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A novel piezoelectric motor design and its controller

Materials Today: Proceedings 2023年 92卷 38-47页

作者： Veeresha R.K. Bhat K. Muralidhara Nitte (Deemed to be University) NMAM Institute of Technology (NMAMIT) Department of Robotics and Artificial Intelligence Udupi 574110 India Nitte (Deemed to be University) NMAM Institute of Technology (NMAMIT) Department of Mechanical Engineering Udupi 574110 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 μm 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. © 2023 Elsevier Ltd. All rights reserved.

关键词： Flexuraly Amplified Piezoactuator (FAP) Lock-Release actuator (LR) Parallelly Prestressed Actuator (PPA) Piezo-stack actuator Piezoelectric Motor

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A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties 8

A Haptic Exploration and Surface Classification of Objects w...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Qi, Peng Wu, Yunfeng Yao, Tianliang Lu, Bo Sun, Yi Dai, Jian S. College of Electronics and Information Engineering Tongji University Department of Control Science and Engineering Shanghai China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Jiangsu Suzhou China Ecole Polytechnique Federale de Lausanne Laboratory of Intelligent Systems Lausanne1015 Switzerland College of Engineering Southern University of Science and Technology Department of Mechanical and Energy Engineering Shenzhen518055 China School of Natural Mathematical and Engineering Sciences King's College London United Kingdom

ISBN: (纸本)9798350300178

To effectively interact with the physical world, an intelligent robot is required to have the ability to obtain the detailed features of an unknown object. Visual devices are commonly used to detect the global geometry of an object;however, detailed information such as surface properties cannot be identified using these devices. The current study proposes an efficient haptic exploration method to recognize the physical properties of surfaces using an intelligent fingertip. Our surface-following algorithm utilizes the normal force vector and the tangential force vector at the contact point between the fingertip and the target object to predict the moving direction and implement the surface exploration. And a correction index K is introduced to adjust the sliding velocity. The algorithm is proved to be robust and high performance both in simulation and lab experiments. Finally, we propose and explore a haptic prediction neural network, which enables our robot to have an accurate feel through physical interaction. In the classification experiment of four types of objects with different surface properties, the average accuracy of the proposed model is 90.2%. © 2023 IEEE.

关键词： Surface properties

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Giant Magnetostrictive Actuators for Ultracompact Electric Vehicles: Analysis of Output Characteristics

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Journal of Advanced Computational Intelligence and Intelligent Informatics 2025年第3期29卷 631-640页

作者： Kato, Taro Sawada, Kentaro Wu, Wenbao Kobayashi, Ikkei Kuroda, Jumpei Uchino, Daigo Ogawa, Kazuki Ikeda, Keigo Endo, Ayato Liu, Xiaojun Kato, Hideaki Narita, Takayoshi Furui, Mitsuaki Department of Mechanical Engineering Tokyo University of Technology 1404-1 Katakura Hachioji Tokyo192-0982 Japan Course of Mechanical Engineering Tokai University 4-1-1 Kitakaname Kanagawa Hiratsuka259-1292 Japan Course of Science and Technology Tokai University 4-1-1 Kitakaname Kanagawa Hiratsuka259-1292 Japan Department of Mechanical Engineering National Institute of Technology Numazu College 3600 Ooka Shizuoka Numazu410-0022 Japan Department of Electronic Robotics Aichi University of Technology 50-2 Manori Nishi-hasama Aichi Gamagori443-0047 Japan Department of Mechanical Engineering Hokkaido University of Science 7-Jo 15-4-1 Maeda Teine Hokkaido Sapporo006-8585 Japan Department of Electrical Engineering Fukuoka Institute of Technology 3-30-1 Wajiro-higashi Higashi-ku Fukuoka811-0295 Japan OMRON Corporation 801 Higashifudomachi Shiokojidori Horikawahigashiiru Shimogyo-ku Kyoto600-8530 Japan

Ultracompact electric vehicles have compact, lightweight bodies with low outer-plate rigidity. This results in the transmission of road noise from the tires and wind noise (caused by the projection shape of the vehicle) into the cabin. Interior acoustic control systems require devices that can produce sound waves. Next-generation mobility uses giant magnetostrictive actuators (GMAs) for sound production. This is a foundational study for designing GMAs that can be used in such interior acoustic control systems. Magnetostriction forces are generated when a magnetic field deforms giant magnetostrictive materials. The output characteristics were analyzed by electromagnetic-field analysis. Further, the GMA magnetostriction force was analyzed using the finite element method (FEM)—across varying frequency ranges of piezoelectrically controlled amplifiers. The FEM results indicated that the GMA output performance was sufficient to generate sound waves for active noise control in the low-frequency range, 100–500 Hz (road noise). Further optimization is required to expand the frequency range—to accommodate music playback, etc.—including modification of the actuator size, weight, shape, and components and using materials with higher magnetic permeability. © Fuji Technology Press Ltd.

