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A thermal management control using particle swarm optimization for hybrid electric energy system of electric vehicles

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Results in engineering 2024年 21卷

作者： Lin, Yu-Hsuan Lee, Ming-Tsang Hung, Yi-Hsuan Department of Power Mechanical Engineering National Tsing-Hua University Hsinchu City300 Taiwan Program of Vehicle and Energy Engineering National Taiwan Normal University Taipei City106 Taiwan

A metaheuristic algorithm, Particle Swarm Optimization (PSO), was employed for developing the optimal control strategies for an innovative hybrid thermal management system (IHTMS) in a proton exchange membrane fuel cell (PEMFC)/battery electric vehicles (EVs). The goals were to shorten the period of low-efficiency temperatures during the initial startup of EVs, and to maintain temperatures of PEMFCs and batteries at their optimal-efficiency zones, where significantly enhances the traveling range and power output of EVs. Prior to simulation for benefit analysis, eight IHTMS subsystems were mathematically constructed. For the multi-input-multi-output PSO control strategy, two inputs were the fuel cell and battery coolant temperatures;while two outputs were the coolant mass flow rate and the flow rate ratio between two energy sources. A rule-based (RB) control strategy for four actuators was designed as the baseline case. Another RB using the PSO to derive the initial conditions (PSOi) was developed as well. In this research, the IHTMS was tested under two driving patterns, WLTP and NEDC, where outstanding thermal management performance was exhibited. The results demonstrate that: in WLTP driving cycle, to compare PSO and PSOi-RB with the RB strategies, the rise time of optimal temperature decreased 13.655 % and 9.505 % for the PEMFC;while 8.77 % and 4.385 % for the battery. For the NEDC driving cycle, the rise time of optimal temperature decreased 8.908 % and 7.318 % for the PEMFC, while 5.226 % and 3.136 % for the battery. The improvements of average temperature errors of the PEMFC were 19.759 % and 11.023 %;the improvements of the average temperature errors of the battery were 57.027 % and 3.67 %. For NEDC driving cycle, the improvements of average temperature errors of the PEMFC were 18.879 % and 9.551 %;the improvements of the average temperature errors of the battery were 29.144 % and 20.221 %. In the future work, the IHTMS will be integrated to a hybrid-energy E

关键词： Temperature control

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Structural Analysis of Thumb Mechanism Exoskeleton Design for Post-Stroke Rehabilitation

Structural Analysis of Thumb Mechanism Exoskeleton Design fo...

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International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation (ICAMIMIA)

作者： Rika Dwi Hidayatul Qoryah Harus Laksana Guntur Hendro Nurhadi Handri Prastyo Franciscus Xaverius Kristianta Shendy Chandika Graduate Program of Mechanical Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia Mechanical Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia Mechanical Engineering Department Center of Excellence for Mechatronics and Industrial Automation Research Center (PUI-PT MIA-RC) Institut Teknologi Sepuluh Nopember Surabaya Indonesia Undergraduate Program Mechanical Engineering Department University of Jember Jember Indonesia Mechanical Engineering Department University of Jember Jember Indonesia

Stroke is the second cause of death and the third cause of disability in the world. Stroke is a disease caused by a clot in the artery that supplies blood to the brain (ischemia). Rehabilitation is a solution to restore the function of parts of the body that have been disturbed by a stroke. Therefore, exoskeleton robots for stroke therapy are one solution to provide good rehabilitation. The exoskeleton robot supports healthy human hand movements and considers the safety and comfort factors during rehabilitation. The exoskeleton in this research uses a cable and sheath transmission mechanism with a locally situated motor as a design mechanism that guarantees safety and comfort. The design strength can be determined using ANSYS static structural assistance software so that the maximum stress in links 1, 2, and 3 is known within safe limits with anthropometric loading. Apart from that, the static structural simulation results show that link 1 can withstand a maximum load of 20 N or more in the X-axis loading, a load of 15 N in the Y-axis loading, and a load of 15 N in the Y-axis loading, and a load of 10 N in the Z-axis loading. Link 2 can withstand a maximum load of 10 N in the X-axis load and 20 N or more in the Y-axis load. Meanwhile, link 3 can withstand a maximum load of 20 N in the X-axis load and below 10 N in the Y-axis load.

