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Unexpected Li displacement and suppressed phase transition enabling highly stabilized oxygen redox in P3-type Na layered oxide cathode

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Journal of Energy Chemistry 2023年第10期85卷 144-153,I0006页

作者： Myungeun Choi Hobin Ahn Hyunyoung Park Yongseok Lee Jinho Ahn Bonyoung Ku Junseong Kim Wonseok Ko Jungmin Kang Jung-Keun Yoo Duho Kim Jongsoon Kim Department of Energy Science Sungkyunkwan UniversitySuwon 16419Republic of Korea SKKU Institute of Energy Science and Technology(SIEST) Sungkyunkwan UniversitySuwon 16419Republic of Korea Carbon Composites Department Korea Institute of Materials Science(KIMS)Changwon 51508Republic of Korea Department of Mechanical Engineering(Integrated Engineering Program) Kyung Hee University1732Deogyeong-daeroGiheung-guYongin-siGyeonggi-do 17104Republic of Korea Department of KHU-KIST Convergence Science and Technology Kyung Hee University23Kyunghee-daero Dongdaemun-guSeoul 02447Republic of Korea

Oxygen redox is considered a new paradigm for increasing the practical capacity and energy density of the layered oxide cathodes for Na-ion batteries. However, severe local structural changes and phase transitions during anionic redox reactions lead to poor electrochemical performance with sluggish ***, we propose a synergy of Li-Cu cations in harnessing the full potential of oxygen redox, through Li displacement and suppressed phase transition in P3-type layered oxide cathode. P3-type Na_(0.7)[Li_(0.1)Cu_(0.2)Mn_(0.7)]O_(2) cathode delivers a large specific capacity of ~212 mA h g^(-1)at 15 mA g^(-1). The discharge capacity is maintained up to ~90% of the initial capacity after 100 cycles, with stable occurrence of the oxygen redox in the high-voltage region. Through advanced experimental analyses and first-principles calculations, it is confirmed that a stepwise redox reaction based on Cu and O ions occurs for the charge-compensation mechanism upon charging. Based on a concrete understanding of the reaction mechanism, the Li displacement by the synergy of Li-Cu cations plays a crucial role in suppressing the structural change of the P3-type layered material under the oxygen redox reaction, and it is expected to be an effective strategy for stabilizing the oxygen redox in the layered oxides of Na-ion batteries.

关键词： Layered oxide cathode Oxygen redox reaction Structural stability Li displacement No phase transition

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Learning flatness-based controller using neural networks

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ASME Letters in Dynamic Systems and Control 2021年第2期1卷 021003页

作者： Ren, Hailin Qi, Jingyuan Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Department of Mechanical Engineering Virginia Tech BlacksburgVA24060 United States Department of Physics Virginia Tech BlacksburgVA24060 United States

This paper presents a method to imitate flatness-based controllers for mobile robots using neural networks. Sample case studies for a unicycle mobile robot and an unmanned aerial vehicle (UAV) quadcopter are presented. The goals of this paper are to (1) train a neural network to approximate a previously designed flatness-based controller, which takes in the desired trajectories previously planned in the flatness space and robot states in a general state space, and (2) present a dynamic training approach to learn models with high-dimensional inputs. It is shown that a simple feedforward neural network could adequately compute the highly nonlinear state variables transformation from general state space to flatness space and replace the complicated designed heuristic to avoid singularities in the control law. This paper also presents a new dynamic training method for models with high-dimensional independent inputs, serving as a reference for learning models with a multitude of inputs. Training procedures and simulations are presented to show both the effectiveness of this novel training approach and the performance of the welltrained neural network. Copyright © 2021 by ASME.

关键词： Machine learning

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Comparison of Bioinspired MLP Controllers for Mobile Robots Obstacle Following/Avoidance

Comparison of Bioinspired MLP Controllers for Mobile Robots ...

