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arXiv 2024年

作者： Fuke, Takahiro Endo, Masafumi Honda, Kohei Ishigami, Genya The Space Robotics Group Department of Mechanical Engineering Keio University Yokohama223-8522 Japan The Mobility System Group Department of Mechanical Systems Engineering Nagoya University Nagoya464-8603 Japan

Model-based control is a crucial component of robotic navigation. However, it often struggles with entrapment in local minima due to its inherent nature as a finite, myopic optimization procedure. Previous studies have addressed this issue but sacrificed either solution quality due to their reactive nature or computational efficiency in generating explicit paths for proactive guidance. To this end, we propose a motion planning method that proactively avoids local minima without any guidance from global paths. The key idea is repulsive potential augmentation, integrating high-level directional information into the Model Predictive Path Integral control as a single repulsive term through an artificial potential field. We evaluate our method through theoretical analysis and simulations in environments with obstacles that induce local minima. Results show that our method guarantees the avoidance of local minima and outperforms existing methods in terms of global optimality without decreasing computational efficiency. Copyright © 2024, The Authors. All rights reserved.

关键词： Model predictive control

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A 22nm CMOS PFM Buck Converter Used in a 32-Bit RISC-V Microcontroller for IoT Applications 16

A 22nm CMOS PFM Buck Converter Used in a 32-Bit RISC-V Micro...

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16th IEEE Latin American Symposium on Circuits and Systems, LASCAS 2025

作者： Oliveira, Luiz H. N. Amaral, Wellington A. Haddad, Sandro A. P. Munoz, Daniel M. Barcelos, Eduardo A. Sotero, Vinicius V. M. Jonhson, Emmanuel K. M. Campagnucci, Pamela R. A. N. Lima, Luis V. N. Electronics Engineering Undergraduate Program Faculty of Gama Brazil Mechatronics Graduate Program University of Brasilia Faculty of Technology Department of Mechanical Engineering DF Brasilia Brazil

ISBN: (纸本)9798331522124

The demand for efficient power management solutions in electronic devices has increased significantly, especially for microcontrollers operating in low-power modes. This article presents the design and implementation of a Pulse Frequency Modulation (PFM)-based buck converter for applications in 32-bit microcontrollers using 22nm CMOS technology. The methodology involves the development of a Constant On Time (COT) architecture that maintains a fixed duration for the activation of the high-side MOSFET, using a monostable multivibrator to generate the necessary timing signals. The converter's performance was simulated under various load conditions and process corners to evaluate its efficiency and output characteristics. The results show that the proposed buck converter achieves high efficiency, with peak values above 95%, while maintaining a low output ripple. Specifically, the converter exhibits an efficiency of 93.4% at a load of 1mA, with output ripple voltages as low as 2.20 mV under ideal conditions. The contributions of this work lie in the advancement of PFM converter technology for modern microcontroller applications, demonstrating the potential of 22nm CMOS processes to improve power efficiency and performance. © 2025 IEEE.

关键词： CMOS integrated circuits

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A Deep Learning-based Grasp Pose Estimation Approach for Large-Size Deformable Objects in Clutter

A Deep Learning-based Grasp Pose Estimation Approach for Lar...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Minghao Yu Zhuo Li Zhihao Li Junjia Liu Tao Teng Fei Chen Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Deformable objects especially large-size de-formable objects grasping is unappreciated but widespread in industrial applications (e.g., clothes recycling). While it encounters several challenges, for example, the existing methods didn’t take large-size deformable objects into account, no typical boundary of deformable objects. To solve the challenges, we proposed a grasp detection framework consisting of a self-trained object detection network, an instance segmentation module, and a grasp pose generation pipeline. The experiments were successfully conducted on the industrial laundry mock-up with an 88.9% success ratio. The experiments result indicates the effectiveness of the proposed framework on spatial-constrained large-size deformable objects grasping in clutter.

关键词： Refining Pose estimation Pipelines Grasping Object detection Recycling Planning Washing machines Clutter Robots

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Analyzing the possibilities of generating the reciprocating motion and plane oscillations of a working member of a vibratory lapping-polishing machine 63

Analyzing the possibilities of generating the reciprocating ...

