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The Impact of Complex Periodic Structures on the Acoustic Performance of Architectural Materials: An Interdisciplinary Approach 1

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3rd International Conference on Innovation in engineering, ICIE 2024

作者： Benchea, Marcelin Bujoreanu, Carmen Şerbănoiu, Bogdan Chiriac, Elena Adelina Ianuş, Gelu Mechanical Engineering Faculty Mechatronics and Robotics Department "Gheorghe Asachi" Technical University of Iaşi 43 Prof. Dr. Doc. D. Mangeron Iaşi700050 Romania Architecture Faculty "Gheorghe Asachi" Technical University of Iaşi Iaşi Romania

ISBN: (数字)9783031626845

ISBN: (纸本)9783031626838

This study explores the use of minimal surfaces in enhancing the acoustic properties of architectural structures. It specifically focuses on analyzing the sound scattering coefficient to understand how these surfaces can improve the overall acoustic environment in buildings. The paper delves into the examination of complex periodic structures, which are noted for their geometric efficiency and aesthetic value, and assesses their capabilities in reducing unwanted sound reflections and enhancing sound quality in architectural spaces. The core of this research lies in evaluating the effectiveness of minimal surfaces in addressing acoustic challenges. To achieve this, experimental measurements were conducted to analyze the sound scattering properties of minimal surfaces and their subsequent impact on the acoustic environment. These measurements adhere to the ISO 10534-1:1998 and ISO 17497-1:2004 standards, which outline the methodologies for experimental procedures in determining sound absorption and scattering characteristics. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Acoustic properties

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Human-Like Robot Impedance Regulation Skill Learning from Human-Human Demonstrations

arXiv

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arXiv 2025年

作者： Li, Chenzui Wu, Xi Liu, Junjia Teng, Tao Chen, Yiming Calinon, Sylvain Caldwell, Darwin Chen, Fei Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Idiap Research Institute Martigny Switzerland Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa16163 Italy

Humans are experts in collaborating with others physically by regulating compliance behaviors based on the perception of their partners’ states and the task requirements. Enabling robots to develop proficiency in human collaboration skills can facilitate more efficient human-robot collaboration (HRC). This paper introduces an innovative impedance regulation skill learning framework for achieving HRC in multiple physical collaborative tasks. The framework is designed to adjust the robot compliance to the human partner’s states while adhering to reference trajectories provided by human-human demonstrations. Specifically, electromyography (EMG) signals from human muscles are collected and analyzed to extract limb impedance, representing compliance behaviors during demonstrations. Human endpoint motions are captured and represented using a probabilistic learning method to create reference trajectories and corresponding impedance profiles. Meanwhile, an LSTM-based module is implemented to develop task-oriented impedance regulation policies by mapping the muscle synergistic contributions between two demonstrators. Finally, we propose a whole-body impedance controller for a human-like robot, coordinating joint outputs to achieve the desired impedance and reference trajectory during task execution. Experimental validation was conducted through a collaborative transportation task and two interactive Tai Chi pushing hands tasks, demonstrating superior performance from the perspective of interactive forces compared to a constant impedance control method. Copyright © 2025, The Authors. All rights reserved.

关键词： Electromyography

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A Verification of a Teleoperation Interface for Rescue Robots using a Virtual Reality Controller with a Door-Opening Task

A Verification of a Teleoperation Interface for Rescue Robot...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Kotaro Kanazawa Noritaka Sato Yoshifumi Morita Department of Engineering Electrical and Mechanical Engineering Program Nagoya Institute of Technology Gokiso-cho Showa-ku Nagoya Japan

There is a need for an interface for the teleoperation of rescue robots that can be used with less training and reduces the mental burden. In recent years, numerous teleoperation interfaces for robots have been developed using commercially available VR headsets and VR controllers. In this study, to investigate the usefulness of VR interfaces in tasks involving both movement and manipulation, a VR interface capable of both movement and manipulation was proposed and validated by users in a door-opening task. The validation results confirm that operations using the VR interface contribute to a shorter working time with the manipulator compared to operations using the gamepad. Additionally, mental demand, temporal demand, and effort tended to be reduced in manipulator operation using the VR interface in the NASA-TLX mental workload assessment. However, the gamepad was also identified as a suitable input device for driving operations, and combining both operations or using them differently depending on the situation may reduce the operator's workload.

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Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 45-54页

作者： LI Dong FAN Yulin LU Na CHEN Guodong WANG Zheng CHI Wenzheng School of Mechanical and Electrical Engineering/Jiangsu Provincial Key Laboratory of Advanced Robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation *** oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient’s brain function movement state,and the joint angle in the rehabilitation *** main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation *** analysis of brain functional connectivity coefficient was used to distinguish the basic motion *** human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth *** with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke *** building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.

关键词： upper limb rehabilitation robot safety protection functional near-infrared spectroscopy(fNIRS) multi-information fusion

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Customizing Visual-Language Foundation Models for Multi-Modal Anomaly Detection and Reasoning

Customizing Visual-Language Foundation Models for Multi-Moda...

