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6th IEEE Student Conference on Electric machines and systems, SCEMS 2023

作者： Ke, Yu Fang, Youtong Pfister, Pierre-Daniel Zhejiang University College of Electrical Engineering Hangzhou China Zhejiang University Zhejiang Provincial Key Laboratory of Electrical Machine Systems Hangzhou China

ISBN: (纸本)9798350329346

We present a model of demagnetization of surface-mounted permanent-magnet (PM) machines (SMPMMs) based on a subdomain model. The PM volume demagnetization percentage is calculated at different current densities and rotation angles. In this research, we study the demagnetization error as a function of the size of the matrix resulting from the subdomain model and the finite element method (FEM) to evaluate the advantage of the subdomain model in terms of computational resources. In our machine, compared with the FEM, the matrix size decreases by 15 times and the average error of the subdomain model is less than 1.2%. The subdomain model is hence a helpful tool for quick preoptimization of SMPMMs. © 2023 IEEE.

关键词： Demagnetization

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Motion Control of a Direct Drive Permanent-Magnet Motor Selective Compliant Articulated Robot for Assembly 26

Motion Control of a Direct Drive Permanent-Magnet Motor Sele...

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26th International Conference on Electrical machines and systems, ICEMS 2023

作者： Liu, Zhun Tang, Chentao Fang, Youtong Pfister, Pierre-Daniel Zhejiang University College of Electrical Engineering Hangzhou China Zhejiang Provincial Key Laboratory of Electrical Machine Systems Zhejiang University Hangzhou China

ISBN: (纸本)9798350317589

A direct drive selective compliant articulated robot for assembly (SCARA) was developed to allow back-drivability. However, because of its load-to-motor inertia ratio, it exhibits resonance problems. To mitigate this issue, we measured the SCARA's resonance frequency and amplitude in various postures and implemented the real-time filter based on it. The filter reduced the resonance amplitude and eliminated the vibration. As the coupling between the two axes leads to significant current shocks and velocity overshoot, we employed the dynamics feedforward (DFF) function obtained by decoupling the SCARA's dynamics. The DFF successfully eliminated the velocity overshoot, reducing the motor current overshoot. These enhancements significantly improve the performance of the SCARA system. © 2023 IEEE.

关键词： Permanent magnets

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Torque Calculation of Surface-Mounted Permanent-Magnet Motors Using Subdomain Model Considering Finite Permeability: Influence of Harmonic Content 26

Torque Calculation of Surface-Mounted Permanent-Magnet Motor...

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26th International Conference on Electrical machines and systems, ICEMS 2023

作者： Sun, Che Fang, Youtong Pfister, Pierre-Daniel Zhejiang University College of Electrical Engineering Hangzhou China Zhejiang Provincial Key Laboratory of Electrical Machine Systems Zhejiang University Hangzhou China

ISBN: (纸本)9798350317589

In this article, a subdomain model of surface-mounted permanent-magnet motors considering finite magnetic permeability is studied. Four machines with different pole pairs are used to assess the influence of the harmonic content on the torque calculation of that model. This study shows that only a few harmonics are needed to have high accuracy in torque calculation, while the magnetic flux density needs more harmonic to ensure higher accuracy. For the different permeabilities tested, the accuracy of the toque calculation mainly depends on the harmonic in the PMs and airgap regions. © 2023 IEEE.

关键词： Magnetic permeability

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Loss Model of Interior Permanent Magnet Synchronous machine with Series Iron-loss Resistance

Loss Model of Interior Permanent Magnet Synchronous Machine ...

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2023 IEEE International Magnetic Conference - Short Papers, INTERMAG Short Papers 2023

作者： Ma, Yilin Yuan, Hao Yin, Wei Yang, Huan Zhao, Rongxiang Zhejiang University College of Electrical Engineering Hangzhou310027 China Zhejiang Provincial Key Laboratory of Electrical Machine Systems Hangzhou310027 China