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A Genetic Algorithm approach for optimization of geothermal power plant production: Case studies of direct steam cycle in Kamojang

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South African Journal of Chemical engineering 2023年 45卷 1-9页

作者： Rudiyanto, Bayu Birri, Mochammad Syahrul Widjonarko Avian, Cries Kamal, Dianta Mustofa Hijriawan, Miftah Energy Engineering Laboratory Department of Renewable Energy Engineering Politeknik Negeri Jember Jl. Mastrip No.164 Krajan Timur Jember 68121 Indonesia Graduate School of Department of Renewable Energy Engineering Politeknik Negeri Jember Jl. Mastrip No.164 Krajan Timur Jember 68121 Indonesia Department of Electrical Engineering Universitas Jember Jl. Kalimantan 37 Tegalboto Jember 68121 Indonesia Departement of Electronic and Computer Engineering National Taiwan University of Science and Technology No.43 Keelung Rd. Sec.4 Da'an Dist. Taipei City 106335 Taiwan Department of Mechanical Engineering Politeknik Negeri Jakarta Jl. Prof. Dr. G. A. Siwabessy Depok 16425 Indonesia Graduate Program of Mechanical Engineering Universitas Sebelas Maret Jl. Ir. Sutami 36 Surakarta 57126 Indonesia

Indonesia has enormous geothermal potential, but it only contributes 5% to Indonesia's energy matrix. During 37 years of operation, PT. Pertamina Geothermal Energy Kamojang area has been operating to produce electricity and is currently capable of supplying and distributing electricity to the Java-Bali area with a capacity of 60 MWe. However, this can run into a decrease in the efficiency and effectiveness of system performance due to energy losses in several geothermal power plant components during energy conversion. In this case, exergy analysis at PT. Pertamina Geothermal Energy Kamojang area Unit 4 direct-dry steam cycle was done on each component and state. This aims to know the energy and exergy stream and where it happened irreversibly at the component. The biggest irreversibility value occurred at the turbine and main condenser, with a value of 21,693.890 kW and 21,688.148 kW. The total irreversibility of all systems is 58,326.201 kW, while the total exergy inlet systems is 119,308.457 kW, so the value efficiency exergy obtained is 51.13%. Based on the environment as dead state analysis, an efficiency exergy value is inversely proportional to the irreversibility value and ascending environment temperature. System optimization was done with the genetic algorithm method, with variable values at the pressure wellhead and inlet turbine for the overall exergy efficiency value. The value obtained from optimization is 11.98 bar at the wellhead and 10.023 bar at the inlet turbine, and the overall efficiency exergy increased by 51.22%. © 2023 The Author(s)

关键词： Dry steam cycle Exergy Genetic Algorithm Geothermal power plant Optimization

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Quadruped Walking Algorithm Integrating Balance Control Using Cartinverted Pendulum Model and Optimization-based Whole-body Inverse Dynamics Control

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Journal of Institute of Control, robotics and Systems 2024年第9期30卷 1024-1036页

作者： Han, Kyu-Chur Kim, Hyun-Seok Kim, Jung-Yup Department of Mechanical Design and Robot Engineering Seoul Nat’l Univ. of Science and Technology Korea Republic of Smart Robotics Team Hyundai-Rotem Co Korea Republic of

This paper presents a walking strategy that enables stable locomotion on irregular ground and allows a quadruped robot to respond to external impact disturbances while walking. Initially, we designed a cart inverted pendulum model (CIPM) for dynamic control of the quadruped robot and converted the control commands derived from the LQR controller into ground reaction forces for balance control using quadratic programming (QP). Next, the derived ground reaction forces were converted into optimal joint torques that integrated the cost function and ground friction conditions through Whole-Body Inverse Dynamics Control (WBIDC) using a floating base dynamic model to realize the stable walking of the robot. To verify the algorithm, ground obstacles and an impact disturbance applicator were modeled on the walking path in the GAZEBO simulation environment, demonstrating successful performance of the quadruped robot walking algorithm presented in this paper. © ICROS 2024.

