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Multi-Objective Optimization of Electromagneticthermal Coupling Performance for High-torquedensity PMSM based on Multi-dimensional Correction Techniques

Multi-Objective Optimization of Electromagneticthermal Coupl...

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International Conference on Electrical Machines, ICEM

作者： Zequan Li Jin Wang Lu Sun Haoyu Kang Liyang Liu Libing Zhou State Key Laboratory of Advanced Electromagnetic Technology Huazhong University of Science and Technology Wuhan China State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China State Key Laboratory of Advanced Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Robotics and Autonomous Systems Thrust Hong Kong University of Science and Technology (Guangzhou) Guangzhou China

ISBN: (数字)9798350370607

ISBN: (纸本)9798350370614

To address the precision limitation of traditional thermal models and the computational inefficiency of electromagnetic-thermal coupling finite element models, this work proposes a multidimensional correction-based electromagnetic-thermal coupling design optimization method for electric machines. Firstly, this method corrects the sensitive parameters in the analytical lumped parameters thermal network model (LPNM) based on prior information from historical experimental data to ensure the accuracy for thermal performance analysis. Subsequently, to enhance computational efficiency, a large number of low-fidelity (LF) samples are obtained using the corrected thermal model in a serial electromagnetic-thermal field calculation manner, complemented by a small number of high-fidelity (HF) samples obtained from the electromagnetic-thermal coupling simulation model. Then, by employing a transfer learning technique, the data information from the low- to high-fidelity sample sets is comprehensively utilized to train a multi-fidelity (MF) surrogate model for the final optimization. The proposed method applied to a high-torque-density aerospace propulsion permanent magnet synchronous motor (PMSM) with short-term strong overload capability, it not only significantly improves the accuracy of LPNM, but also reduces the training sample acquisition time by over 50% under the same model accuracy. Finally, a prototype is tested to validate the effectiveness of the proposed method.

关键词： Couplings Accuracy Computational modeling Transfer learning Data models Thermal analysis Computational efficiency Iterative methods Optimization Design optimization

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Polarization-controlled dual resonant lattice Kerker effects

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Nano Research 2023年第2期16卷 3195-3200页

作者： Lei Xiong Xueqian Zhao Xiang Du Shuai Chen Yuanfu Lu Hongwei Ding Guangyuan Li School of Information Science and Engineering Yunnan UniversityKunming 650500China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China School of Computer Electronic and InformationGuangxi UniversityNanning 530004China College of Physics and Electronic Technology Anhui Normal UniversityWuhu 241000China Tianjin H-Chip Technology Group Corporation Tianjin 300467China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China

The generalized Kerker effects have attracted increasing interests in recent years due to their abilities to manipulate the far-field properties of ***,the dual-polarized generalized Kerker effect enabling different tailoring of orthogonally-polarized electromagnetic waves has not yet been ***,we demonstrate polarization-controlled dual resonant lattice Kerker effects in periodic silicon *** varying the incident angle,the electric dipole and magnetic dipole surface lattice resonances can spectrally overlap,causing zero reflectance and unitary transmittance,i.e.,the resonant lattice Kerker *** incident angle for achieving this effect can be tuned differently for s-and p-polarizations over large regions by varying the nanodisk size or the lattice *** proposed dual-polarized resonant lattice Kerker effects open up avenues for polarization-controlled manipulation of the phase and wavefront of light with metasurfaces.

关键词： Kerker effect surface lattice resonances dual-polarized silicon metasurface

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Hardware-in-the-loop and Digital Twin Enabled Autonomous robotics-assisted Environment Inspection 6

Hardware-in-the-loop and Digital Twin Enabled Autonomous Rob...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Li, Johnny Shang, Bo Jayawardana, Iresh Chen, Genda University of Idaho Precision Agriculture and Intelligent Robotics Laboratory Department of Soil and Water Systems MoscowID83844 United States Department of Electrical Engineering New YorkNY10031 United States Missouri University of Science and Technology Center for Intelligent Infrastructure RollaMO65409-0810 United States

ISBN: (纸本)9798350316155

Empowered by the advanced 3D sensing, computer vision and AI algorithm, autonomous robotics provide an unprecedented possibility for close-up infrastructure environment inspection in an efficient and reliable fashion. Deep neural network (DNN) learning algorithms, pretrained on the large database can empower real-time object detection as well as fully autonomous, safe robotic navigation in unstructured environments while avoiding the potential obstacle. However, the development and deployment of the robots, inspection planning and operation procedures are still tedious and segmented with tremendous manual intervention during environmental inspection and anomaly monitoring. The proposed digital twin approach is able to provide a virtual representation model of the target environment either from a build-design or from 3D scanning of the real-world physical assets at high resolution in the Unity simulation environment, a transverse drone robot model and test its robotics Operating System(ROS) autonomous navigation and obstacle avoidance software stack, and the hardware-in-the-loop test can thus be conducted for the flight control algorithm effectiveness and real-time object detection performance evaluation. The preliminary result shows that VGG16-UNet deep learning algorithm was able to use only a small amount of guidance and time from experienced inspection pilots to successfully identify the critical elements and defects and real-time navigate around the unstructured environment. The proposed digital twin framework and methodology is promising to be utilized for developing and testing fully autonomous inspection robots and its path planning and navigation and detection operation with greater cost- and time-efficiency. © 2023 IEEE.