ISBN: (纸本)9798350338362

Interior permanent magnet synchronous machines (IPMSMs) are widely used, because of the high power density and high efficiency. It is noted that the loss model of IPMSM is essential to analysis, and furtherly suppress the motor loss, especially for the loss-model based maximum efficiency control. The traditional loss model is the one with parallel iron-loss resistance, which has high-order and mixed parameters. Therefore, in order to identify the variable model parameters under the wide variation range of current vectors and speeds, some necessary simplifications or iteration solutions should be adopted, which may lead to the sacrifice of accuracy or time cost. In this paper, a loss model with series iron-loss resistance is introduced. This model is much mathematically simpler than the traditional one and is quite appropriate for parameters identification. Besides, considering the variable currents and speeds, the torque-related and loss-related parameters' variation is discussed to improve the accuracy of torque and motor loss under different operating conditions. The analysis results are verified on a prototype IPMSM experimentally. © 2023 IEEE.

关键词： Iron

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COMPASS App: A Patient-centered Physiological based Pain Assessment System 67th

COMPASS App: A Patient-centered Physiological based Pain Ass...

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67th International Annual Meeting of the human Factors and Ergonomics Society, HFES 2023

作者： Zhu, Wenchao Liu, Chang Yu, Haoxiang Guo, Yikang Xiao, Yan Lin, Yingzi Intelligent Human-Machine Systems Laboratory Mechanical and Industrial Engineering Department Northeastern University BostonMA United States College of Nursing and Health Innovation University of Texas at Arlington ArlingtonTX United States

Chronic pain patients lack at-home pain assessment and management tools. The existing chronic-pain mobile applications are either solely relying on self-report pain levels or restricted to formal clinical settings. Our app, abbreviated from an NSF-funded project entitled Novel Computational Methods for Continuous Objective Multimodal Pain Assessment Sensing System (COMPASS), is a multi-dimensional pain app that collects physiological signals to predict objective pain levels and trace daily at-home activities by incorporating a daily check-in section. We conducted a usability test with 33 healthy participants under pain conditions. The results provided initial support for the validity of the signals in predicting internalizing pain levels among the participants. With further development and testing, we believe the COMPASS app system has the potential to be used by both patients and clinicians as an additional tool to better assess and manage pain, especially for mobile healthcare applications. © 2023 human Factors and Ergonomics Society.

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

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Frontiers of Mechanical engineering 2022年第3期17卷 75-89页

作者： Yue ZHENG Xiangxin LI Lan TIAN Guanglin LI CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology(SIAT)Chinese Academy of Sciences(CAS)Shenzhen518055China Shenzhen College of Advanced Technology University of Chinese Academy of SciencesShenzhen518055China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen518055China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055China

The loss of hand functions in upper limb amputees severely restricts their mobility in daily *** a humanoid prosthetic hand would be an effective way of restoring lost hand *** a prosthetic hand design,replicating the natural and dexterous grasping functions with a few actuators remains a big *** this study,a function-oriented optimization design(FOD)method is proposed for the design of a tendon-driven humanoid prosthetic *** optimization function of different functional conditions of full-phalanx contact,total contact force,and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping *** a genetic algorithm,the optimal geometric parameters of the prosthetic finger could be determined for specific functional *** results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes.A prosthetic finger was fabricated and tested with grasping *** mean absolute percentage error between the theoretical value and the experimental result is less than 10%,demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method *** study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage,which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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Effects of Visual and Auditory Instructions on Space Station Procedural Tasks

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Space(Science & Technology) 2024年第1期4卷 479-489页

作者： Yan Zhao You Li Ao Jiang HongRui Zhang HaoTian She WenHao Zhan Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijing 100094China Dyson School of Design Engineering Imperial College LondonLondonUK School of Medical Technology Beijing Institute of TechnologyBeijing 100081China

In order to compare the effects of visual and auditory instructions on the crew when guiding astronauts to complete the procedural tasks in the space station,in this study,subjects were recruited to complete the programmed task of starting from the node module,locating the scientific cabinet and spectrometer,and finally operating the orbital replaceable unit on the ***,the task performance,eye movement parameters,and cognitive load induced by 2 kinds of instructions in the task were statistically *** results showed that there were highly significant differences in terms of task completion time,the NASA-TLX(Task Load Index)total score,and eye movement index between the 2 instructions(P<0.01).There were also significant differences in error rate and effort(P<0.05).This study proves that visual instruction interaction is better than auditory *** work provides important reference for the selection of human–computer interaction mode for procedural tasks on space *** also provides the experience and theoretical evidence missing so far and proves the benefits of augmented reality assistance in terms of task performance and human factors.

