierarchical design model adopted as a micro process level. The article is discussing about the ways to test a mechatronic system. © 2021, Politechnica University of Bucharest. All rights reserved.

关键词： Design

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Forearm-Driven Soft Prosthetic Hand Designed for Children with the Ability to Execute Intricate and Skillful Motions

Forearm-Driven Soft Prosthetic Hand Designed for Children wi...

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Mechatronics and robotics engineering (ICMRE), International Conference on

作者： Hironari Taniguchi Ren Yakami Kosuke Morinaga Shuichi Wakimoto Department of Robotics and Design Osaka Institute of Technology Osaka Japan Department of Rehabilitaion Hiroshima International University Higashi-Hiroshima Japan Department of Systems Engineering Okayama University Okayama Japan

ISBN: (数字)9798331509293

ISBN: (纸本)9798331509309

关键词： Wiring Pediatrics Actuators Shape Grasping Soft robotics Valves Safety Solenoids Prosthetic hand

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