关键词： Cost functions

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Shaping Drivers’ Understanding of Control: The Effect of Visual User Interfaces on Control Responsibilities in Automated Vehicles

SSRN

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SSRN 2024年

作者： Kim, Soyeon Nordhoff, Sina van Egmond, René Happee, Riender Department of Human-Centered Design Faculty of Industrial Design Engineering Delft University of Technology Netherlands Department Transport & Planning Faculty of Civil Engineering and Geosciences Delft University of Technology Netherlands Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Netherlands

As vehicles transition between driving automation levels, drivers need to be aware of their responsibilities and the function of automation mode. This study investigates the impact of visual user interfaces (UIs) on drivers' mode awareness in SAE Level 2 automated vehicles. It focuses on their understanding of lateral control, longitudinal control, and steering wheel requirements presented through UIs. Forty-five UIs were generated, presenting for activation of Lane Keeping Assist (LKA) and Adaptive Cruise Control (ACC) and requirements of Hands-on steering wheel. Through an online questionnaire with 1080 respondents with experience of SAE Level 2 partial driving automation, the study evaluated how visual UIs influenced users' understanding of control responsibilities, information usability, and trust in automated vehicles. The results show the important role of UI in shaping users' understanding of control responsibility. Hands-on steering wheel UIs significantly improved the understanding of hands-on steering wheel requirements, whereas ACC UIs and LKA UIs had no significant effects. The hands-on steering wheel UI combining the hands on the wheel icon and the text "Keep hands on steering wheel" yielded 94.4% correct understanding and outperformed the UI with hands but without text (87.8% correct) or no UI (82.5% correct). The response of longitudinal and lateral control responsibility was independent of the ACC UI and LKA UI. This study contributes to the understanding and design of visual UIs for effective communication of driver responsibilities in automated vehicles. © 2024, The Authors. All rights reserved.

关键词： User interfaces

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SDF-Pack: Towards Compact Bin Packing with Signed-Distance-Field Minimization

SDF-Pack: Towards Compact Bin Packing with Signed-Distance-F...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jia-Hui Pan Ka-Hei Hui Xiaojie Gao Shize Zhu Yun-Hui Liu Pheng-Ann Heng Chi-Wing Fu Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Centre for Logistics Robotics Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

Robotic bin packing is very challenging, especially when considering practical needs such as object variety and packing compactness. This paper presents SDF-Pack, a new approach based on signed distance field (SDF) to model the geometric condition of objects in a container and compute the object placement locations and packing orders for achieving a more compact bin packing. Our method adopts a truncated SDF representation to localize the computation, and based on it, we formulate the SDF -minimization heuristic to find optimized placements to compactly pack objects with the existing ones. To further improve space utilization, if the packing sequence is controllable, our method can suggest which object to be packed next. Experimental results on a large variety of everyday objects show that our method can consistently achieve higher packing compactness over 1,000 packing cases, enabling us to pack more objects into the container, compared with the existing heuristics under various packing settings. The code is publicly available at: https://***/kwpoon/SDF-Pack.

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Optimal swing motion control for single-rod brachiation robot *

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IFAC-PapersOnLine 2023年第2期56卷 6320-6325页

作者： Juraj Lieskovský Hijiri Akahane Jaroslav Bušek Ikuo Mizuuchi Tomáš Vyhlídal Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering and CIIRC-Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Technická 4 Prague 6 16607 Czechia Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology 2-24-16 Naka-cho Koganei-city Tokyo Japan

This paper focuses on the optimal swing and rotation control of a single-rod brachiation robot by repositioning its center of gravity. First, a time-optimal control is proposed and analyzed. It utilizes impulses of force at the robot's zero-angle and the turning-angle positions to reposition the center of gravity. Then, a practical implementation that addresses force limits is proposed, in the form of a PD controller paired with input-output linearization which uses the optimal solution as a setpoint. Both control policies are validated through simulations as a preliminary step to laboratory validation on an assembled single-rod robot. Enhanced attention is paid to energy evolution during the swing and rotation of the robot, in particular to the energy pumping achieved by repositioning the center of gravity.

