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Role of Anisotropic Diffusion and Strains in the Chemo-mechanical Response of Single-Crystalline Ni-Rich Cathode Materials in Lithium-Ion Batteries

SSRN

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SSRN 2023年

作者： Iqbal, Noman Lee, Seungjun Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul04620 Korea Republic of

In the context of lithium-ion battery technology, LiNixMnyCozO2 (x ≥ 0.8) (Ni-rich NMC) is considered a promising cathode material for next-generation batteries due to its high energy density. However, rapid capacity fade caused by mechanical failure hinders commercialization in the battery market. Anisotropic deformation in the basal and normal directions is the main source of mechanical damage to Ni-high NMC. In this study, we developed a fully coupled chemo-mechanical model that rigorously accounts for the anisotropic features of anisotropic diffusivity, anisotropic stress-induced diffusion and anisotropic mechanical deformation. Using the model, we investigate the effects of anisotropic and concentration-dependent lattice strains on the chemo-mechanical behavior of a single-crystalline Ni-rich NMC particle through a comparative study with the cases of a fully isotropic model, constant properties and an isotropic diffusion approximation. Numerical simulations reveal that due to the anisotropic features, Ni-high NMC materials generate larger concentration gradients and associated higher stresses than isotropic materials, thereby enhancing the possibility of mechanical fractures. This study provides fundamental insight into the role of the anisotropic chemo-mechanical behavior of Ni-rich cathode materials, which will help in the better design of robust, high-capacity batteries. © 2023, The Authors. All rights reserved.

关键词： Lithium-ion batteries

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Design and Implementation of a Robotic System for Oropharyngeal Swab Sampling Application

Design and Implementation of a Robotic System for Oropharyng...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Dong, Jiaxiang Lu, Xiaowei Duan, Lihong Liu, Qi Zhang, Zhi Liu, Zhen Zhang, Xin Zhang, Xiaohua Wang, Chunbao Guo, Jing Long, Jianjun Lu, Yongtian Wei, Jianjun Li, Peng Wu, Zhengzhi Liu, Quanquan Zhao, Xuezhi South China University of Technology School of Mechanical and Automotive Engineering Guangzhou China The First Affiliated Hospital of Shenzhen University Department of Neurology Shenzhen China Guangdong University of Technology School of Automation Guangzhou China Guangdong Mk Smart Robotics CO. Ltd Zhuhai China Guangxi University of Science and Technology School of Mechanical and Automotive Engineering Liuzhou China Guilin University of Electronic Technology School of Mechanical and Electrical Engineering Guilin China Department of Rehabilitation Shenzhen Dapeng New District Nan'Ao People Hospital Shenzhen China School of Mechanical and Electrical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350325706

The Oropharyngeal (OP) swab sampling is a routine, simple and effective method for the detection of respiratory infectious diseases, especially when a large-scale infectious disease outbreak occurs, such as the newly experienced COVID-19. The traditional manual OP swab sampling process is full of difficulties, such as the high demand for professional medical staff, the risk of cross-infection, and the inflexibility of sampling time, etc., making the efficient implementation of this sampling method particularly critical. Therefore, this paper proposes a novel OP swab sampling robot system to assist the OP swab sampling task. The dual-stage series-parallel hybrid manipulator component is driven by four flexible shafts with torsion properties, which guarantees the completion of sampling tasks in the narrow space of the oral cavity. Accurate sampling point location information is provided through sensor calibration and location recognition algorithms based on deep learning, and the entire sampling task is implemented using a visual-tactile fusion control system. The preliminary experiments verified the completion and feasibility of the sampling task of the OP swab sampling system, and provided a prototype for the OP swab sampling tasks. © 2023 IEEE.

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Comparison of Facial Expression Sensors and Skin Potential Response Sensors for Emotion Estimation by Communication Robots 23

Comparison of Facial Expression Sensors and Skin Potential R...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Hasegawa, Naoya Hirahara, Rin Takahashi, Yoshihiko Kindai University Technical College Department of Comprehensive Engineering - Mechanical Systems Course 7-1 Kasugaoka Mie Nabari518-0459 Japan Kanagawa Institute of Technology Department of Robotics and Mechatronics Kanagawa Atsugi243-0292 Japan

ISBN: (纸本)9788993215274

A communication system that quantifies human emotions and provides feedback control was fabricated for a communication robot. The robot can provide suggestions to users and relay transmissions during human-to-human communication. For instance, if the user is excited, the robot can calm them down, and if the user is sad, the robot can cheer them up. The reliability in estimating emotions from facial expressions of a proposed sensor was compared with that of galvanic skin reflex (GSR) and skin potential response (SPR) sensors, which have been reported in several papers. A GSR sensor can measure tension and agitation in humans. The sensor estimating emotions from facial expressions can measure five facial expressions: 'Happiness', 'Surprise', 'Anger', 'Sadness', and 'Neutrality'. Furthermore, the method is non-contact and suitable for practical use because it uses images. As the emotion-estimated values are output, they can be used without any privacy issues. The changes in emotions toward subjects using an entertainment robot that can eject soap bubbles were evaluated. An experimental chamber was created to prevent disturbances and measure only the effects of the soap bubble ejection and cessation events. This study reports that SPR sensors and emotion estimation sensors can be handled similarly. © 2023 ICROS.

