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SSRN 2022年

作者： Wang, Yuqi Li, Xiang Yu, Xin Zhu, Jianyang Shen, Ping Wang, Zhong Lin Cheng, Tinghai Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of Sciences Beijing101400 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Internet of Things for Smart City Department of Civil and Environmental Engineering University of Macau Macao999078 China School of Materials Science and Engineering Georgia Institute of Technology AtlantaGA30332-0245 United States

Triboelectric nanogenerators (TENGs), as a new energy technology for distributed power, are used widely in the field of the natural environment energy harvesting. Because the natural energy is random and unstable, dynamic matching between TENGs driving-torque and natural environment energy is fundamental for improving the applications of TENGs. Therefore, a driving-torque self-adjusted triboelectric nanogenerator (SA-TENG) for effective harvesting of random wind energy is developed in this paper. When the external wind speed is unstable, the SA-TENG automatically self-adjusted its driving-torque to dynamically match the wind speed and obtain higher output power. Experiments showed that the SA-TENG can adjust its driving-torque in accordance to the wind speed ranging in 5.0–13.2 m/s, and that, the output peak power can reach 7.69 mW. Under the same conditions, in comparison with a normal TENG, the power growth rate and the highest energy conversion efficiency of the SA-TENG were boosted by more than 4.3 and 12.2 times, respectively;values that are also 3.2 and 6.5 times higher, respectively, than those of an electromagnetic generator. Additionally, the SA-TENG can supply power to sensors for monitoring environment, proving its feasibility as a distributed energy source. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

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Holarchy for line-less mobile assembly systems operation in the context of the internet of production 14

Holarchy for line-less mobile assembly systems operation in ...

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14th CIRP Conference on Intelligent Computation in Manufacturing engineering, CIRP ICME 2020

作者： Buckhorst, Armin Friedrich Montavon, Benjamin Wolfschläger, Dominik Buchsbaum, Melanie Shahidi, Amir Petruck, Henning Kunze, Ike Pennekamp, Jan Brecher, Christian Hüsing, Mathias Corves, Burkhard Nitsch, Verena Wehrle, Klaus Schmitt, Robert Heinrich Department of Production Metrology and Quality Management Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen RWTH Aachen University Campus-Boulvard 30 Aachen52074 Germany Department of Machine Tools Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen RWTH Aachen University Campus-Boulvard 30 Aachen52074 Germany Institute of Mechanism Theory Machine Dynamics and Robotics RWTH Aachen University Eilfschornsteinstraße 18 Aachen52062 Germany Institute of Industrial Engineering and Ergonomics RWTH Aachen University Eilfschornsteinstraße 18 Aachen52062 Germany Department of Communication and Distributed Systems RWTH Aachen University Ahornstr. 55 Aachen52074 Germany

Assembly systems must provide maximum flexibility qualified by organization and technology to offer cost-compliant performance features to differentiate themselves from competitors in buyers' markets. By mobilization of multipurpose resources and dynamic planning, Line-less Mobile Assembly systems (LMASs) offer organizational reconfigurability. By proposing a holarchy to combine LMASs with the concept of an Internet of Production (IoP), we enable LMASs to source valuable information from cross-level production networks, physical resources, software nodes, and data stores that are interconnected in an IoP. The presented holarchy provides a concept of how to address future challenges, meet the requirements of shorter lead times, and unique lifecycle support. The paper suggests an application of decision making, distributed sensor services, recommender-based data reduction, and in-network computing while considering safety and human usability alike. © 2021 The Authors. Published by Elsevier B.V.