关键词： Single-link robot optimal swing nonlinear control brachiation

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FIReStereo: Forest InfraRed Stereo Dataset for UAS Depth Perception in Visually Degraded Environments

arXiv

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arXiv 2024年

作者： Dhrafani, Devansh Liu, Yifei Jong, Andrew Shin, Ukcheol He, Yao Harp, Tyler Hu, Yaoyu Oh, Jean Scherer, Sebastian Carnegie Mellon University College of Engineering Department of Mechanical Engineering PittsburghPA United States Carnegie Mellon University School of Computer Science The Robotics Institute PittsburghPA United States

Robust depth perception in visually-degraded environments is crucial for autonomous aerial systems. Thermal imaging cameras, which capture infrared radiation, are robust to visual degradation. However, due to lack of a large-scale dataset, the use of thermal cameras for unmanned aerial system (UAS) depth perception has remained largely unexplored. This paper presents a stereo thermal depth perception dataset for autonomous aerial perception applications. The dataset consists of stereo thermal images, LiDAR, IMU and ground truth depth maps captured in urban and forest settings under diverse conditions like day, night, rain, and smoke. We benchmark representative stereo depth estimation algorithms, offering insights into their performance in degraded conditions. Models trained on our dataset generalize well to unseen smoky conditions, highlighting the robustness of stereo thermal imaging for depth perception. We aim for this work to enhance robotic perception in disaster scenarios, allowing for exploration and operations in previously unreachable areas. The dataset and source code are available at https://***. © 2024, CC BY.

关键词： Depth perception

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A mathematical model of collisions in passive dynamic walking of a compass-like biped walker with an angle limiter

A mathematical model of collisions in passive dynamic walkin...

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SICE Annual Conference

作者： Yasushi Iwatani Jialun Zhang Tetsuya Kinugasa Department of Robotics Kindai University Higashi Hiroshima Japan Department of Mechanical Systems Engineering Okayama University of Science Okayama Japan

Compass-like biped robots are biped robots with no knees. They are useful for investigating walking dynamics, since they are simple and capture the essence of walking, especially passive dynamic walking. Passive compass-like biped robots have angle limiters in some experimental arrangements, and the relative angle between the two legs is limited. For a compass-like biped robot with an angle limiter, an impact occurs at the time of collision between the limiter and a leg, but its dynamics have not been modeled yet. Therefore, the effect of the angle limiter is unclear, while it is experimentally known that the angle limiter improves walking robustness for passive dynamic walkers. This paper provides a mathematical model of dynamics at the impact time of collision between the limiter and a leg of a compass-like biped robot. The obtained model helps to analyze the limiter effect of compass-like biped robots computationally and/or theoretically. It may be useful for understanding the dynamics of bipedal walking and for generating human-like biped locomotion.

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Improving the Cooling Time of Twisted Coiled Actuators in Soft robotics

Improving the Cooling Time of Twisted Coiled Actuators in So...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Alex Lizotte Parisa Daemi Brendan DiFabio Ana Luisa Trejos School of Biomedical Engineering (BME) Western University BME Western University Department of Electrical and Computer Engineering (ECE) Department of Mechanical and Materials Engineering Mechatronics Program Western University ECE and BME Western University

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Fabric cooling channels for twisted coiled actuators (TCAs) were recently proposed to achieve the required response times for motion assistance in a manner suitable for soft wearable robotic devices. While previous work demonstrated that the fabric channel reduced the cooling time by 42% in comparison to the same TCA without the cooling channel, the TCAs were still not cooled quickly enough to support human motion. Therefore, in this paper, two variations to the channel are proposed to further reduce the cooling time of the TCAs. The variations include unsealing the inlet and adding vents along the length of the channel to take advantage of air entrainment and natural convection. While both variations reduced the cooling time on their own, when they were employed together there was a 34% reduction in cooling time compared to the original channel design ( $19.1 \pm 2.4\ \mathrm{s}$ vs. $13.5 \pm 0.9\ \mathrm{s}, \mathrm{p} < 0.001$ ). This decrease occurred without any significant differences in the stroke or heating time of the TCA. The modified channel was then compared to the TCA without the cooling apparatus and the cooling time was reduced by 57% ( $25.1 \pm 1.7\ \mathrm{s}$ vs. $14.0 \pm 1.2\ \mathrm{s}, \mathrm{p} < 0.001)$ . This work advances the development of a cooling system for TCAs, making it suitable for soft wearable robotic devices by improving portability, and thereby enabling their use in wearable devices for rehabilitation applications.

关键词： Heating systems Actuators Cooling Vents Soft robotics Fabrics Time factors Wearable devices Convection Testing

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