关键词： Crack detection

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AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops 12

AGV State Monitoring Based on Global and First-person View F...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zhang, Sichao Liang, Wei Li, Gengyu Yuan, Xudong An, Haibo Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Science Beijing100049 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Science and Technology on Information Systems Engineering Laboratory The 28th Research Institute of Cetc Jiangsu Nanjing210007 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

AGV state monitoring is becoming increasingly important for production system safety in digital workshops. This paper develops a global and first-person view fusion to monitor the AGV (Automated Guided Vehicle) running state in the complex digital workshops. Based on the affine transformation model, the AGV running states, i.e., position, velocity and orientation are estimated by the global camera with the assistance of ArUco markers, which are pasted on the front side of the AGV. Besides, the first-person view camera is used to implement pedestrian detection and distance measurement based on the YOLOv3 model. It is noticeable that the pitch angle is considered for distance measurement, and an improved triangular model for distance measurement is proposed. The effectiveness of the proposed method has been verified in our built platform. © 2022 IEEE.

关键词： Cameras

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A Learning Quasi-stiffness Control Framework of a Powered Transfemoral Prosthesis for Adaptive Speed and Incline Walking

arXiv

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arXiv 2023年

作者： Ma, Teng Yin, Shucong Hou, Zhimin Wang, Yuxuan Huang, Binxin Yu, Haoyong Fu, Chenglong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Biomedical Engineering National University of Singapore Singapore119077 Singapore

Impedance-based control represents a prevalent strategy in the powered transfemoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for specific tasks, while creating a task-adaptive controller for variable-task walking continues to be a significant challenge. This article proposes a task-adaptive quasi-stiffness control framework for powered prostheses that generalizes across various walking tasks, including the torque-angle relationship reconstruction part and the quasi-stiffness controller design part. A Gaussian Process Regression (GPR) model is introduced to predict the target features of the human joint’s angle and torque in a new task. Subsequently, a Kernelized Movement Primitives (KMP) is employed to reconstruct the torque-angle relationship of the new task from multiple human reference trajectories and estimated target features. Based on the torque-angle relationship of the new task, a quasi-stiffness control approach is designed for a powered prosthesis. Finally, the proposed framework is validated through practical examples, including varying speeds and inclines walking tasks. Notably, the proposed framework not only aligns with but frequently surpasses the performance of a benchmark finite state machine impedance controller (FSMIC) without necessitating manual impedance tuning and has the potential to expand to variable walking tasks in daily life for the transfemoral amputees. © 2023, CC BY.

关键词： Adaptive control systems

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Quantification of Shoulder Joint Impedance During Dynamic Motion: A Pilot Study Using a Parallel-Actuated Shoulder Exoskeleton Robot

Quantification of Shoulder Joint Impedance During Dynamic Mo...

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International Conference on Ubiquitous Robots (UR)

作者： Seunghoon Hwang Edward Chan Hyunglae Lee Neuromuscular Control and Human Robotics Laboratory School of Matter Transport and Energy Arizona State University Tempe AZ School of Biological and Health Systems Engineering Arizona State University Tempe AZ

ISBN: (数字)9798350361070

ISBN: (纸本)9798350361087

Previous studies characterizing shoulder joint impedance were either strictly limited to 2D planar motion or static postures in 3D space. It is still not clear how shoulder joint impedance is regulated during dynamic motion in 3D space. To address this knowledge gap, this study presents our initial efforts to quantify shoulder joint impedance during dynamic shoulder motion using a parallel-actuated shoulder exoskeleton robot. The robot's 4-bar spherical parallel manipulation mechanism, characterized by low inertia, allows for transparent and natural arm motion in 3D space and applies rapid perturbations to the upper arm during dynamic shoulder motion. Two unimpaired individuals participated in an experiment involving repeated shoulder flexion and extension motions at a fixed horizontal shoulder extension angle of 45°. Shoulder impedance was quantified by estimating the relation-ship between the kinematics of input position perturbations, which were applied in the orthogonal direction of the arm motion, and the output torque responses resulting from these perturbations. This relationship was approximated by a second-order model consisting of inertia, damping, and stiffness. Both subjects showed high reliability in impedance quantification during shoulder flexion and extension movements, evidenced by a high percentage Variance Accounted For that exceeds 96%. The experimental results showed the following notable trends. First, the contribution of stiffness to the shoulder torque was greater than that of the other two impedance parameters. Next, damping was larger during shoulder extension (downward motion) as opposed to flexion (upward motion). Lastly, inertia remained relatively constant regardless of shoulder motions. This pilot study validated the reliability of the presented robotic approach, paving the way for future shoulder impedance studies involving various dynamic motions in 3D space.