关键词： Assembly

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Fabrication of translucent graded dental crown using zirconia-yttrium multi-slurry tape casting 3D printer

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Journal of the Mechanical Behavior of Biomedical Materials 2024年 152卷 106406页

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high-speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3–5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024

关键词： Zirconia

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Online 4D Ultrasound-Guided Robotic Tracking Enables 3D Ultrasound Localisation Microscopy with Large Tissue Displacements

arXiv

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arXiv 2024年

作者： Yan, Jipeng Tan, Qingyuan Kawara, Shusei Zhu, Jingwen Wang, Bingxue Toulemonde, Matthieu Liu, Honghai Tan, Ying Tang, Meng-Xing Ultrasound Lab for Imaging and Sensing Department of Bioengineering Imperial College London LondonSW7 2AZ United Kingdom the State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China the Department of Bioengineering Imperial College London LondonSW7 2AZ United Kingdom the School of Computing University of Portsmouth PortsmouthPO1 2UP United Kingdom the Department of Mechanical Engineering University of Melbourne ParkvilleVIC3010 Australia

Super-Resolution Ultrasound (SRUS) imaging through localising and tracking microbubbles, also known as Ultrasound Localisation Microscopy (ULM), has demonstrated significant potential for reconstructing microvasculature and flows with sub-diffraction resolution in clinical diagnostics. However, imaging organs with large tissue movements, such as those caused by respiration, presents substantial challenges. Existing methods often require breath holding to maintain accumulation accuracy, which limits data acquisition time and ULM image saturation. To improve image quality in the presence of large tissue movements, this study introduces an approach integrating high-frame-rate ultrasound with online precise robotic probe control. Tested on a microvasculature phantom with translation motions up to 20 mm, twice the aperture size of the matrix array used, our method achieved real-time tracking of the moving phantom and imaging volume rate at 85 Hz, keeping majority of the target volume in the imaging field of view. ULM images of the moving cross channels in the phantom were successfully reconstructed in post-processing, demonstrating the feasibility of super-resolution imaging under large tissue motions. This represents a significant step towards ULM imaging of organs with large motion. © 2024, CC BY-NC-ND.

关键词： Image enhancement

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A Soft Gripper Driven by Bellow Actuators and Twist Actuators for Dexterous Grasping

A Soft Gripper Driven by Bellow Actuators and Twist Actuator...

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IEEE International Conference on robotics and Biomimetics

作者： Diancheng Li Liangmin Zhou Renjie Zhu Jintao Yin Zhengbai Liu Han Yuan Hongqiang Wang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Innovation and Entrepreneurship College Southern University of Science and Technology Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

ISBN: (纸本)9781665405362

Human hands are dexterous and capable of grasping objects of various shapes and manipulating the objects within the hands. Conventional soft grippers are able to grasp, but few can manipulate objects within the grippers. To fill this gap, this work designs a soft gripper with soft bellow actuators and soft twisting actuators, which can adaptively clutch objects and handle them in different postures in the gripper. Compared with the previous rigid grippers, this soft gripper possesses a higher adaption to complex shapes and fragile objects and greater reliability against a strong impact due to its compliance. We demonstrate its successful grasping on more than 15 daily items of different profiles and surface textures, rolling and picking up a piece of thin plastic film, and reversing the posture of a ball within the gripper. It has also survived brutal hammer attacks and robustly grabbed an object while experiencing strong impacts.

关键词： Actuators Bellows Torque Shape Grasping End effectors Robustness

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Efficient Random Subspace Decision Forests with A Simple Probability Dimensionality Setting Scheme

SSRN

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SSRN 2022年

作者： Wang, Quan Wang, Fei Li, Zhongheng Jiang, Peilin Ren, Fuji Nie, Feiping Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100094 China School of Software Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China School of Computer Science and Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Northwestern Polytechnical University Shaanxi Xi’an710072 China

The random subspace concept is widely used in decision forests. However, there is not a reasonable approach to specify the appropriate number of randomly selected features. Previous random subspace decision forests simply specify the random subspace dimensionality d s to a preset function value such as [log 2 d ] or [√ d ] where d is the number of the total feature dimensions. Actually, this preset value may be a relatively poor choice for high dimensional data sets. In this paper, a novel framework named Efficient Random Subspace decision forest (ERS) is proposed which pays attention to how to set the random subspace dimensionality for each decision tree of decision forests. Specifically, a simple discrete uniform distribution is employed to set with probability the number of randomly selected features for each tree in random subspace decision forests. The proposed Half Range Discrete Uniform distribution-based Varied Dimensionality setting (HRDUVD) method removes the hesitation of how to preset an appropriate d s for different data sets but also results in good enough classification performance along with relatively short running time. Plenty of experiments on public benchmark data sets have demonstrated the effectiveness and the efficiency of the proposed ERS. © 2022, The Authors. All rights reserved.

