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2024 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2024

作者： Orshella, D.D. Masruroh, N.A. Arini, H.M. Department of Mechanical and Industrial Engineering Universitas Gadjah Mada Yogyakarta Indonesia Industrial Engineering Program Galuh University Ciamis Indonesia

ISBN: (纸本)9798350386097

Emergency decision-making requires perspectives from multiple decision-makers with different knowledge and experience to evaluate alternatives jointly and agree on the final solution. Researchers are developing the Large Group Emergency Decision-Making (LGEDM) framework, an assessment and evaluation process by 20 or more experts of alternative solutions in emergency cases. Trust relationship among experts participating in LGEDM is an important factor in the stages of LGEDM to reach the ideal consensus level. This literature review examines the development of research adapting trust relationships in the LGEDM framework, specifically from two perspectives (similarity-based trust and familiarity-based trust) and evidence of the effectiveness of trust relationships from previous studies. The study also identifies several opportunities from previous studies and provides recommendations for future studies. © 2024 IEEE.

关键词： Decision-making emergency familiarity similarity trust

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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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2024 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2024

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

ISBN: (纸本)9798350374575

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. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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A Robotic Skin Using Low-density FBGs for Human-robot Interaction

A Robotic Skin Using Low-density FBGs for Human-robot Intera...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Dong, Xiyue Lam, Chin-Kiu Chen, Wei Yang, Bohan Liu, Yun-Hui Hong Kong Center for Logistics Robotics Hong Kong The Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong

ISBN: (纸本)9781665481090

In collaborative robotic arms, tactile sensing is crucial for enhancing interaction accuracy and safety. Robotic skins play an vital role in tactile sensing by mimicking the human sense of touch, enabling robots to detect and respond to physical interactions. Fiber Bragg gratings (FBGs), with their high sensitivity, environmental adaptability, and real-time response are increasingly adopted in the design of robotic skin systems. However, current FBG-based research has not resolved the issue of the high-density FBG usage and the large number of optical fibers required, limiting their widespread application in practical scenarios. In this work, we present a design of a soft robotic skin with efficient use of FBGs to estimate the location and magnitude of external forces. Our prototype features a cylindrical shape with a total area of 720 cm2 and incorporates one optical fiber with 16 evenly spaced FBGs. We optimized the structure through finite element analysis (FEA) and designed experiments to characterize its properties. Using data-driven methods, we achieved root mean square errors (RMSEs) of 4.29 mm and 4.05 degrees in estimating locations along the axial and radial directions, respectively, and 0.17 N for force magnitude. By achieving high sensitivity and an effective area per unit of 50 cm2, this approach shows promise for future applications in robotic skin. © 2024 IEEE.

关键词： Fiber Bragg gratings

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A novel piezoelectric motor design and its controller

A novel piezoelectric motor design and its controller

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4th International Conference on Smart and Sustainable Developments in Materials, Manufacturing and Energy engineering, SME 2022

作者： Veeresha, R.K. Bhat, Krishna Muralidhara Department of Robotics and Artificial Intelligence Udupi574110 India Department of Mechanical Engineering Udupi574110 India

The paper aims to develop a novel piezoelectric motor and its controller;here the motor shaft needs to be rotated fully by 360° using two sets of Parallelly Prestressed Actuators (PPA) and one set of lock release actuators (LR). The first set of PPA drives the driving element and produces a displacement of 39 lm for an applied input voltage of 150 V & rotates by an angle of 0.145°, thus taking 2483 steps to complete one complete rotation. The second set of PPA is deployed to transfer the rotation caused by the first set of PPA to the output shaft. The lock release actuator will arrest the rotation that occurred and avoids the shaft from moving back to its original position till the next cycle begins. The above set of operations is continued to obtain continuous rotation of the piezoelectric motor shaft. There is a FAP used to hold the shaft during the power-off condition. The mathematical controller is developed to obtain both forward and reverse rotation of the shaft by applying an input voltage, further the developed model is simulated using MATLAB Simulink software to illustrate the working of a piezoelectric motor. Copyright © 2023 Elsevier Ltd. All rights reserved.

关键词： Rotation

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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

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IEEE Transactions on robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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Translation of a sphere towards a rigid plane in an Oldroyd-B fluid

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Physical Review Fluids 2024年第8期9卷 083303页

作者： Tachin Ruangkriengsin Rodolfo Brandão Bimalendu Mahapatra Evgeniy Boyko Howard A. Stone Program in Applied and Computational Mathematics Department of Mechanical and Aerospace Engineering Faculty of Mechanical Engineering