关键词： Acoustic variables control

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Experimental Evaluation of a Lightweight and Backdrivable Powered Knee Prosthesis for Transfemoral Amputees 1

Experimental Evaluation of a Lightweight and Backdrivable Po...

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1st IEEE Colombian Caribbean Conference, C3 2023

作者： Ulhoa, Pedro Fiorezi, Guilherme Filho, Teodiano Andrade, Rafhael Universidade Federal Do Espírito Santo Department of Electrical Engineering Vitória Brazil Universidade Federal Do Espírito Santo Department of Mechanical Engineering Vitória Brazil Universidade Federal Do Espírito Santo Graduate Program in Electrical Engineering Vitória Brazil Universidade Federal Do Espírito Santo Graduate Program in Mechanical Engineering Vitória Brazil

ISBN: (纸本)9798350341799

Rehabilitation of amputees is still mostly limited to passive technology that cannot provide energy to the gait and contribute to a better experience and comfort of walking. To address this shortcoming, active prostheses have been introduced with actuators capable of generating and dissipating energy in a controlled way. However, proposed designs of powered leg prosthesis still present heavy and bulky structure or low backdrivable actuators, which reduce the volitional control and comfort of the user. This work presents the development and control of a lightweight and highly backdrivable powered knee prosthesis. The designed actuator is composed by a coaxial motor-reducer with a 200 W brushless DC motor in series with a harmonic drive with a 51:1 ratio. After assembled the leg prosthesis weights just 3.64 kg. Bench tests were performed to validate the model and tune a position-based controller. Then, a custom force sensor was implemented to measure ground reaction force and identify gait phases so an impedance controller can regulate joint torque. The powered prosthesis was experimented in three able-bodied subjects walking on a treadmill using both the position and impedance controller. The prosthesis presented high backdrivability in bench tests and the treadmill results shown that the proposed impedance controller was more effective to follow the healthy knee trajectory compared to the position controller. In future works we plan to evaluate the prosthesis in amputee subjects. © 2023 IEEE.

关键词： Controllers

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Strong observability as a sufficient condition for non-singularity and lossless convexification in optimal control with mixed constraints

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Control Theory and Technology 2022年第4期20卷 475-487页

作者： Sheril Kunhippurayil Matthew W.Harris Torc Robotics Inc.405 Partnership DriveBlacksburg 24060VirginiaUSA Department of Mechanical and Aerospace Engineering Utah State University4130 Old Main HillLogan 84322UtahUSA

This paper analyzes optimal control problems with linear time-varying dynamics defined on a smooth manifold in addition to mixed constraints and pure control *** main contribution is the identification of sufficient conditions for the optimal controls to be non-singular,which enables exact(or lossless)convex relaxations of the control *** problem is analyzed in a geometric framework using a recent maximum principle on manifolds,and it is shown that strong observability of the dual system on the cotangent space is the key *** minimum time problems are analyzed and solved.A minimum fuel planetary descent problem is then analyzed and relaxed to a convex *** enables its efficient solution in less than one second without any initial guess.

关键词： Optimal control Strong observability Lossless convexification

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Extremely large water droplet impact onto a deep liquid pool

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Physical Review E 2024年第4期109卷 045107-045107页

作者： Sandip Dighe Dilip Kumar Maity Jeffrey N. Fonnesbeck Som Dutta Tadd Truscott Mechanical Engineering Program Physical Science and Engineering Division King Abdullah University of Science and Technology Thuwal 23955 Kingdom of Saudi Arabia Department of Mechanical Engineering Utah State University Logan Utah 84322 USA

Most studies of droplet impact on liquid pools focus on droplet diameters up to the capillary length (0.27 cm). We break from convention and study extremely large water droplets (1 to 6 cm diameter) falling into a pool of water. We demonstrate that the depth and width of the cavity formed by large droplet impact is greatly influenced by the deformed shape of the droplet at impact (i.e., prolate, spherical, and oblate), and larger droplets amplify this behavior by flattening before impact. In particular, the maximum cavity depth is a function of the Froude number and axis ratio of the droplet just before impact. Further, the cavity depth is more dependent on the droplet height than width, and the maximum cavity diameter is independent of the droplet height. In general, we observe that more oblate droplets result in decreasing cavity depths for a fixed liquid volume. This is because an increase in horizontal droplet diameter results in a reduced impact energy flux and therefore reduced cavity depth.