关键词： programmed task visual auditory instructions cognitive load starting node modulelocating visual instructions auditory instructions space stationin procedural tasks

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Aerodynamic Bearing-Equipped High-Speed PM Motor with Auxiliary Levitation and Extra Torque 14

Aerodynamic Bearing-Equipped High-Speed PM Motor with Auxili...

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14th International Symposium on Linear Drivers for Industry Applications, LDIA 2023

作者： Shen, Jian-Xin Luo, Kai Cui, Ruizhen Shi, Dan Wang, Yun-Chong College of Electrical Engineering Zhejiang University Zhejiang Provincial Key Laboratory of Electrical Machine Systems Hangzhou China College of Electrical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798350329612

In high-speed motor systems, aerodynamic bearings can generate support to the rotor without external air supply, due to the dynamic pressure effect during the rotor motion. However, there is dry friction between the static and moving surfaces of the bearing before it reaches the lift-off speed. In this paper, it is proposed to add an auxiliary winding in the motor so as to provide auxiliary levitation before lift-off to reduce the dry friction, and then generate extra torque as an additional armature winding while the bearing is working at high speed. The auxiliary winding structure and operation principle are detailed hereafter. Moreover, analytical derivation and finite element method (FEM) verification are elaborated. © 2023 IEEE.

关键词： Friction

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Control Method for Coordinated Power Frequency Modulation and DC Voltage Recovery in Grid-Connected Photovoltaic System 26

Control Method for Coordinated Power Frequency Modulation an...

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26th International Conference on Electrical machines and systems, ICEMS 2023

作者： Fan, Zheng Zhang, Jing Zheng, Taiying Zhejiang University College of Electrical Engineering Zhejiang Provincial Key Laboratory of Electrical Machine Systems Hangzhou China Guizhou University School of Electrical Engineering Guiyang China

ISBN: (纸本)9798350317589

This paper proposes a combination control method of photovoltaic (PV) arrays and DC link capacitors to participate in grid frequency modulation. An improved PV power reserves control (PRC) is proposed to fully utilize the available PV power to compensate for the DC voltage shortage caused by virtual inertia control (VIC). This method improves the available frequency modulation of the PV system. It restores the frequency support capability by utilizing the power margin in the system when the system frequency cannot be restored to the rated value. The simulation in MATLAB/Simulink compares the frequency modulation effect under different load variations or capacitors between the proposed method and traditional VIC. The problem of unrecoverable DC voltage and the performance of frequency dip suppression are considered. © 2023 IEEE.

关键词： Frequency modulation

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SpikingVPR: Spiking Neural Network-Based Feature Aggregation for Visual Place Recognition 5

SpikingVPR: Spiking Neural Network-Based Feature Aggregation...

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5th International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2024

作者： Wang, Gulin Ren, Ziliang Zhang, Qieshi Cheng, Jun Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China School of Computer Science and Technology Dongguan University of Technology Dongguan China

ISBN: (纸本)9798331529192

Visual Place Recognition (VPR) is a crucial task in robotics and autonomous driving, where it identifies the geographic location of a query image by matching it with a reference database. VPR faces significant challenges, including appearance variations due to lighting, occlusion, weather, and seasonal changes, alongside the need for real-time processing under low computational cost and latency. To address these challenges, we introduce Spiking Neural Networks (SNN) into the VPR task, specifically focusing on the feature aggregation component. SNN, with their event-driven nature, offer advantages in computational efficiency and energy consumption, making them well-suited for energy-constrained environments such as drones. Our approach transforms the feature aggregation stage of VPR into a spiking, event-driven mechanism, which maintains high recall performance while integrating seamlessly with traditional ANN-based methods. Experimental results demonstrate that our SNN-based method effectively maintains high recall performance, validating its potential in autonomous driving and other related applications. © 2024 IEEE.

关键词： Event-Driven Mechanism Feature Aggregation Spiking Neural Network Visual place recognition (VPR)

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