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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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Acquiring Large Field-of-View Optical Super-Resolution Images Using Adaptive As-Natural-As-Possible (AANAP) Image Stitching Method 13

Acquiring Large Field-of-View Optical Super-Resolution Image...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

作者： Sun, Hui Chen, Meng Wu, Cong Luo, Hao Chen, Qingjiu Jia, Boliang Zhang, Guanglie Li, Wen Jung City University of Hong Kong Department of Mechanical Engineering Hong Kong Hong Kong Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Shenzhen518000 China Hong Kong

ISBN: (纸本)9798350315196

Optical super resolution (OSR) is a technique that enhances the spatial resolution of images beyond the diffraction limit of the imaging system. OSR images can provide more details and information compared with conventional optical microscopes that are limited by the diffraction limit of light and thus have a best spatial resolution of about 200 nm. Moreover, the trade-off between magnification and field of view (FOV) hinders capturing large-scale structures and fine details simultaneously. Therefore, novel microscopy techniques that can overcome these limitations and provide high-resolution and large-FOV images of biological samples need to be developed. In this paper, a new method combining microsphere-based optical microscopic super-resolution imaging system and the image stitching method are proposed to improve the resolution and FOV conventional optical microscopy. First, the technique captures multiple images through the microsphere at different positions by moving the samples. Then, the technique stitches together the images using a registration algorithm to form a high-resolution, wide-field image. This technique can overcome the diffraction limit of optical microscopy and achieve sub wavelength resolution with a large FOV. It can be used in various fields of science and engineering, such as cell imaging, tissue imaging, and disease diagnosis. © 2023 IEEE.

关键词： Microspheres

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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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Automated Disassembly Sequence Prediction for Industry 4.0 Using Enhanced Genetic Algorithm

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Computers, Materials & Continua 2021年第11期69卷 2531-2548页

作者： Anil Kumar Gulivindala M.V.A.Raju Bahubalendruni R.Chandrasekar Ejaz Ahmed Mustufa Haider Abidi Abdulrahman Al-Ahmari Department of Mechanical Engineering Industrial Robotics and Manufacturing Automation LaboratoryNational Institute of TechnologyKariakal609609India Department of Computer Science Engineering National Institute of TechnologyKariakal609609India Raytheon Chair for Systems Engineering Advanced Manufacturing InstituteKing Saud UniversityRiyadh11421Saudi Arabia Industrial Engineering Department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The evolution of Industry 4.0 made it essential to adopt the Internet of Things(IoT)and Cloud Computing(CC)technologies to perform activities in the new age of *** technologies enable collecting,storing,and retrieving essential information from the manufacturing *** collected at sites are shared with others where execution automatedly *** obtained information must be validated at manufacturing to avoid undesirable data losses during the de-manufacturing ***,information sharing from the assembly level at the manufacturing stage to disassembly at the product end-of-life state is a major *** current research validates the information optimally to offer a minimum set of activities to complete the disassembly *** optimal disassembly sequence plan(DSP)can possess valid information to organize the necessary actions in ***,finding an optimal DSP is complex because of its combinatorial *** genetic algorithm(GA)is a widely preferred artificial intelligence(AI)algorithm to obtain a near-optimal solution for the DSP *** converging nature at local optima is a limitation in the traditional *** study improvised the GA workability by integrating with the proposed priori crossover *** optimality function is defined to reduce disassembly effort by considering directional changes as *** enhanced GA method is tested on a real-time product to evaluate the *** obtained results reveal that diversity control depends on the operators employed in the disassembly *** proposed method’s solution can be stored in the cloud and shared through IoT devices for effective resource allocation and disassembly for maximum recovery of the *** effectiveness of the proposed enhanced GA method is determined by making a comparative assessment with traditional GA and other AI methods at different population sizes.

关键词： Automation internet of things disassembly sequence planning priori cross over operator enhanced GA disassembly predicates

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Synthesis and Verification of Robust-Adaptive Safe Controllers

Synthesis and Verification of Robust-Adaptive Safe Controlle...

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European Control Conference (ECC)

作者： Simin Liu Kai S. Yun John M. Dolan Changliu Liu Robotics Institute Carnegie Mellon University Pittsburgh PA USA Mechanical Engineering Department Carnegie Mellon University Pittsburgh PA USA

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe controllers for systems with constant, unknown parameters. In particular, we use robust-adaptive control barrier functions (raCBFs) to achieve safety. We develop new theories and techniques using sum-of-squares that enable us to pose synthesis and verification as a series of convex optimization problems. In our experiments, we show that our algorithms are general and scalable, applying them to three different polynomial systems of up to moderate size (7D). Our raCBFs are currently the most effective way to guarantee safety for uncertain systems, achieving 100% safety and up to 55% performance improvement over a robust baseline.

关键词： Uncertain systems Heuristic algorithms Europe Control systems Polynomials Convex functions Safety

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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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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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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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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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