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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Tolba, Muhammad S. Fanni, Mohamed Nasser, Gamal A. Umezu, Shinjiro Fath El-Bab, Ahmed M. R. Egypt-Japan University of Science and Technology Mechatronics and Robotics Department Alexandria Egypt Helwan Univeristy Faculty of Engineering Mechanical Engineering Department Cairo Egypt Assuit University Mechatronics Engineering Assuit Egypt Waseda University School of Creative Science and Engineering Tokyo Japan

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Temperature control is vital in micro-heaters used in medical devices such as the polymerase chain reaction (PCR). The primary goal is to achieve tight control and a high rate of heating for a portable, low-cost medical device. Even though the fact that several designs for micro-heaters have been proposed, uniform temperature distribution and the high-speed heating rate remain challenging for micro-heaters. This high speed is achieved by the reduction of the thermal mass. The most common methods for reducing thermal mass or heating time in a device are to establish a highly desired structural design and to select a better heating mechanism with a robust controller. Increasing the thermal mass improves temperature distribution on the heater surface but slows heat transfer. On the other hand, removing the thermal mass makes the controller struggle to provide a high-temperature uniformity distribution on the micro-heater surface. In this study, we provide a design of a cost-effective, high-speed, thin-film micro-heater based on the Joule heating technique. The CoventorWare software tool is used to simulate the temperature distribution of the micro-heater. The heater provides a well-distributed temperature on the heated surface. When a DC voltage of 24 V was applied for 250 s, a maximum temperature of 272 °C was obtained. Besides, the heater's average heating rate is 15 °C/s. The heater is then fabricated with the micro-electromechanical systems (MEMS) technology on a silicon substrate. The transfer function of the heating system is computed. Two controllers are designed to control the temperature of the micro-heater and improve its response. The classical proportional-integral-derivative (PID) controller produces rise time (Tr) of 21.9 s, settling time (Ts) of 73.3 s, and a maximum overshoot (Mp) of 4.8 %. Then by applying a fractional-order proportional-integral-derivative (FOPID) controller, a great enhancement in the system performance is observed, the controller is

关键词： Thin films

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Aerial Dockable Multirotor UAVs: Design, Control, and Flight Time Extension Through In-Flight Battery Replacement

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IEEE Access 2025年 13卷 96782-96799页

作者： Yeongin Song Hyunmin Kim Jeonghyun Byun Keun Park Murim Kim Seung Jae Lee Department of Mechanical Design and Robot Engineering Seoul National University of Science and Technology (SeoulTech) Seoul Republic of Korea Department of Aerospace Engineering Seoul National University Seoul Republic of Korea Human-Centered Robotics Research and Development Division Korea Institute of Robotics and Technology Convergence (KIRO) Pohang Republic of Korea

This paper presents the development and evaluation of the AirDock system, a novel aerial docking and in-flight battery exchange solution designed to extend the operational flight time of multirotor unmanned aerial vehicles (mUAVs). The proposed system enables seamless mid-flight battery replacement through an aerial docking mechanism and a rail-Car-based battery transfer and retrieval system. The AirDock platform utilizes a fully actuated multirotor design, allowing independent control of six degrees of freedom (DoF) motion to maintain a constant attitude during battery exchange operations, facilitating easy docking. In this research, a generalized control allocation algorithm is introduced to manage dynamic shifts in the center of mass (CoM) during inter-modular battery transportation, ensuring safe flight control and mitigating thruster overloading: a critical factor in avoiding flight failure. Both simulations and real-world experiments validate the system’s effectiveness, demonstrating stable aerial docking, reliable in-flight battery exchange performance, and extended flight durations for mission modules. These findings highlight the AirDock system’s potential to overcome the energy limitations of battery-powered UAVs, extending missions across various applications.

关键词： Batteries Propellers Propulsion Plugs Torque Hardware Robots Quadrotors Couplings Buildings

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Self-Balancing System and Control Design for Two-Wheeled Single-Track Vehicles 20

Self-Balancing System and Control Design for Two-Wheeled Sin...

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20th International Learning and Technology Conference, L and T 2023

作者： Alzaydi, Ammar King Fahd University of Petroleum and Minerals Department of Mechanical Engineering Dhahran Saudi Arabia King Fahd University of Petroleum and Minerals Interdeciplinary Research Center for Intelligent Manufacturing and Robotics Dhahran Saudi Arabia

ISBN: (纸本)9798350300307

This study presents a novel approach to achieve self-balance by employing a proportional integral derivative (PID) control system. Simply put, the innovative design consists of two electric ducted fans (EDF) that propel air against the direction of fall and thereby maintain balance. If these motors are allowed to move in two degrees of freedom, the EDF motors will propel and reduce weight of the two-wheeler while maintaining stability. To the best of our knowledge, no study has proposed a system that simultaneously provides propulsion and weight reduction along with achieving self-balance. The working mechanism of the utilized PID arducopter controller is elucidated which utilizes an IMU sensor and employs a nonlinear complementary filter on the special orthogonal group to determine the lean angles at any instant of time and a feedback loop to maintain the system's position at the desired upright zero degrees lean angle. Next, the proposed PID controller is first tested on a small-scale model to validate the developed concept to achieve self-balance by employing EDF motors. After achieving successful results on the small-scale model and thereby attaining the step of validation, the proposed concept is tested against a full-scale model (motorbike) by designing the mechanical and electrical parts. The methodology is divided into three major steps - mechanical parts design and manufacture, electrical components design and control system design. Furthermore, three mechanisms are designed to control steering, braking and throttle via a remote transmitter receiver control and autonomous control. © 2023 IEEE.

