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arXiv 2025年

作者： Kaypak, Ali Umut Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical and Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging 3D convex shape-based High-Order Control Barrier Functions (HOCBFs) to address this issue. While prior works focused on using Control Barrier Functions (CBFs) for human–robotic arm and single-arm collision avoidance, we explore the problem of collision avoidance between multiple robotic arms operating in a shared space. In our methodology, we utilize the proposed HOCBFs as centralized and decentralized safety filters. These safety filters are compatible with any nominal controller and ensure safety without significantly restricting the robots’ workspace. A key challenge in implementing these filters is the computational overhead caused by the large number of safety constraints and the computation of a Hessian matrix per constraint. We address this challenge by employing numerical differentiation methods to approximate computationally intensive terms. The effectiveness of our method is demonstrated through extensive simulation studies and real-world experiments with Franka Research 3 robotic arms. © 2025, CC BY.

关键词： Robotic arms

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Switching between MPPT and VSG Controls for Utility-Scale Photovoltaic Plants to Mitigate Power System Oscillations

Switching between MPPT and VSG Controls for Utility-Scale Ph...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Rajan Ratnakumar Ganesh K. Venayagamoorthy Holcombe Department of Electrical and Computer Engineering Real-Time Power and Intelligent Systems Laboratory Clemson University Clemson USA Department of Electrical Electronic and Computer Engineering University of Pretoria South Africa

ISBN: (数字)9798350376067

ISBN: (纸本)9798350376074

The decline of conventional synchronous generators in the modern power system is driven by the increasing demand for low-inertia/inertia-less renewable energy sources (RES), consequently leading to the growing integration of inverter-based resources (IBRs) into the power system. The incorporation of low-inertia/inertia-less IBRs makes the monitoring and damping of low-frequency electromechanical oscillations (EMOs) crucial. While Virtual Synchronous Generator (VSG) control introduces virtual inertia into the power system, it does not maximize energy capture from RES as effectively as maximum power point tracking (MPPT) does, as it should maintain a power reserve to provide the inertial support and damping. In this study, switching IBRs between MPPT and VSG controls based on an EMO index (EMOI) threshold is proposed to mitigate the emergence of EMO. The impact of the switching control of IBRs is illustrated for a modified two-area, four-machine power system with two large solar photovoltaic plants. Typical results are presented from a simulation on real-time digital simulator (RTDS) to show improved EMOI.

关键词： Maximum power point trackers Photovoltaic systems Damping Energy capture Stability criteria Switches Power system stability Control systems Synchronous generators Oscillators

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A Methodology for Estimating Allocation of Electric Vehicle Grid Interfaces in a Distribution System

A Methodology for Estimating Allocation of Electric Vehicle ...

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IEEE Power engineering Society Conference and Exposition in Africa, PowerAfrica

作者： Imanthi Kalanika Subasinghe Ganesh K. Venayagamoorthy Holcombe Department of Electrical and Computer Engineering Clemson University Real-Time Power and Intelligent Systems Laboratory Clemson USA Department of Electrical Electronic and Computer Engineering University of Pretoria South Africa

ISBN: (数字)9798350389388

ISBN: (纸本)9798350389395

The integration of electric vehicles (EVs) into the smart grid has introduced new challenges and opportunities for optimizing power and energy management. This paper presents a simple method using a decision-tree to estimate allocation of electric vehicle grid interfaces (EVGIs) for EV charging/discharging, leveraging the nodal capabilities of a distribution system. The future distribution system will cater for vehicle-to-grid (V2G) transactions in addition to grid-to-vehicle (G2V) transactions, thus EVGIs allowing for bidirectional (G2V/V2G) power flows need to be deployed. The proposed decision-tree method is based on nodal power flow ratings and peak demand at the nodes assuming the nodal voltages are maintained within their stability envelopes by volt-var optimization and other voltage control methods. The allocation of EVGIs in the IEEE 34 test node feeder distribution system using the decision-tree method is illustrated. The EVGI allocation using decision-trees is a simple method that can provide insights of a typical distribution system's capability to support EV integration with emerging smart grid technologies.

关键词： Vehicle-to-grid Electric potential Estimation Power system stability Resource management Voltage control Forecasting Energy management Optimization Load flow

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Characterization and Degradation of perovskite mini-modules 3

Characterization and Degradation of perovskite mini-modules

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3rd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2024

作者： Paraskeva, Vasiliki Norton, Matthew Hadjipanayi, Maria Peraticos, Elias Georghiou, George E. Aguirre, Aranzazu Ramesh, Santhosh Krishna, Anurag Aernouts, Tom University of Cyprus PV Technology Laboratory Department of Electrical and Computer Engineering Nicosia Cyprus PHAETHON Centre of Excellence for Intelligent Efficient and Sustainable Energy Solutions Nicosia Cyprus Thin Film PV Technology Imec Imo-Imomec Genk3600 Belgium

ISBN: (纸本)9798350375923

A holistic approach was utilized in this work to characterize perovskite mini-modules. Outdoor testing in combination with advanced optoelectronic techniques (spatially resolved Electroluminescence/Photoluminescence) were applied for the testing of the devices. In this way, investigation of the power output evolution of the devices in the field as well as study of their defects and shunts evolution will be performed. A considerable reduction of the power output was obtained from the devices exposed outdoors from the first days of testing. Moreover, reference modules of the same structure were kept indoors in dark storage and measured regularly with means of IV and spatially-resolved EL/PL for the study of their performance degradation under dark and controlled conditions indoors. © 2024 IEEE.