关键词： Decision trees

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ECA-RetinaNet: A Novel Self-Attention RetinaNet for Environmental Microorganism Image Object Detection

ECA-RetinaNet: A Novel Self-Attention RetinaNet for Environm...

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IEEE International Conference on Big Data

作者： Hechen Yang Jinzhu Yang Tao Jiang Xin Zhao Jinghua Zhang Peng Zhao Ao Chen Qianqing Nie Marcin Grzegorzek Chen Li Microscopic Image and Medical Image Analysis Group College of Medicine and Biological Information Engineering Northeastern University Shenyang China Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Northeastern University Shenyang Liaoning China School of Intelligent Medicine Chengdu University of Traditional Chinese Medicine Chengdu China International Joint Institute of Robotics and Intelligent Systems Chengdu University of Information Technology Chengdu China Institute of Medical Informatics University of Luebeck Luebeck Germany

The detection of environmental microorganisms is always a difficult task, e specially when the multi-scale environment is complex. For tiny objects in microscopic images, current detection methods face the challenge of accurate identification and localization. In contrast, we propose a convolutional neural network (ECA-RetinaNet) for microscopic object detection of which underlying dataset is a high-quality EMDS-7 dataset. The accuracy of ECA-RetinaNet is high, with a high mean Average Precision (mAP) value of 81.42% in the Environmental Microorganisms (EMS) detection task. Its accuracy has been higher than that of the two-stage object detection network.

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MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches

MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile R...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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A method for Rapid Deployment of Brushless DC Motor Servo System Model Based on FPGA

A method for Rapid Deployment of Brushless DC Motor Servo Sy...

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作者： Wang Bolun Zhang Tao Shi Zhengjin Zhang Hualiang Xie Feng Liu Zihong School of Automation and Electrical Engineering Shenyang Ligong University Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology

Recently,with the development of technology and the lucubrate of automation technology,the dependence of modern industry on synchronous motors has gone deep into the *** fact,the current complex control algorithms consume the computing power of the data processing chips and put forward a higher request to the ability of ***,the emphasis of this study lies in a rapid deployment method of a brushless DC motor servo control system based on the model *** using Simulink software to simulate and verify the three-closed-loop servo model of the DC brushless motor,Verilog or VHDL language code will be generated,which can automatically configure the project according to the ***,a drive and control hardware platform based on Xilinx Zynq-7000 chips was built to verify the feasibility,the experimental results indicate that the proposed method can effectively simplify the deployment of complex algorithm codes,reduce the development cycle of brushless DC motor servo system with strong engineering practicability.

关键词： MBD HDL Coder BLDC Servo Control

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State and parameter estimation of suspended load using quadrotor onboard sensors

State and parameter estimation of suspended load using quadr...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Vicko Prkačin Ivana Palunko Ivan Petrović Laboratory for intelligent autonomous systems (LARIAT) Department of Electrical and Computer Engineering University of Dubrovnik Dubrovnik Croatia Laboratory for autonomous systems and mobile robotics (LAMOR) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

In this paper, we address the problem of state and parameter estimation of a suspended load using quadrotor onboard sensors. Flying with a suspended load alters the quadrotor flight dynamics, sometimes to a large extent, making it a challenging and hazardous task. Monitoring the state of the suspended load is vital for safe flight operations while parameter estimation decouples the control design from specific parameter-dependent solutions. We take advantage of the fact that the forces and torques the suspended load exerts on the quadrotor can be detected in the aircraft IMU measurements as a low frequency harmonic. Thus, by combining the available measurements and system mass we are able to estimate the state of the suspended load. Since our approach stems from understanding the aircraft-load interaction, we start off by delineating the full system model of the quadrotor with a suspended load. To isolate the natural frequency of the suspended load and determine the length of suspension cable, we employ the Fast Fourier Transform (FFT). The proposed estimation algorithms are validated through extensive numerical simulations and experimentally.

关键词： Estimation Aircraft Load modeling Sensors Atmospheric modeling Parameter estimation Numerical models

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