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63rd International Conference on Vibroengineering

作者： Korendiy, Vitaliy Zakharov, Viktor Kuzio, Igor Borovets, Volodymyr Havrylchenko, Oleksandr Danylo, Yaroslav Department of Technical Mechanics and Dynamics of Machines Lviv Polytechnic National University Lviv Ukraine Galca Ltd. Lviv Ukraine Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine

Vibratory treatment is widely used in various industries for performing finishing technological operations, e.g., lapping, polishing, glazing, strengthening (hardening), etc. The problems of maximizing the treatment accuracy and performance of vibratory technological equipment provide the necessity of optimizing the motion trajectory (path) of the corresponding working member. The main purpose of these investigations is to substantiate the possibilities of generating the translational (reciprocating) motion and plane (plane-parallel) oscillations of the working members of vibratory lapping-polishing machines. The research methodology consists of the following stages: substantiating the ideas of improving the vibratory lapping-polishing machines;designing the dynamic diagrams of the machines’ oscillatory systems;developing the mathematical models to describe their dynamic behavior;numerical modeling of the machines’ motion conditions. The obtained results present the possible motion trajectories (paths) of the working member (lap, polisher, grazer, etc.). The main scientific novelty of these investigations is substantiating the idea and possibilities of implementing various motion conditions of the working member for adjusting the vibratory lapping-polishing machine in accordance with the technological requirements, as well as for increasing the wear-out period and durability (normal operating period) of the working member. The obtained results can be used for improving the performance and accuracy of similar vibratory lapping-polishing machines. Copyright © 2023 Vitaliy Korendiy, et al.

关键词： Numerical models

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Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in robotics

arXiv

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arXiv 2024年

作者： Guo, Zi Cong Forbes, James R. Barfoot, Timothy D. The University of Toronto Robotics Institute TorontoON Canada The Department of Mechanical Engineering McGill University MontrealQC Canada

We present closed-form expressions for marginalizing and conditioning Gaussians onto linear manifolds, and demonstrate how to apply these expressions to smooth nonlinear manifolds through linearization. Although marginalization and conditioning onto axis-aligned manifolds are well-established procedures, doing so onto non-axis-aligned manifolds is not as well understood. We demonstrate the utility of our expressions through three applications: 1) approximation of the projected normal distribution, where the quality of our linearized approximation increases as problem nonlinearity decreases;2) covariance extraction in Koopman SLAM, where our covariances are shown to be consistent on a real-world dataset;and 3) covariance extraction in constrained GTSAM, where our covariances are shown to be consistent in simulation. Copyright © 2024, The Authors. All rights reserved.

关键词： Gaussian distribution

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Vector Detection Network: An Application Study on Robots Reading Analog Meters in the Wild

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2021年第5期2卷 394-403页

作者： Dong, Zhipeng Gao, Yi Yan, Yunhui Chen, Fei The School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China The Smart Manipulation Robots Laboratory Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

Analog meters equipped with one or multiple pointers are wildly utilized to monitor vital devices' status in industrial sites for safety concerns. Reading these legacy meters autonomously remains an open problem since estimating pointer origin and direction under imaging damping factors imposed in the wild could be challenging. Nevertheless, high accuracy, flexibility, and real-time performance are demanded. In this work, we propose the vector detection network (VDN) to detect analog meters' pointers given their images, eliminating the barriers for autonomously reading such meters using intelligent agents like robots. We tackled the pointer as a 2-D vector, whose initial point coincides with the tip, and the direction is along tail-to-tip. The network estimates a confidence map, wherein the peak pixels are treated as vectors' initial points, along with a two-layer scalar map, whose pixel values at each peak form the scalar components in the directions of the coordinate axes. We established the Pointer-10 K dataset composing of real-world analog meter images to evaluate our approach due to no similar dataset is available for now. Experiments on the dataset demonstrated that our methods generalize well to various meters, robust to harsh imaging factors, and run in real-time. Impact Statement-From the automatic meter recognition perspective, this work proposes an accurate, flexible, and ready-to-use pointer detection algorithm that contributes to dealing with legacy pointer-type meters, which still serve in industrial sites to date and require extensive human inspection. Adopting this technique to automatic agents could save human labor and promote the effectiveness and efficiency of getting data. It also inspires particular object detection problems, wherein the object could be considered a vector whose position is concerned, and its orientation also matters. The proposed VDN is agnostic to the semantic meaning of the vectors it detects. Thus it could also be used to

关键词： Vectors

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Simulation of Data Acquisition System Using SimulIDE, Virtual Serial Port and Python

Simulation of Data Acquisition System Using SimulIDE, Virtua...