关键词： Electroluminescence

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Research on CMUTs Design with Different Cell Arrangements

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Recent Patents on engineering 2024年第1期18卷 110-118页

作者： Cao, Xuewen Yu, Yuanyu Liu, Xin Ma, Jingyi Zhang, Hua Wang, Lijia Intelligent Manufacturing Institute Hebei Vocational University of Industry and Technology Shi Jiazhuang050091 China School of Artificial Intelligence Neijiang Normal University Neijiang641100 China State Key Laboratory of Analog and Mixed-Signal VLSI University of Macau Macau 999078 China Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macau 999078 China

Background: Capacitive micromachined ultrasonic transducers (CMUTs) is a promising component of mechanical-electrical-acoustical conversion, which shows valuable applications in non-distructive testing and obstacle detection fields. In order to study the influence of dimension parameters on the directivity of CMUTs, the three-dimensional multi-physics coupling model is proposed for CMUTs in this paper. Methods: The model combines multiple physical fields through finite element method (FEM), which is more efficient and accurate. The influence of dimension parameters on the transducer is studied from two aspects: the pitch between adjacent cells and cell number, respectively. Results: When increasing the pitch, the directivity becomes better if the pitch is less than half of the wavelength, the grating lobe and side lobe are aroused. However, the bandwidth at-3dB is reduced by up to 71.1% at the same time. When increasing the cell number, the better the direcitvity, while the change of the cell number has little effect on the bandwidth of the array. However, 5.4% frequency shift was caused due to the effective mass change of the transducer. Conclusion: In this study, a 3D model based on FEM is proposed for the influence of dimension parameter on CMUTs. The simulation results indicate that the directivity can be enhanced by chang-ing the dimension. At the same time, it also introduces other performance issues, such as bandwidth decrease and frequency shift through this approach. Therefore, the simulation proposed the guidance of CMUTs performance optimization and patented technology application work in the future. © 2024, Bentham Science Publishers. All rights reserved.

关键词： Finite element method

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Study on the Effectiveness of New Development Methods in Software engineering Based on Experiments with AB Testing 24

Study on the Effectiveness of New Development Methods in Sof...

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9th International Conference on Cyber Security and Information engineering, ICCSIE 2024

作者： Chen, Lei Zhang, Difeng Li, Simu School of Computer Science and Engineering Wuhan Institute of Technology China Hubei Key Laboratory of Intelligent Robot Wuhan Institution of Technology China School of Electrical and Information Engineering Wuhan Institute of Technology China Economic and Business Department College of Post and Telecommunication of Wuhan Institute of Technology China

ISBN: (纸本)9798400718137

This study aims to evaluate the effectiveness of an emerging software engineering development method through AB testing experiments. As a commonly used online experimental method, AB testing is used to compare the performance of two or more solutions. It has been widely used in the software development process to optimize user experience and function implementation. This study proposes a new development framework that combines AB testing and software testing, which quantifies the impact of different development strategies on software quality by constructing a correlation matrix. In order to verify the effectiveness of this method, this paper designed a series of experiments and implemented AB testing in multiple software projects. Experimental results show that by accurately adjusting the variable combinations in AB testing, software stability and user satisfaction can be significantly improved. In addition, this paper also develops a set of computer algorithm models to simulate different development scenarios and predict the potential benefits of new development methods through simulation technology. Through the analysis of simulation results, this article found that projects using new development methods have improved in key performance indicators, especially in shortening development cycles and reducing defect rates. The development method that combines AB testing and software testing not only improves the quality of software products, but also enhances the flexibility and response speed of the development process. © 2024 Copyright held by the owner/author(s).