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Latin America Congress on Computational Intelligence (LA-CCI)

作者： Matheus de S. Luiz M. A. Pastrana Lukas. A. Da Silva Pamela. R. A. N. Campagnucci Jose Mendoza-Peñaloza Rafael R.L. Benevides Daniel M. Muñoz Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil Department of Mechanical Engineering Mechatronics Graduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350374575

ISBN: (纸本)9798350374582

Proportional, integral, and derivative (PID) controllers have been widely adopted for industrial applications. However, these controllers are not very efficient for non-linear systems. Artificial neural networks (ANN) based on the Multilayer Perceptron (MLP) have great potential to replace PID controllers due to their polynomial structure, allowing complex non-linear systems to be controlled. This article introduces the integration of four MLPs as alternatives to a traditional PID controller. These MLPs were trained through four bioinspired algorithms tailored for following tasks in mobile robots. The bioinspired algorithms employed for MLP network training include Particle Swarm Optimization (PSO), Grey Wolf Optimization (GWO), Month-Flame Optimization (MFO), and Artificial Hummingbird Algorithm (AHA). A comparative analysis was conducted between these MLPs and a classic PID controller, focusing on parameters such as overshoot (OS), settling time (ST), and steady-state error for different simulated scenarios.

关键词： Training Process control Artificial neural networks Vectors Stability analysis Steady-state Mobile robots Optimization Videos Testing

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SWhegPro: A Novel Robust Wheel-Leg Transformable Robot

SWhegPro: A Novel Robust Wheel-Leg Transformable Robot

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Dai, Cunxi Liu, Xiaohan Zhou, Jianxiang Liu, Zhengtao Zhu, Zheng Jia, Zhenzhong The Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China SUSTech Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper reports the design, implementation, and performance evaluation of SWhegPro, a swift and robust wheel-leg transformable robot that can operate under heavy payload. SWhegPro can shift wheel morphology between the wheel, e-shape leg, and S-shape leg, the corresponding gaits were developed and compared in simulation. The wheel/leg operation is driven by the same motor, so the actuation system and power can be utilized efficiently. Different from its predecessor which uses tendon-driven transformation mechanisms, SWhegPro utilizes self-locking electric push rods as transformation actuators. This makes it possible for SWhegPro to operate under heavy loads and is easier to repair. The robot was empirically built, and the design process, mechatronics infrastructure, and gait behavioral development were discussed. The performance of the robot was evaluated in various sce-narios, including driving and turning in wheeled mode, step crossing, and irregular terrain passing in legged mode. © 2022 IEEE.

关键词： Wheels

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Using Alize Software to Simulate the Forest Roads Resistance in Different Scenarios

Using Alize Software to Simulate the Forest Roads Resistance...

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Electrical, Computer, Communications and Mechatronics engineering (ICECCME), International Conference on

作者： Ruxandra-Maria Galeş Cristian-Ştefan Dumitriu Alina Bărbulescu Maria Chevereşan Doctoral School of the Technical University of Civil Engineering Bucharest Romania Faculty of Mechanical Engineering and Robotics Constructions of the Technical University of Civil Engineering Bucharest Romania Department of Civil Engineering Transilvania University of Brasov Braşov Romania Department of Hydrotechnical Engineering Technical University of Civil Engineering Bucharest Romania

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

The design and behavior analysis of road structures remain a challenge for road designers due to the demands to which the roads are exposed and the continuous traffic type changes. This paper focuses on the roads traffic demands and presents a comparative study of two types of forest road structures, with one and two geogrids, for different vehicle axle loads. It is shown how, in terms of mechanical resistance, the geogrids' presence impacts the state of stress and deformation in the road for the forest road structures analyzed with the Alize specialized software.

关键词： Resistance Deformation Roads Forestry Software Stability analysis Road traffic Stress Standards Axles

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Target Tracking Control of Space-Manipulators on Lie Groups

Target Tracking Control of Space-Manipulators on Lie Groups

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IEEE International Conference on Systems, Man and Cybernetics

作者： Borna Monazzah Moghaddam Robin Chhabra Mechanical and Aerospace Engineering Department Autonomous Space Robotics and Mechatronics Laboratory Carleton University Ottawa ON Canada

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity.

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Online Optimization of Heat Pump Systems for Building Heating based on Lyapunov Method

Online Optimization of Heat Pump Systems for Building Heatin...