关键词： Electrophysiology

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Pose-Shape Unified Planning of Cable-driven Serial Manipulators based on Multiple Arm-Angle Construction

Pose-Shape Unified Planning of Cable-driven Serial Manipulat...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Wenshuo Liang, Bin Lin, Boyang Li, Junxiang Xu, Wenfu Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics China Tsinghua University Department of Automation Beijing100854 China

ISBN: (纸本)9798350325706

Cable-driven serial manipulator (CDSM) has slender body and high dexterity. Hence it has large potentials in confined space application. However, in terms of complicated motion, achieving overall shape planning and control for the manipulator as a whole has been rarely accomplished, greatly limiting the utilization of redundant degrees of freedom. Therefore, this paper proposes a pose-shape unified planning method based on multiple arm-angle construction and optimization. Firstly, we derive the multi-space mapping relationships, in particularly introducing the concept of arm shape for joint space and deriving the corresponding analytical expressions. Subsequently, we derive the Jacobian matrix of Multiple arm-angel, which theoretically guarantees the efficiency of planning and the ability to achieve acceptable goals in a globally feasible and stable manner. Simulations demonstrate that our framework enables rapid and efficient arm-angles planning while ensuring high pose accuracy. Finally, experiments are conducted using the CDSM to verify the arm's motion capabilities, including pose adjustment and maintaining arm shape during movement. Compared to other planning and closed-loop control methods, the results confirm the consistency and reliability of the arm shape and end-effector pose. © 2023 IEEE.

关键词： Arm-Shape Cable-driven Serial Manipulator Kinematics Morphology

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Drying of Industrial Sanitary Ware at Low Temperature: A Theoretical and Experimental Investigation

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Defect and Diffusion Forum 2023年 429卷 152-161页

作者： Gomez, Ricardo Soares Gomes, Kelly Cristiane Gurgel, José Maurício Alves de Matos da Silva, Fabio Emanuel França Alves, Laís Belizário Magalhães, Hortência Luma Fernandes de Lima, Antonio Gilson Barbosa Postgraduate Program in Mechanical Engineering Federal University of Paraíba Paraíba João Pessoa58051-900 Brazil Department of Renewable Energy Engineering Federal University of Paraíba Paraíba João Pessoa58051-900 Brazil Dexco S.A Paraíba João Pessoa58082-797 Brazil Science and Technology Institute Federal University of Jequitinhonha and Mucuri Valleys Minas Gerais Diamantina39100-000 Brazil Department of Mechanical Engineering Federal University of Campina Grande Paraíba Campina Grande58429-900 Brazil

Sanitary ware, including toilets, washbasins, and bathtub, plays a crucial role in maintaining hygiene and sanitation in various settings. The drying process is a critical stage in the manufacturing of ceramic sanitary ware, as it influences product quality, production efficiency, and energy consumption. Then, the purpose of this work is to investigate the drying of sanitary ware at low temperature by experiments and empirical mathematical models. The idea is to accurately predict moisture loss of the ceramic parts under different operational conditions. Results of the drying kinetics have shown that higher temperatures and lower air relative humidity accelerate the drying process. Also, no cracks or fissures were observed as a result of drying sanitary ware at low temperatures and the two-term model provides the best fit for the dimensionless average moisture content as a function of the time. These findings contribute to a better understanding of the drying process and support the optimization of sanitary ware manufacturing. © 2023 Trans Tech Publications Ltd, Switzerland.

关键词： Drying

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Learning to Hop for a Single-Legged Robot with Parallel Mechanism

arXiv

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arXiv 2025年

作者： Zhang, Hongbo Chu, Xiangyu Chen, Yanlin Tang, Yunxi Yue, Linzhu Liu, Yun-Hui Au, Kwok Wai Samuel Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Multiscale Medical Robotics Centre Hong Kong

This work presents the application of reinforcement learning to improve the performance of a highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms, parallel mechanisms can not be accurately simulated due to the complexity of their kinematic constraints and closed-loop structures. Besides, learning to hop suffers from prolonged aerial phase and the sparse nature of the rewards. To address them, we propose a learning framework to encode long-history feedback to account for the under-actuation brought by the prolonged aerial phase. In the proposed framework, we also introduce a simplified serial configuration for the parallel design to avoid directly simulating parallel structure during the training. A torque-level conversion is designed to deal with the parallel-serial conversion to handle the sim-to-real issue. Simulation and hardware experiments have been conducted to validate this framework. Copyright © 2025, The Authors. All rights reserved.