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International Conference on Computer Supported Cooperative Work in Design

作者： Xiaohao Xu Yunkang Cao Huaxin Zhang Nong Sang Xiaonan Huang Robotics Department University of Michigan-Ann Arbor Ann Arbor MI USA School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798331513054

ISBN: (纸本)9798331513061

Anomaly detection is vital in various industrial scenarios, including the identification of unusual patterns in production lines and the detection of manufacturing defects for quality control. Existing techniques tend to be specialized in individual scenarios and lack generalization capacities. In this study, our objective is to develop a generic anomaly detection model that can be applied in multiple scenarios. To achieve this, we custom-build generic visual language foundation models that possess extensive knowledge and robust reasoning abilities as anomaly detectors and reasoners. Specifically, we introduce a multi-modal prompting strategy that incorporates domain knowledge from experts as conditions to guide the models. Our approach considers diverse prompt types, including task descriptions, class context, normality rules, and reference images. In addition, we unify the input representation of multi-modality into a 2D image format, enabling multi-modal anomaly detection and reasoning. Our preliminary studies demonstrate that combining visual and language prompts as conditions for customizing the models enhances anomaly detection performance. The customized models showcase the ability to detect anomalies across different data modalities such as images, point clouds, and videos. Qualitative case studies further highlight the anomaly detection and reasoning capabilities, particularly for multi-object scenes and temporal data. Our code is publicly available at https://***/Xiaohac-Xu/Customizable-VLM. 1 1 More insights of customized foundation models for broader anomaly detection settings are available at Github repo: https://***/caoyunkang/GPT4V-for-Generic-Anomaly-Detection.

关键词： Point cloud compression Visualization Foundation models Quality control Production Cognition Manufacturing Anomaly detection Videos Software development management

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Modular design automation of the morphologies, controllers, and vision systems for intelligent robots: a survey

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Visual Intelligence 2023年第1期1卷 397-424页

作者： Wenji Li Zhaojun Wang Ruitao Mai Pengxiang Ren Qinchang Zhang Yutao Zhou Ning Xu JiaFan Zhuang Bin Xin Liang Gao Zhifeng Hao Zhun Fan International Cooperation Base of Evolutionary Intelligence and Robotics ShantouGuangdongChina Department of Electronic Information Engineering Shantou UniversityShantou 515063China School of Automation Beijing Institute of TechnologyBeijing100081China School of Mechanical Science&Engineering HUSTHuazhong University of Science and TechnologyWuhan430074China College of Science Shantou UniversityShantou515063China

Design automation is a core technology in industrial design software and an important branch of knowledge-worker *** example,electronic design automation(EDA)has played an important role in both academia and *** automation for intelligent robots refers to the construction of unified modular graph models for the morphologies(body),controllers(brain),and vision systems(eye)of intelligent robots under digital twin architectures,which effectively supports the automation of the morphology,controller,and vision system design processes of intelligent robots by taking advantage of the powerful capabilities of genetic programming,evolutionary computation,deep learning,reinforcement learning,and causal reasoning in model representation,optimization,perception,decision making,and *** with traditional design methods,MOdular DEsigN Automation(MODENA)methods can significantly improve the design efficiency and performance of robots,effectively avoiding the repetitive trial-and-error processes of traditional design methods,and promoting automatic discovery of innovative ***,it is of considerable research significance to study MODENA methods for intelligent *** this end,this paper provides a systematic and comprehensive overview of applying MODENA in intelligent robots,analyzes the current problems and challenges in thefield,and provides an outlook for future ***,the design automation for the robot morphologies and controllers is reviewed,individually,with automated design of control strategies for swarm robots also discussed,which has emerged as a prominent research focus ***,the integrated design automation of both the morphologies and controllers for robotic systems is ***,the design automation of the vision systems of intelligent robots is summarized when vision systems have become one of the most important modules for intelligent robotic ***,the future research trends of integrated“Bod

关键词： Modular design automation Intelligent robots Bond graph Evolutionary computation Neural architecture search

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Reconfigurable Smart Grid Management for Electric Vehicle Charging and the Integration of Renewable Energy Sources using Pied Kingfisher Optimizer 2

Reconfigurable Smart Grid Management for Electric Vehicle Ch...