We analyze the low-Reynolds-number translation of a sphere towards or away from a rigid plane in an Oldroyd-B fluid under two scenarios: prescribing the sphere's translational velocity, and prescribing the force on the sphere. Leveraging the lubrication approximation and a perturbation expansion in powers of the Deborah number, we develop a comprehensive theoretical analysis that yields analytical approximations for velocity fields, pressures, and forces acting on the sphere. Our framework aids in understanding temporal microstructural changes as the particle-wall gap evolves over time. In particular, we show that alterations in the polymer conformation tensor in response to geometric changes induce additional forces on the sphere. For cases with prescribed velocity, we present a theoretical approach for calculating resistive forces at any order in the Deborah number and utilize a reciprocal theorem to obtain higher-order corrections based on velocity fields in the previous orders. When the sphere translates with a constant velocity, the fluid viscoelasticity decreases the resistive force at the first order. However, at the second-order correction, the direction of the sphere's movement determines whether viscoelasticity increases or decreases the resistive force. For cases with prescribed force, we show that understanding the influence of viscoelasticity on the sphere's translational velocity necessitates a more intricate analysis even at low Deborah numbers. Specifically, we introduce an ansatz for constant force scenarios, and we derive solution forms for general prescribed forces using the method of multiple scales. We find that when a sphere undergoes sedimentation due to its own weight, the fluid viscoelasticity results in a slower settling process, reducing the leading-order sedimentation rate.

关键词： Complex fluids Low Reynolds number flows Lubrication theory Polymer conformation changes Rheology

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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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Loss Balancing for Physics-Informed Neural Networks Considering Procedure for Solving Partial Differential Equations 13

Loss Balancing for Physics-Informed Neural Networks Consider...

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Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2024

作者： Kojima, Manabu Otsuki, Kazuma Suzuki, Masato Abe, Masajiro Baba, Masaaki Yokota, Kazuya Master's Program in Mechanical Engineering Nagaoka University of Technology Nagaoka Japan Nagaoka University of Technology Department of System Safety Engineering Nagaoka Japan Nagaoka University of Technology Department of Mechanical Engineering Nagaoka Japan

ISBN: (纸本)9798350373332

With the development of machine learning, numerical analysis using neural networks has been devised. Remarkably, physics-informed neural networks (PINNs) enable physically consistent numerical analysis by introducing a loss function that conforms to relevant governing equations. Moreover, research is rapidly advancing for the application of PINNs to inverse analysis in areas such as physical property identification. For a PINN to learn governing equations, the weights of the loss functions should be properly determined because they have different roles in components such as boundary conditions, initial conditions, and governing equations. However, weight setting is generally challenging. We propose a loss balancing method considering the procedure for solving partial differential equations. The proposed method is validated through comparisons with conventional solvers. © 2024 IEEE.

关键词： Partial differential equations

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Kinematic Calibration of a Spherical Parallel Robot 11

Kinematic Calibration of a Spherical Parallel Robot

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Dindarloo, M.R. Mirjalili, A.S. Khorrambakht, R. Khalilpour, S.A. Cardou, P. Taghirad, H.D. Tehran Iran Laval University Robotics Laboratory Department of Mechanical Engineering Quebec City Canada

ISBN: (纸本)9798350308105

Kinematic calibration is essential for improving the accuracy of parallel robots by compensating for geometric errors. This paper presents a calibration method for spherical parallel robots using relative pose measurements. By comparing relative end-effector poses from the robot's forward kinematics to those from a ground truth measurement system, the method identifies kinematic parameters without relying on the robot base frame. An error model based on relative poses in the SE(3) manifold is formulated. Parameters are optimized using the Levenberg-Marquardt algorithm to minimize the error between measured and estimated relative poses. The methodology is demonstrated by calibrating the ARAS-DIAMOND spherical parallel robot. Results show improved repeatability and trajectory tracking after calibration, confirming its efficacy. © 2023 IEEE.

关键词： End effectors

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Performance analysis on mechanical and machinability attributes of Al6061-B4C-T6 composites processed via hot extrusion

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Proceedings of the Institution of mechanical Engineers, Part B: Journal of engineering Manufacture 2024年第9期238卷 1386-1400页

作者： Tinga, Sibel Karakoç, Halil Yağmur, Selçuk Saravana Kumar, M. Şeker, Ulvi Çıtak, Ramazan Department of Metallurgy and Materials Engineering Gazi University Ankara Turkey Department of Mechanical Program Hacettepe University Ankara Turkey Department of Manufacturing Engineering Gazi University Ankara Turkey Graduate Institute of Manufacturing Technology National Taipei University of Technology Taipei Taiwan

In this study, composite materials with Al6061 alloy matrix and B4C particles reinforcement were produced by hot extrusion process. Fabricated composites were examined for the mechanical and machinability attributes. Al6061 alloy powders (4C particles (4C (3%, 6%, and 9% by weight) of and then cold pressed under 200 MPa pressure. The cold pressed powder metal block was extruded hot after preheating at 550°C for 1 h. Further, the composites were subjected to T6 aging heat treatment after hot extrusion. Microstructure, density, hardness, tensile strength, and wear properties were examined. The effects of cutting speed and cutting force on the machinability were also investigated. In addition, surface roughness and chips formation were examined. High density (99.6%) values were achieved with the extrusion process. With increasing B4C particles ratio, the hardness and tensile values were increased which was substantiated by the fracture morphology of the tensile specimens. It has been observed that tool smearing was high in the machining of the low-reinforced (3% B4C) composite. The highest cutting force was measured as 236 N at a feed rate of 0.27 mm/rev and a cutting speed of 250 m/min. It has also been observed that the average surface roughness decreased with increasing cutting speed and it increased with increasing feed rate. © IMechE 2023.

关键词： Microstructure

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