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arXiv 2025年

作者： Zhou, Yifei Kämpfe, Thomas Ni, Kai Amrouch, Hussam Zhuo, Cheng Yin, Xunzhao Zhejiang University Hangzhou China Fraunhofer IPMS Dresden Germany Department of Electrical Engineering University of Notre Dame Notre Dame United States Technical University of Munich TUM School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence Munich Germany Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China

Compute-in-memory (CiM) emerges as a promising solution to solve hardware challenges in artificial intelligence (AI) and the Internet of Things (IoT), particularly addressing the"memory wall" issue. By utilizing nonvolatile memory (NVM) devices in a crossbar structure, CiM efficiently accelerates multiply-accumulate (MAC) computations, the crucial operations in neural networks and other AI models. Among various NVM devices, Ferroelectric FET (FeFET) is particularly appealing for ultra-low-power CiM arrays due to its CMOS compatibility, voltage-driven write/read mechanisms and high ION/IOFF ratio. Moreover, subthreshold-operated FeFETs, which operate at scaling voltages in the subthreshold region, can further minimize the power consumption of CiM array. However, subthreshold-FeFETs are susceptible to temperature drift, resulting in computation accuracy degradation. Existing solutions exhibit weak temperature resilience at larger array size and only support 1-bit. In this paper, we propose TReCiM, an ultra-low-power temperature-resilient multibit 2FeFET-1T CiM design that reliably performs MAC operations in the subthreshold-FeFET region with temperature ranging from 0°C to 85°C at scale. We benchmark our design using NeuroSim framework in the context of VGG-8 neural network architecture running the CIFAR-10 dataset. Benchmarking results suggest that when considering temperature drift impact, our proposed TReCiM array achieves 91.31% accuracy, with 1.86% accuracy improvement compared to existing 1-bit 2T-1FeFET CiM array. Furthermore, our proposed design achieves 48.03 TOPS/W energy efficiency at system level, comparable to existing designs with smaller technology feature sizes. Copyright © 2025, The Authors. All rights reserved.

关键词： Benchmarking

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Design and Simulation of a Helical Microrobot for Maximum Speed Enhancement by Physical Surface Modification

Design and Simulation of a Helical Microrobot for Maximum Sp...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Siyu Guo Maolin Wang Huaping Wang Shihao Zhong Yukang Qiu Yaozhen Hou Qing Shi Toshio Fukuda School of Mechatronical Engineering Intelligent Robotics Institute Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China School of Medical Technology Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Magnetic helical microrobots have great potential in biomedical applications. However, improving their motion performance in the complex and variable in vivo fluid environment remains challenging. Previous researches mainly focus on optimizing the geometric parameter, the evolutionary structure design, and chemical modifications of the robots, with limited attention given to the impact of physical surface modifications on propulsion performance. To address this issue, we design the helical microrobot with different surface physical modifications, including dimpled and raised surfaces, to evaluate their effects on swimming performance. With ANSYS Fluent, we simulated their swimming process in water and found that microrobots with physically modified surfaces experience less resistance and exhibit a larger step-out frequency while swimming. Moreover, our findings suggest that helical microrobots with dimpled surfaces demonstrate superior swimming performance due to their larger gas-liquid interface area compared to those with raised surfaces.

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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Robotic Intracellular Electrochemical Sensing for Adherent Cells

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Cyborg and Bionic systems 2022年第1期2022卷 75-86页

作者： Weikang Hu Yanmei Ma Zhen Zhan Danish Hussain Chengzhi Hu Shenzhen Key Laboratoryof Biomimetic Robotisand Intlligent Systems Department of Mechanicaland Enery EngineeringSouthern University of Science and TechnologyShenzhenChina Department of Mechatronics Engineering National University of Sciences and TechnologyIslamabadPakistan Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern Universityof Science and TechnologyShenzhenChina