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2022 IEEE Power and Energy Society Innovative Smart Grid Technologies Conference, ISGT 2022

作者： Cao, Mengfan Chen, Shibo Yang, Zaiyue Miao, Haoyu Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems The Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665437752

Improving the energy efficiency of heating systems is of great significance in building energy saving. This paper investigates a time-average total cost minimization problem of heat pump systems. Firstly, heat pump systems and thermal dynamic building model are built considering thermal inertia. To solve temporally coupled constraints and uncertainties of the outdoor temperature and real-time electricity price in the formulated problem, the paper proposes an online optimization algorithm for building heating based on Lyapunov method. Extensive simulation results show that this method could achieve user comfort and reduce energy cost effectively. © 2022 IEEE.

关键词： Energy efficiency

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Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots

Fast Staircase Detection and Estimation using 3D Point Cloud...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Prasanna Sriganesh Namya Bagree Bhaskar Vundurthy Matthew Travers The Robotics Institute Carnegie Mellon University USA Department of Mechanical Engineering Carnegie Mellon University USA

Robotic systems need advanced mobility capabili-ties to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly, reliably, and efficiently in such complex environments, e.g., automatically “returning home” if communication between an operator and robot is lost during deployment. This work presents a novel method that enables mobile robots to robustly operate in multi-level environments by making it possible to autonomously locate and climb a range of different staircases. We present results wherein a wheeled robot works together with a quadrupedal system to quickly detect different staircases and reliably climb them. The performance of this novel staircase detection algorithm that is able to run on the heterogeneous platforms is compared to the current state-of-the-art detection algorithm. We show that our approach significantly increases the accuracy and speed at which detections occur.

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3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers

3D Printable Gradient Lattice Design for Multi-Stiffness Rob...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Siebe J. Schouten Tomas Steenman Rens Filé Merlijn Den Hartog Aimee Sakes Cosimo Della Santina Kirsten Lussenburg Ebrahim Shahabi Mechanical Engineering Department Delft University of Technology CD Delft the Netherlands BioMechanical Engineering Department Delft University of Technology CD Delft the Netherlands Cognitive Robotics Department Delft University of Technology CD Delft the Netherlands Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wesling Germany

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Human fingers exhibit remarkable dexterity and adaptability through a combination of structures with varying stiffness levels, ranging from soft tissues (low stiffness) to tendons and cartilage (medium stiffness) to bones (high stiffness). This paper focuses on the development of a robotic finger that emulates these multi-stiffness characteristics. Specifically, we propose utilizing a lattice configuration, parameterized by voxel size and unit cell geometry, to achieve fine-tuned stiffness properties with high precision. A key advantage of this approach is its compatibility with single-process 3D printing, which eliminates the need for manual assembly of components with varying stiffness. Using this method, we present a novel, human-like robotic finger and a soft gripper. The gripper is integrated with a rigid manipulator and demonstrated in pick-and-place tasks, showcasing its effectiveness.

关键词： Service robots Fingers Lattices Tactile sensors Soft robotics Three-dimensional printing Distance measurement Robustness Grippers Tendons

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Improving Domain Transfer of Robot Dynamics Models with Geometric System Identification and Learned Friction Compensation

Improving Domain Transfer of Robot Dynamics Models with Geom...

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IEEE-RAS International Conference on Humanoid Robots

作者： Laura Schwendeman Andrew SaLoutos Elijah Stanger-Jones Sangbae Kim Department of Mechanical Engineering Biomimetic Robotics Laboratory Massachusetts Institute of Technology (MIT) Cambridge MA USA

Dynamic simulation is an important part of the design pipeline for robot controllers, but there is often a significant performance gap between the simulation domain and the real world. This sim-to-real gap makes transferring controllers developed in one simulation environment to other simulations or to real hardware systems difficult and time-consuming. Here, we introduce an approach to reduce this gap for the MIT Humanoid by using physically-feasible system identification methods to match dynamics models across domains, combined with neural networks to model any residual dynamics, such as friction. Using data from our real hardware system as the ground truth, we develop models for transfer from two separate simulation environments to hardware, as well as transfer between the two simulations. Finally, we show experimental results using our fitted dynamic models and characterize our domain transfer success.

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