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International Conference on Education and Technology (ICET)

作者： Muhammad Nurul Puji Winda Astuti Computer Engineering Department Automotive and Robotics Engineering Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

Data acquisition systems are commonplace in the current era of digitalization and Industry 4.0. These systems are typically used to obtain data from sensors, whether analog or digital, which is then stored for processing in subsequent stages. However, the implementation of hardware for creating data acquisition systems can be challenging due to constraints such as laboratory facilities, budget limitations, and other factors. Therefore, in this research, SimulIDE simulation software was employed to simulate electronic components and the Arduino Uno. To make this virtual Arduino appear as a physical one to the host computer, PyVirtualSerialPorts was used as a virtual serial port. The data acquisition system was created using Python programming with several key features: it can store data in CSV format, present data plots and graphs, and display the frequency spectrum of signals. The system achieved a sampling speed of 1000 data points per second, with input signals limited to a maximum of 10 Hz. This study also shows that signal distortion can occur due to excessively frequent data plotting and Fast Fourier Transform (FFT) processing. Therefore, the use of SimulIDE simulator, virtual serial port, and Python can be utilized in the learning process of a simple data acquisition system.

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Trajectory Tracking Using Linear State Feedback Controller for a Mecanum Wheel Omnidirectional 6th

Trajectory Tracking Using Linear State Feedback Controller f...

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6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Thai, Nguyen Hong Ly, Trinh Thi Khanh Long, Nguyen Thanh Dzung, Le Quoc Department of Mechanical Design and Robotics School of Mechanical Engineering HanoiUniversity of Science and Technology Hanoi Viet Nam Faculty of Automation Technology Electric Power University Hanoi Viet Nam

ISBN: (纸本)9783030918910

This paper presents a method to design a linear state feedback controller for the mecanum wheel omnidirectional to track a NURBS curve trajectory. Firstly, the robot's kinematic model and kinematic error were established to design a linear state feedback controller. Then, determine the parameters of the controller according to the varying angular velocity for the desired trajectory. An omnidirectional robot platform has been experimental designed and manufactured for experimental verification of the proposed controller. The simulation and experimental results show that the kinematic controller devel-oped by this study has high-performance trajectory tracking with minor tracking errors. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Controllers

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Effect of building orientation and fibre type on the mechanical behaviour of additively manufactured ABS matrix composites

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Materials Research Innovations 2023年第7期27卷 482-489页

作者： AlMuhanna, Mohammed AlMangour, Bandar Department of Mechanical Engineering King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Finance & Performance Management Northern Area Oil Operations Saudi Aramco Dhahran Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing & Robotics King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia

Additive manufacturing of fibre-reinforced composites show high potential for fabrication of next-generation lightweight complex structural parts. In this study, the effects of building orientation and fibre type, i.e. carbon fibre (CF), and glass fibre (GF), on the mechanical properties of acrylonitrile butadiene styrene (ABS) composites fabricated by fused deposition modelling (FDM) were investigated. The mechanical properties, namely, tensile strength, elastic modulus, hardness, and toughness, were analyzed for flat, on-edge, and upright building orientations. Results revealed that building orientation significantly influences several mechanical properties;in-plane (flat and on-edge) orientations produced the best mechanical properties, whereas upright orientations produced the worst. However, building orientation had little effect on material hardness. Further, compared to the elastic modulus and tensile strength of pure ABS, those of CF-reinforced ABS (CF–ABS) increased by 800% and 500%, respectively, and those of GF-reinforced ABS (GF–ABS) increased by 400% and 400%, respectively, proving that reinforcing ABS with either CF or GF improves the tensile properties. The impact energy of CF–ABS (0.5 J) was lower than that of GF–ABS (1.1 J) because of the brittleness of CF. Fracture surface analysis was performed via scanning electron microscopy (SEM) which gave insight to the nature and mode of fracture of the failed specimens. The most common defects on the printed specimens were void formation, fibre pullout, and poor bonding between fibre and matrix. © 2023 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Carbon fibers

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In Vivo Acoustic Patterning in Zebrafish Embryos 26

In Vivo Acoustic Patterning in Zebrafish Embryos

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26th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2022

作者： Jooss, Viktor M. Bolten, Jan Stephan Huwyler, Jörg Ahmed, Daniel Acoustic Robotics Systems Lab Department of Mechanical and Process Engineering ETH Zurich Switzerland Universität Basel BaselCH-4056 Switzerland

ISBN: (纸本)9781733419048

A micro-robotic system with in-vivo patterning and spatial control in the vasculature has the potential to improve cancer research, brain research and vasculature biology. Optical tweezers have shown in vivo spatial control. However, the trapping of optical tweezers is limited to a single location at a time. Furthermore, optical tweezers have adverse side-effects such as thermals stress and phototoxicity. Until now most acoustic works explored in vitro patterning. Our system shows for the first time in vivo patterning in the vasculature of a ZFE (zebrafish embryo). We think that the approach presented is promising for novel non-invasive therapies. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized Systems for Chemistry and Life Sciences. All rights reserved.

关键词： Optical tweezers

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