Nanopipette-based observation of intracellular biochemical processes is an important approach to revealing the intrinsic char acteristics and heterogeneity of cells for better investigation of disease progression or early disease ***,the manual operation needs a skilled operator and faces problems such as low throughput and poor *** paper proposes an automated nanopipette-based microoperation system for cell detection,*** nonovershoot positioning of the nanopipette tip in proximity to the cell of interest,cell approaching and proximity detection between nanopipette tip and cell surface,and cell penetration and detection of the intracellular reactive oxygen species(ROS).A robust focus algorithm based on the number of cell contours was proposed for adherent cells,which have sharp peaks while retaining *** automated detection of adherent cells was evaluated on human umbilical cord vein endothelial cells(HUVEC)and NIH/3T3 cells,which provided an average of 95.65%true-positive rate(TPR)and 7.59%false-positive rate(FPR)for in-plane cell *** three dimensional nonovershoot tip positioning of the nanopipette was achieved by template matching and evaluated under the interference of *** current feedback was employed for the proximity detection between the nanopipette tip and cell ***,cell penetration and electrochemical detection of ROS were demonstrated on human breast cancer cells and zebrafish embryo *** work provides a systematic approach for automated intracellular sensing for adherent cells,laying a solid foundation for high-throughput detection,diagnosis,and classification of different forms of biochemical reactions within single cells.

关键词： diagnosis proximity retaining

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Motor speed estimation and failure detection of a small UAV using density of maxima

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Frontiers of Information Technology & Electronic engineering 2021年第7期22卷 1002-1009页

作者： Jefferson S.SOUZA Moises C.BEZERRIL Mateus A.SILVA Frank C.VERAS Abel LIMA-FILHO Jorge Gabriel RAMOS Alisson V.BRITO Laboratory of System Engineering and Robotics Federal University of ParaibaJoao PessoaBrazil Department of Information Systems Federal University of PiauiPicosBrazil Department of Mechanical Engineering Federal University of ParaibaJoao PessoaBrazil Department of Physics Federal University of ParaibaJoao PessoaBrazil

This work presents the application of the technique named signal analysis based on chaos using density of maxima to analyze brushless direct current *** uses a correlation coefficient estimated from the density of maxima of the current *** study demonstrates in experiments the speed estimation of a brushless motor on a testbench and failure detection in a small flying *** experimental results demonstrate that it is possible to estimate the speed in 97.8%of the cases and to detect failure in 82.75%of the analyzed cases.

关键词： Unmanned aerial vehicle(UAV) Speed identification Failure detection Chaos

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Robust MPC for networks with varying communication capabilities

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IFAC-PapersOnLine 2021年第6期54卷 20-27页

作者： Markus Kögel Daniel Quevedo Rolf Findeisen Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Germany School of Electrical Engineering and Robotics Queensland University of Technology Brisbane Australia

We consider the control of constrained, uncertain systems over wireless communication networks with varying capabilities. We focus on the case that a radio resource manager, which manages the wireless network, provides guaranteed minimum communication at fixed time instants while offering more frequent communication depending on the current load of the shared network, available network capacity or other conditions. To exploit the additionally available communication we propose a robust model predictive control strategy exploiting ideas of tube MPC that utilizes the possibly additionally available communication to improve the closed loop performance. Conditions to guarantee closed loop properties are presented. Simulations illustrate the proposed approach and its benefits.

关键词： Networked control systems Control over wireless networks Robust Model Predictive Control Tube based MPC Internet of things Cyber-physical systems

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Enhancing Knee Rehabilitation Exoskeleton Control via a Robust LMI-Based Strategy and by Considering State Constraints

Enhancing Knee Rehabilitation Exoskeleton Control via a Robu...

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International Conference on systems and Control (ICSC)

作者： Sahar Jenhani Hassène Gritli Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Tunis Tunisia Higher Institute of Information and Communication Technologies University of Carthage Tunis Tunisia RISC Lab.

This study introduces a robust control strategy to regulate the position of knee rehabilitation exoskeleton robot. A description of this particular robotic system and its nonlinear dynamic model are outlined first. The system faces challenges such as state constraints, external disruptions, and parameter uncertainties, all of which are meticulously addressed in the control design. Subsequently, we define the affine state-feedback controller and its design based on the LMI approach, aimed at ensuring the stabilization of the active exoskeleton robotic system at the knee joint level and hence its stability at the desired position. To achieve this, our proposed method utilizes a quadratic Lyapunov function and leverages mathematical tools such as the S-procedure Lemma, the Schur complement, the matrix inversion Lemma, and the Young inequality to derive finally two LMI conditions that guarantee the stability of the controlled knee exoskeleton system. Finally, the simulation studies validate the effectiveness of the proposed approach in the design of the LMI stability condition and hence the efficiency of the controller in the robust control of the knee exoskeleton robot.