关键词： Software quality

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Water droplets play a role in Internet of Things applications

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Droplet 2024年第3期3卷 27-48页

作者： Feng Wen Chengkuo Lee Department of Electrical and Computer Engineering National University of SingaporeSingapore Center for Intelligent Sensors and MEMS(CISM) National University of SingaporeSingapore i-Lab Key Laboratory of Multifunctional Nanomaterials and Smart SystemsSuzhou Institute of Nano-Tech and Nano-Bionics(SINANO)Chinese Academy of Sciences(CAS)SuzhouChina NUS Graduate School—Integrative Sciences and Engineering Programme(ISEP) National University of SingaporeSingapore

Water droplets help life in nature survive,thrive,and *** water droplet serv-ing as one of the indispensable elements in the Internet of Things(IoT),many droplet-oriented technologies,such as microfluidics,droplet manipulation,electrowetting,and energy harvesting,make rapid progress driven by material science,computer science,and ***-based wearable devices are endowed with advantages such as flexibility,sensing ability,and automation for various parameter ***,the continuous exploration of droplet manipulation has led to the emergence of a wide variety of manipulation ***,electrowetting that utilizes exter-nal fields modifying liquid–solid surfaces has found its applications in various areas,including droplet transportation,microfabrication,and *** energy gener-ation from water droplets also presents exciting opportunities for the development of novel electricity *** approaches for droplet utilization underscore the immense potentials and versatilities of droplet-based technologies in the IoT ***,this mini review presents the fundamental droplet-based technologies by summarizing their working mechanisms and methods,device structures,and *** the challenges in materials,fabrication,and system integration,this review shows the overall development roadmap in terms of improved functionality and performance and highlights the opportunities toward multifunctional,self-sustainable,and intelligent systems,which is called for IoT construction.

关键词： IoT utilize fabrication

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From Vague Instructions to Task Plans: A Feedback-Driven HRC Task Planning Framework based on LLMs

arXiv

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arXiv 2025年

作者： Shervedani, Afagh Mehri Walter, Matthew R. Žefran, Miloš Robotics Laboratory Department of Electrical and Computer Engineering University of Illinois Chicago ChicagoIL60607 United States Robotics Laboratory Toyota Technological Institute at Chicago ChicagoIL60637 United States

Recent advances in large language models (LLMs) have demonstrated their potential as planners in human-robot collaboration (HRC) scenarios, offering a promising alternative to traditional planning methods. LLMs, which can generate structured plans by reasoning over natural language inputs, have the ability to generalize across diverse tasks and adapt to human instructions. This paper investigates the potential of LLMs to facilitate planning in the context of human-robot collaborative tasks, with a focus on their ability to reason from high-level, vague human inputs, and fine-tune plans based on real-time feedback. We propose a novel hybrid framework that combines LLMs with human feedback to create dynamic, context-aware task plans. Our work also highlights how a single, concise prompt can be used for a wide range of tasks and environments, overcoming the limitations of long, detailed structured prompts typically used in prior studies. By integrating user preferences into the planning loop, we ensure that the generated plans are not only effective but aligned with human intentions. Copyright © 2025, The Authors. All rights reserved.

关键词： Robot programming

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Crashworthiness Design Optimization for an eVTOL Aircraft

Crashworthiness Design Optimization for an eVTOL Aircraft

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Ding, Menglong Xie, Anhuan Zhu, Shiqiang Song, Wei Cai, Jiandong Yan, Xufei Zhao, Pengyu Gu, Jason Zhang, Yanyan Zhejiang Lab Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H4R2 Canada

ISBN: (纸本)9781665481090

The emergence of electric Vertical Takeoff and Landing (eVTOL) aircraft makes cheap, quiet and reliable short-range flights possible. As a manned aircraft, eVTOL's occupant protection capability is critical and its crashworthiness must be improved via optimization of energy absorption design for structures. This study aims to evaluate the crashworthiness of composite components and the entire eVTOL structure within the design space via the building-block approach. A variety of designs for the skid landing gear, energy absorber, structures in the cockpit and the combination of them were estimated by using the numerical method. The results show a tremendous reduction in occupant injury risk with the optimization of the skid landing gear, energy absorber and the entire eVTOL structure. This work provides a preliminary optimization design and evaluation methodology of crashworthiness for an eVTOL. © 2022 IEEE.

关键词： Crashworthiness

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Confidence-Aware Safe and Stable Control of Control-Affine Systems

Confidence-Aware Safe and Stable Control of Control-Affine S...

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American Control Conference (ACC)

作者： Shiqing Wei Prashanth Krishnamurthy Farshad Khorrami Department of Electrical and Computer Engineering NYU Tandon Control/Robotics Research Laboratory School of Engineering 5 Metrotech Center Brooklyn NY USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measurements are unavailable. In this work, we address the problem of synthesizing safe and stable control for control-affine systems via output feedback (using an observer) while reducing the estimation error of the observer. To achieve this, we adapt control Lyapunov function (CLF) and control barrier function (CBF) techniques to the output feedback setting. Building upon the existing CLF-CBF-QP (Quadratic Program) and CBF-QP frameworks, we formulate two confidence-aware optimization problems and establish the Lipschitz continuity of the obtained solutions. To validate our approach, we conduct simulation studies on two illustrative examples. The simulation studies indicate both improvements in the observer's estimation accuracy and the fulfillment of safety and control requirements.

关键词： Accuracy Observers Control systems Eigenvalues and eigenfunctions Safety Trajectory Task analysis

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