关键词： Proportional control systems

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Performance of the multigrid method with time-stepping to solve 1D and 2D wave equations

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International Journal for Computational Methods in engineering Science and Mechanics 2022年第1期23卷 45-56页

作者： Malacarne, Maicon F. Pinto, Marcio A. V. Franco, Sebastião R. Graduate Program on Numerical Methods in Engineering–PPGMNE Federal University of Parana–UFPR PR Curitiba Brazil Department of Mechanical Engineering Federal University of Parana–UFPR PR Curitiba Brazil Department of Mathematics State University of Centro-Oeste–UNICENTRO PR Irati Brazil

This work aims to discuss a proposed solution for wave equations that utilize discretization by means of the finite difference method, weighted by a parameter η, with sweeping done according to the time-stepping method. The multigrid method is employed to speed up the convergence in obtaining the solution of the system of equations resulting from the discretization. To validate the proposed model, the discretization errors, effective and apparent orders, convergence factor, orders of complexity, and the computational time were assessed. A comparison between the singlegrid and multigrid methods was carried out in order to determine the most advantageous one. © 2021 Taylor & Francis Group, LLC.

关键词： Wave equations

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Manipulation of Ferrofluid Marbles and Droplets Using Repulsive Force in Magnetic Digital Microfluidics

SSRN

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SSRN 2023年

作者： Sarkhosh, Mohammad Hosein Yousefi, Masoud Bijarchi, Mohammad Ali Pishkenari, Hossein Nejat Forghani, Kimia Nano Robotics Laboratory Department of Mechanical Engineering Sharif University of Technology Tehran Iran Department of Mechanical Engineering Sharif University of Technology Tehran Iran

Magnetic actuation of marbles and droplets has been found to have broad applications in magnetic digital microfluidics with promising engineering and biomedical applications like biochemistry, microfluidic systems, targeted drug delivery, and tissue engineering. This study investigates a novel method of manipulating ferrofluid marbles (FM) and droplets utilizing a pair of Helmholtz coils and different configurations of permanent magnets. Using magnetic repulsive force instead of conventional magnetic attraction force for marble and droplet manipulation has been introduced for the first time in this study to have better control over their motion. To this aim, at first, the dynamic behavior of an FM in response to magnetic repulsive force is experimentally tested. Afterward, a theoretical model is suggested to predict the dynamic behavior of FM which has good agreement with the experimental data for various cases. Results show that by increasing the volume of the FM and the current of Helmholtz coils and decreasing the initial distance between the FM and permanent magnets, the average and maximum velocity of the FM is increased. Furthermore, different arrangements of the experimental setup are implemented to show the capability of the proposed system in the simultaneous shape deformation and manipulation of the ferrofluid droplets. © 2023, The Authors. All rights reserved.

关键词： Drops

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Comparison between different internal cross-sections for pulmonary secretion suction catheters

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Research on Biomedical engineering 2022年第3期38卷 965-975页

作者： dos Santos Lima, Bruna Luiza Tadeu Las Casas, Marina Spyer de Oliveira, Patrícia Muniz Huebner, Rudolf Rodrigues-Machado, Maria da Glória de Las Casas, Estevam Barbosa Department of Structural Engineering Federal University of Minas Gerais Belo Horizonte Brazil Department of Mechanical Engineering Federal University of Minas Gerais Belo Horizonte Brazil Faculty of Medical Sciences of Minas Gerais Post-graduate Program in Health Sciences Belo Horizonte Brazil

Introduction: Endotracheal suctioning is a procedure to remove pulmonary secretions, which can lead to complications such as hypoxemia. To minimize this risk, a double-lumen pulmonary secretion suction device was developed at the Biomechanics Laboratory of the University of Minas Gerais. The aim of the study is to evaluate the flow of the removal of pulmonary secretions by reducing the cross-section for the passage of mucus, considering catheters with three new, distinct internal cross-sections (circular, semicircular, and curved). Methods: The study was divided into two stages: computer simulations in the software Ansys Fluent using three new internal cross-sections in order to assess the flow rate, secretion removal, and the preparation of solutions of mucus simulators (polyethylene glycol) in three concentrations (semi-liquid, intermediate, and semi-solid) to be aspirated by 12 Fr catheters and by a printed circular catheter in the bench test. Results: It was verified in a bench test that the relationship between shear stress and deformation rate of mucus simulator solutions is not linear and that a suction pressure of less than 300 mmHg, performed by a standard catheter, generates moderate rates of removal of thicker solutions. It is possible to verify, by computer simulations, higher flow rate levels when reducing the length of the circular catheter from 0.5 to 0.4 m. Semicircular catheter produces high flow rates when compared to other proposed catheters. Conclusion: Based on the results obtained, a dual-lumen semicircular catheter can be designed and validated by computer simulation. © 2022, Sociedade Brasileira de Engenharia Biomedica.