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Cooperative Navigation Based on Bearing and Range Measurements to Different Vehicles

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IFAC-PapersOnLine 2020年第2期53卷 14552-14557页

作者： David Santos Pedro Batista Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Lisboa Portugal Institute for Systems and Robotics LARSyS Instituto Superior Técnico Universidade de Lisboa Portugal.

This paper presents a navigation solution for a vehicle operating in cooperation with two other. The vehicle is assumed to measure bearing to one of the aiding vehicles and range to the other. An observer with globally exponentially stable error dynamics is designed by obtaining an equivalent observable linear time-varying system using an artificial output and state augmentation. The observer relies on local measurements, as well as limited communication between the vehicles. Simulations are performed to assess the proposed solution.

关键词： Navigation bearing range cooperative navigation Kalman filter

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A smart wearable device for capturing biomechanical energy from human knee motion

A smart wearable device for capturing biomechanical energy f...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Hugo Hung-Tin Chan Haisu Liao Xuan Zhao Junrui Liang Wei-Hsin Liao Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin Hong Kong China School of Information Science and Technology ShanghaiTech University Shanghai China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Sustainable power supply is a challenge for portable and wearable electronic devices such as cell phones and headsets. To address this, researchers proposed capturing biomechanical energy from human motion to generate electricity. This paper proposed and developed a lightweight wearable device to capture the biomechanical energy from the human knee motion. To reduce the effect of inertial force on human gait, we developed a lightweight and compact transmission chain to convert the bidirectional rotation of the knee to a unidirectional rotation of the generator. Two input bevel gears with opposite one-way bearings on the same shaft are engaged with a single output bevel gear of the generator thereby only one input bevel gear is engaged for each input direction, achieving unidirectional output. In addition, to reduce velocity fluctuation and further minimize the effect of inertial force, a flywheel was fixed to the motor shaft via a gearbox. A prototype of the wearable device was developed and tested on a subject walking on a treadmill. Experimental results shows the flywheel enabled the harvester to achieve a continuous output while halving voltage fluctuations compared to a conventional harvester. The harvesters average power output can reach 0.11 W with minimal effects on the subject’s walking gait.

关键词： Knee Legged locomotion Biomechanics Shafts Fluctuations Voltage fluctuations Torque

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Photovoltaic Arrays’ Dynamic Model Parameter Estimation

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IFAC-PapersOnLine 2023年第2期56卷 6845-6850页

作者： Alexey Bobtsov Fernando Mancilla-David Stanislav Aranovskiy Romeo Ortega Faculty of Control Systems and Robotics ITMO University 197101 Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia University of Colorado Denver Denver Colorado 80204 USA IETR – CentaleSupélec Cesson-Sévigné France Departamento Académico de Sistemas Digitales ITAM México

This paper deals with the problem of on-line identification of the parameters of a realistic dynamical model of a photovoltaic array connected to a power system through a power converter. It has been shown in the literature that, when interacting with switching devices, this model is able to better account for the PV array operation, as compared to the classical five parameter static model of the array. While there are many results of identification of the parameters of the latter model, to the best of our knowledge, no one has provided a solution for the aforementioned more complex dynamic model since it concerns the parameter estimation of a nonlinear, underexcited system with unmeasurable state variables. Achieving such objective is the main contribution of the paper. We propose a new parameterisation of the dynamic model, which, combined with the powerful identification technique of dynamic regressor extension and mixing, ensures a fast and accurate online estimation of the unknown parameters. Realistic numerical examples via computer simulations are presented to assess the performance of the proposed approach—even being able to track the parameter variations when the system changes operating point.

关键词： photovoltaic arrays on-line parameter estimation identification of nonlinear systems

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