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2nd International Conference on Machine Learning and Autonomous Systems, ICMLAS 2025

作者： Sivaramkrishnan, M. Ramkumar, M. Siva Uday, Kaparthi Kanan, Mohammad Raj, C. Mohan Giri, Jayant Karpagam College of Engnieering Dept of EEE India SNS College of Technology Dept of ECE India CVR College of Engineering Ibrahimpatanam EIE Department Hyderabad India College of Engineering University of Business and Technology Department of Industrial Engineering Jeddah21448 Saudi Arabia College of Engineering Zarqa University Department of Mechanical Engineering Zarqa Jordan Centre for Robotics and Industrial Automation Sri Eshwar College of Engineering Department or EEE Coimbatore641202 India Yeshwantrao Chavan College of Engineering Department of Mechanical Engineering Nagpur India Lovely Professional University Division of Research and Development Phagwara India

ISBN: (纸本)9798331505745

Electric Vehicle (EV) charging management under the Smart Grid (SG) framework with incorporated Renewable Energy Sources (RESs) functions to advance Energy Management (EM). The operational cost of EV charging varies because renewable energy availability can change so this affects the financial performance of charging operations. Integration of RESs with the SG becomes challenging for operational system efficiency particularly when renewable energy generation levels are low. To overcome these drawbacks, this manuscript proposes an efficient approach for SG management for EV charging with the integration of RESs. The suggested method is Pied Kingfisher Optimizer (PKO). The main aim of the suggested technique is to minimize the operational expenses of EV charging as well as maximize the efficiency of the SG system. The PKO is used to optimize the scheduling and allocation of energy resources within the SG system. By then, the suggested approach is implemented in MATLAB and contrasted with several other methods that are currently in use. The suggested technique outperforms all existing approaches such as Bald Eagle Search (BES), Red Kite Optimization (RKO), Artificial Neural Network-Particle Swarm Optimization (ANN-PSO), and Coati Optimization Algorithm-Constitutive Artificial Neural Network (COA-CANN). The suggested approach delivers superior performance than conventional methods by reducing operational costs to 638,322$ under coordinated charging and 629,745$ under smart charging without impacting system performance metrics. © 2025 IEEE.

关键词： Particle swarm optimization (PSO)

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Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic arm

Advanced Bionics

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Advanced Bionics 2025年第1期1卷 2-18页

作者： Haosen Yang Guowu Wei Lei Ren Lingyun Yan Darwin Caldwell Department of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterOxford RdManchester M139PLUK School of Science Engineering and EnvironmentUniversity of Salford43 CrescentSalford M54WTUK Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityNo.2699Qianjin RoadChangchun 130025China Department of Robotics Engineering School of Electrical and Electronic EngineeringShanghai Institute of Technology100 Haiquan RoadShanghai 200235China Department of Advanced Robotics Italian Institute of TechnologyVia Morego30Genova 16163Italy

This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic *** introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental *** actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle ***,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are *** demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic *** to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.

关键词： Artificial muscle Compact compliant actuator Series elastic actuator Biomimetic robots

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Thermal Management of Photovoltaic Module Using Affordable Organic Phase Change Material Combined with Nano Metal Oxide Particles Enhancer

SSRN

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SSRN 2024年

作者： Phukaokaew, Wisanu Suksri, Amnart Punyawudho, Konlayutt Wongwuttanasatian, Tanakorn Energy Engineering Program Faculty of Engineering Khon Kaen University Thailand Electrical Engineering Division Faculty of Engineering Khon Kaen University Thailand Department of Mechanical Engineering Faculty of Engineering Chiang Mai University Thailand Mechanical Engineering Division Faculty of Engineering Khon Kaen University Thailand Centre for Alternative Energy Research and Development Khon Kaen University Thailand

The utilization of cooling systems based on phase change materials has experienced a surge in popularity due to their ability to effectively reduce the temperature of photovoltaic (PV) modules. Phase change materials (PCMs) have been widely recognized as a highly efficient medium for thermal energy storage due to their ability to harness latent heat capacity. The low thermal conductivity of the material has been identified in many studies. In the current investigation, we have blended PCM with nanoparticles to enhance its thermal conductivity and electrical efficiency. We produce nanoparticle composited phase change materials (nc-PCMs) by combining lauric acid (LA) with three different nanoparticles: aluminum oxide (Al2O3), copper oxide (CuO), and magnesium oxide (MgO), in an optimal weight proportion of 94: 6. Lauric acid and these nanoparticles are chosen based on their ability to provide a significantly lower cost compared to commercial nanoparticles. Research has demonstrated that the incorporation of nanoparticles increases thermal conductivity, resulting in a decrease in the PV module's temperature. The findings indicate that a combination of LA and MgO in a proportion of 94: 6 constitutes the optimal nc-PCM. This composition demonstrated a 5.2 °C reduction in PV module temperature, which resulted in a notable enhancement in the average electrical efficiency of 14.11%. Furthermore, the power output increased significantly to 14.18%. © 2024, The Authors. All rights reserved.

关键词： Aluminum oxide

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Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 24-35页

作者： WANG Zheng XU Hui LU Na TAO Wei CHEN Guodong CHI Wenzheng SUN Lining Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China School of Mechanical and Electrical Engineering/Jiangsu Provincial Key Laboratory of Advanced Robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and *** this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is *** this work,a practical and effective robot motion planning method is proposed for dynamic unstructured *** figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and ***,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real ***,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.

关键词： automated dispensing medicines dynamic unstructured environment human-robot collaboration dynamic obstacle avoidance multi-sensor depth images 3D grids reactive control method

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