关键词： Catheters

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Adaptive Fuzzy Sliding Mode Control With Logarithmic Sliding Surface for Active Suspension Systems

Adaptive Fuzzy Sliding Mode Control With Logarithmic Sliding...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Andika Aji Wijaya Fitri Yakub Winda Astuti Mahmud Iwan Solihin S. Syafiie Department of Mechanical Engineering University of Business and Technology (UBT) Jeddah Saudi Arabia Department of Electronic Systems Engineering University of Technology Malaysia (UTM) Kuala Lumpur Malaysia Department of Computer Engineering BINUS ASO School of Engineering Automotive and Robotics Program Bina Nusantara University (BINUS) Jakarta Indonesia Department of Mechanical and Mechatronics Engineering UCSI University Kuala Lumpur Malaysia Department of Chemical and Materials Engineering Faculty of Engineering-Rabigh King Abdulaziz University Jeddah Saudi Arabia

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

This paper introduces a hybrid control strategy that integrates the unique features of natural logarithm sliding mode control (lnSMC) and fuzzy logic systems. The lnSMC control approach ensures that the vibration amplitude remains within a bound, as determined by the parameters of the lnSMC switching function. Furthermore, the fuzzy logic system is employed to approximate the nonlinearities and uncertainties inherent in the suspension system components, such as the spring and damper. The stability of the closed-loop system is analyzed using the Lyapunov stability theorem, guaranteeing convergence within a finite time. To validate the effectiveness of the proposed controller, a simulation study was carried out using a quarter-car suspension model, considering the system’s nonlinearities, parameter uncertainties, and various external disturbances. The results indicate that the proposed controller significantly improves ride comfort while maintaining suspension deflection and road holding within critical safety limits.

关键词： Fuzzy logic Vibrations Uncertain systems Uncertainty Roads Switches Stability analysis Vehicle dynamics Springs Sliding mode control

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Game Theoretic Wind Farm Control Based on Level-k Cognitive Modeling

Game Theoretic Wind Farm Control Based on Level-k Cognitive ...

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Control Technology and Applications (CCTA),

作者： Maxwell Wu Chris Vermillion Kira Barton Department of Mechanical Engineering The University of Michigan Ann Arbor MI USA Department of Mechanical Engineering and Department of Robotics The University of Michigan Ann Arbor MI USA

This paper presents a control strategy applicable to systems operating in dynamically coupled environments for which only low-fidelity models describing the environmental dynamics and system rewards are available. The control problem is posed as a two player game wherein the plant and the environment are considered to be agents that seek to maximize their individual reward. Under this paradigm, the control decisions of the plant are then identified using a level-k cognition modeling approach, where historical sensor data is leveraged to augment predictions of the reward maximizing control input. We demonstrate the proposed framework via simulation of a multi-turbine wind farm wherein the objective is to maximize energy production when only low-fidelity models of the wake effect induced by the interactions between upstream turbines and the wind environment are accessible.

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Workspace Analysis of a 3 RRR Planar Mechanism 25th

Workspace Analysis of a 3 RRR Planar Mechanism

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25th International Symposium on Measurement and Control in robotics, ISMCR 2023

作者： Buium, Florentin Doroftei, Ioan Mechanical Engineering Mechatronics and Robotics Department "Gheorghe Asachi" Technical University of Iasi 43 Blvd. D. Mangeron Iasi700050 Romania Technical Sciences Academy of Romania 26 Dacia Blvd. Bucharest030167 Romania

ISBN: (纸本)9783031510847

The paper intends to outline workspace of a planar parallel mechanism taking into account both: first type and second type of singularities. These questions influence in an important mode, inverse and direct kinematics of this mechanisms. The chosen mechanism for this purpose is of 3 RRR type, used as mechanical structure for a robot manipulator. Some results of this study can be useful in technical education or mechanism design. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Manipulators

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Towards Wearable Interfaces for Robotic Caregiving

arXiv

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arXiv 2025年

作者： Padmanabha, Akhil Majidi, Carmel Erickson, Zackory Robotics Institute Carnegie Mellon University United States Department of Mechanical Engineering Carnegie Mellon University United States

Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing interfaces challenging to use, highlighting the need for novel interfaces that can effectively support them. In this work, we present insights on the design and evaluation of an active control wearable interface named HAT, Head-Worn Assistive Teleoperation. To tackle challenges in user workload while using such interfaces, we propose and evaluate a shared control algorithm named Driver Assistance. Finally, we introduce the concept of passive control, in which wearable interfaces detect implicit human signals to inform and guide robotic actions during caregiving tasks, with the aim of reducing user workload while potentially preserving the feeling of control. Copyright © 2025, The Authors. All rights reserved.

关键词： Remote control

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