关键词： Capillary interactions Drop breakup Drops & bubbles Thin fluid films Wakes & jets Water

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ICCO: Learning an Instruction-conditioned Coordinator for Language-guided Task-aligned Multi-robot Control

arXiv

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arXiv 2025年

作者： Yano, Yoshiki Shibata, Kazuki Kokshoorn, Maarten Matsubara, Takamitsu Nara Japan Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Netherlands

Recent advances in Large Language Models (LLMs) have permitted the development of language-guided multi-robot systems, which allow robots to execute tasks based on natural language instructions. However, achieving effective coordination in distributed multi-agent environments remains challenging due to (1) misalignment between instructions and task requirements and (2) inconsistency in robot behaviors when they independently interpret ambiguous instructions. To address these challenges, we propose Instruction-Conditioned Coordinator (ICCO), a Multi-Agent Reinforcement Learning (MARL) framework designed to enhance coordination in language-guided multi-robot systems. ICCO consists of a Coordinator agent and multiple Local Agents, where the Coordinator generates Task-Aligned and Consistent Instructions (TACI) by integrating language instructions with environmental states, ensuring task alignment and behavioral consistency. The Coordinator and Local Agents are jointly trained to optimize a reward function that balances task efficiency and instruction following. A Consistency Enhancement Term is added to the learning objective to maximize mutual information between instructions and robot behaviors, further improving coordination. Simulation and real-world experiments validate the effectiveness of ICCO in achieving language-guided task-aligned multi-robot control. The demonstration can be found at https://***/ICCO/. Copyright © 2025, The Authors. All rights reserved.

关键词： Multipurpose robots

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Enablers and Barriers of Omnichannel in Traditional Grocery Retailers

Enablers and Barriers of Omnichannel in Traditional Grocery ...

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2022 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2022

作者： Febriani, Atik Sopha, Bertha Maya Wibisono, Muhammad Arif Institut Teknologi Telkom Purwokerto Industrial Engineering Program Faculty of Industrial Engineering and Design Purwokerto Indonesia Universitas Gadjah Mada Industrial Engineering Program Department of Mechanical and Industrial Engineering Yogyakarta Indonesia

ISBN: (数字)9781665486873

ISBN: (纸本)9781665486873

The development of information, communication, and technology (ICT) provides opportunities for traditional grocery retailers to expand their potential market share and competitiveness. The objective of omnichannel implementation in retail is to integrate the supply chain and sales channels. However, the approach has not been widely implemented yet. This paper presents enablers and barriers of omnichannel in traditional grocery retailers based on a narrative literature review. The main enabling factors are a customer-centric approach, balancing between agility and efficiency, and developments, while the barriers are a lack of limited resources and significant technological investment. At the end, a framework for implementing omnichannel in traditional grocery stores is suggested and discussed. © 2022 IEEE.

关键词： Supply chains

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A Generic Modeling Framework For the Design of Tendon-Driven Continuum Manipulators with Flexure Patterns

A Generic Modeling Framework For the Design of Tendon-Driven...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yang Liu Hansoul Kim Yash Kulkarni Farshid Alambeigi Walker Department of Mechanical Engineering Texas Robotics at the University of Texas at Austin Austin TX

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper, a novel mathematical framework is introduced for modeling deformation behavior of Tendon-Driven Continuum Manipulators (TD-CMs) featuring discontinuous cross-sectional geometries (i.e., having flexural patterns). Leveraging this framework, we also introduce the concept of design space by which the deformation-behavior space of a TD-CM can intuitively be analyzed via its geometrical design parameters. To thoroughly evaluate the performance of the proposed modeling framework, we have conducted various simulation studies and experiments.

关键词： Deformable models Geometry Analytical models Deformation Manipulators Mathematical models Numerical models

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Instruction-Following Long-Horizon Manipulation by LLM-Empowered Symbolic Planner

Instruction-Following Long-Horizon Manipulation by LLM-Empow...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Li, Zhihao Liu, Junjia Li, Zhuo Yu, Minghao Teng, Tao Zhou, Shunbo Li, Miao Lam, Tin Lun Chen, Fei T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Computing Technologies Co. Ltd. Shenzhen China Institute of Technological Sciences Wuhan University Wuhan China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China

ISBN: (纸本)9781665481090

One of the grand goals in robotics is to develop a versatile robot capable of executing a wide array of tasks based on language instructions. These tasks often involve long-horizon manipulation due to the complexity of the real-world tasks and the high-dimensional action space of the dual-arm mobile robots. This work proposes a generalizable framework that combines a Large Language Model, a Visual-language Model, and symbolic planning to address long-horizon bimanual mobile manipulation tasks. We use the Large Language Model as the commonsense reasoner to break down the task into a set of subgoals and generate goal-oriented state queries. Subsequently, we fine-tune a Visual-language Model to obtain answers to queries. Finally, we propose a Planning Domain Definition Language translator that translates the subgoal and the goal-oriented states into a symbolic planning problem that can be solved by search-based planners. The experiments show that the proposed method has generalization ability in novel objects and instruction. It outperforms the baseline methods across all the configurations. Moreover, our approach exhibits competence in increasingly complex tasks, encompassing those that demand upward of 10 planning steps. © 2024 IEEE.

关键词： Visual languages

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