关键词： Damping Three-dimensional displays Torque Perturbation methods Dynamics Exoskeletons Shoulder

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Current Trends in Deep Learning Techniques for Alzheimer's Disease Diagnosis Using Medical Images: A Systematic Literature Review

SSRN

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SSRN 2024年

作者： Wong, Pui Ching Abdullah, Shahrum Shah Razak, Mohd Ibrahim Bin Shapiai Abd Shapiai Biologically Inspired System and Technology Laboratory Department of Electronic Systems Engineering Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Kuala Lumpur Malaysia Centre for Artificial Intelligence and Robotics Laboratory Department of Electronic Systems Engineering Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Kuala Lumpur Malaysia

Early diagnosis of Alzheimer’s Disease (AD), a severe brain-related disorder where patients experience progressive memory loss and other cognitive abilities that affect their quality of life, is of utmost importance to reduce its deterioration. However, current medical imaging results are analysed through manual visualisation and traditional Machine Learning (ML) methods, which are time-consuming, highly prone to human errors, and less accurate. Due to these limitations, Deep Learning (DL) approaches have steadily gained attention over their tremendous potential ability to handle large medical imaging datasets and provide clinical decisions to support AD diagnosis. Therefore, this paper presents a Systematic Literature Review (SLR) on the current research trend in AD diagnosis using medical images focusing on DL techniques while identifying potential issues and knowledge gaps in the current literature. Accordingly, 110 articles from Scopus and Web of Science databases were selected from the screening and assessment process, which followed the Preferred Reporting Items for Systematic Review and Meta-analysis (PRISMA) framework. Based on the SLR analysis, the types of neuroimaging modalities used to assist AD diagnosis were first discussed, followed by a thorough evaluation of the commonly used databases for AD diagnosis. Lastly, the existing diagnosis techniques frequently used in the literature for AD diagnosis were reviewed. Overall, this paper provides valuable insights to supplement the lack of a comprehensive review of the application of medical images and DL for AD diagnosis and serves as a reference for new researchers in this field. © 2024, The Authors. All rights reserved.

关键词： Neuroimaging

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Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

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arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Modeling and Experimental Characterization of Propeller-driven Capsule Endoscope Robot for Gastrointestinal Minimally Invasive Diagnosis

Modeling and Experimental Characterization of Propeller-driv...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Weihao Wang Yi Zhang Chengzhi Hu Department of Mechanical and Energy Engineering 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

Wireless capsule endoscopy robots are miniaturized robots that integrate camera, wireless communication, microcontroller, power supply, and other modules. In this paper, we study the modeling and experimental characterization of a propeller-driven capsule endoscopy robot (PCER). The profile of the propeller is challenging to design without detailed drawings because of the complex curved surfaces. The propeller design is achieved in the MIT open-source project OpenProp. The modeling of the propeller and the PCER shell are completed. We used the FLUENT fluid simulation toolkit to evaluate the hydrodynamic performance of the propeller and PCER shell. The thrust generated by the propeller is measured by experiment, and the resistance of PCER shell is measured by experiment following the fluid similarity law. The error between the simulation and the experiment results is within the allowable range, which proves that the hydrodynamic performance parameters of the micro-propeller and the PCER shell calculated by the simulation are reliable, and it provides a new method for the design and optimization of the PCER.

关键词： Wireless communication Solid modeling Fluids Spirals Propellers Endoscopes Propulsion

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EFFECTS OF VISUAL DISPLAY MODALITY ON SIMULATED ON- ORBIT INSPECTION PERFORMANCE: INITIAL RESULTS FROM HUMAN EXPLORATION RESEARCH ANALOG CAMPAIGN 6 66th

EFFECTS OF VISUAL DISPLAY MODALITY ON SIMULATED ON- ORBIT IN...

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66th International Annual Meeting of the Human Factors and Ergonomics Society, HFES 2022

作者： Liu, Andrew M. Weiss, Hannah Stirling, Leia Human Systems Laboratory Massachusetts Institute of Technology CambridgeMA United States Industrial and Operations Engineering University of Michigan Ann ArborMI United States Robotics Institute University of Michigan Ann ArborMI United States

To reduce risk in future human spaceflights, free-flying teleoperated inspector robots could be a viable alternative to extravehicular activity inspection operations. Teleoperation depends on accurate operator situation awareness;consequently, a key to successful operations is providing appropriate feedback through an intuitive interface. During each week of a 45-day mission in NASA Human Exploration Research Analog Campaign 6, four crew members perform two simulated telerobotic inspection tasks (Synchronous Inspection task, Asynchronous Inspection task) while using three distinct visual displays (2D, 3D, AR). Preliminary results from Campaign 6 Mission 1 suggest that task performance and efficiency generally improved with each repetition of the task. Performance with the AR display did not show a performance benefit compared to using the 2D or 3D displays. These results are also in general agreement with a prior laboratory study using the same experiment protocol. © 2022 by Human Factors and Ergonomics Society. All rights reserved.

关键词： NASA

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