关键词： Reinforcement learning

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Fusion of Indirect Methods and Iterative Learning for Persistent Velocity Trajectory Optimization of a Sustainably Powered Autonomous Surface Vessel

arXiv

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arXiv 2025年

作者： Govindarajan, Kavin M. Agrawal, Devansh R. Panagou, Dimitra Vermillion, Chris The Department of Robotics University of Michigan Ann ArborMI48109 United States The Department of Aerospace Engineering University of Michigan United States The Department of Robotics The Department of Aerospace Engineering University of Michigan Ann-ArborMI48109 United States The Department of Mechanical Engineering University of Michigan Ann-ArborMI48109 United States

In this paper, we present the methodology and results for a real-time velocity trajectory optimization for a solar-powered autonomous surface vessel (ASV), where we combine indirect optimal control techniques with iterative learning. The ASV exhibits cyclic operation due to the nature of the solar profile, but weather patterns create inevitable disturbances in this profile. The nature of the problem results in a formulation where the satisfaction of pointwise-in-time state of charge constraints does not generally guarantee persistent feasibility, and the goal is to maximize information gathered over a very long (ultimately persistent) time duration. To address these challenges, we first use barrier functions to tighten pointwise-in-time state of charge constraints by the minimal amount necessary to achieve persistent feasibility. We then use indirect methods to derive a simple switching control law, where the optimal velocity is shown to be an undetermined constant value during each constraint-inactive time segment. To identify this optimal constant velocity (which can vary from one segment to the next), we employ an iterative learning approach. The result is a simple closed-form control law that does not require a solar forecast. We present simulation-based validation results, based on a model of the SeaTrac SP-48 ASV and solar data from the North Carolina coast. These simulation results show that the proposed methodology, which amounts to a closed-form controller and simple iterative learning update law, performs nearly as well as a model predictive control approach that requires an accurate future solar forecast and significantly greater computational capability. © 2025, CC BY.

关键词： Predictive control systems

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Multi-IMU Proprioceptive Odometry for Legged Robots

Multi-IMU Proprioceptive Odometry for Legged Robots

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Shuo Yang Zixin Zhang Benjamin Bokser Zachary Manchester Robotics Institute and Department of Mechanical Engineering Carnegie Mellon University Pittsburgh Pennsylvania USA

This paper presents a novel, low-cost proprioceptive sensing solution for legged robots with point feet to achieve accurate low-drift long-term position and velocity estimation. In addition to conventional sensors, including one body Inertial Measurement Unit (IMU) and joint encoders, we attach an additional IMU to each calf link of the robot just above the foot. An extended Kalman filter is used to fuse data from all sensors to estimate the robot's body and foot positions in the world frame. Using the additional IMUs, the filter is able to reliably determine foot contact modes and detect foot slips without tactile or pressure-based foot contact sensors. This sensing solution is validated in various hardware experiments, which confirm that it can reduce position drift by nearly an order of magnitude compared to conventional approaches with only a very modest increase in hardware and computational costs.

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Cost-Effective Pressure Glove to Measure Forces & Orientation from a Chiropractor

Cost-Effective Pressure Glove to Measure Forces & Orientatio...

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Opportunity Research Scholars Symposium (ORSS)

作者： Carolyn Butler Iti Shah Jacob Kish Muhammad Salman Robotics & Mechatronics Kennesaw State University Department of Mechanical Engineering Kennesaw State University

Currently, there is no affordable, everyday use chiropractic force sensor. Devices that are used to teach chiropractic students, such as activators and drop tables, assist students in learning but do not give adequate feedback. Our design will be implementing the cheapest materials to make the most reliable force sensing glove which chiropractors can use for their daily work needs. Materials needed to complete this project include pressure sensors, electrical wires, resistors, a breadboard, Raspberry Pi Pico W, a laptop with Thonny software installed, and an analog to digital converter. Our design of the chiropractic force sensor glove will help reduce the amount of confusion when determining the correct amount of force to apply to a chiropractor’s patient. This research will also help to dramatically reduce any severe pain resulting from misplaced forces and pressure applied to chiropractic patients.

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Trajectory Tracking Control of an Underwater Swimming Manipulator with System Constraints and Uncertainties 42

Trajectory Tracking Control of an Underwater Swimming Manipu...

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42nd Chinese Control Conference, CCC 2023

作者： Lv, Feiyang Wu, Lili Ma, Taisheng Ren, Chao Ma, Shugen School of Electrical and Information Engineering Tianjin University Tianjin300072 China Beijing Electro-Mechanical Engineering Institute Beijing100074 China Pilot National Laboratory for Marine Science and Thechnology QingDao266237 China Ritsumeikan University Department of Robotics Shiga525-8577 Japan

ISBN: (纸本)9789887581543

The underwater swimming manipulator is a new type of underwater vehicle manipulator composed of an underwater snake robot and several thrusters. In this paper, trajectory tracking control is considered for the underwater swimming manipulator with system constraints and uncertainties. Firstly, a linear model predictive controller with control input constraints is designed via feedback linearization to realize the constraints on joint torque and thruster forces. Secondly, the system uncertainties are estimated in real time based on the off-line Gaussian process regression and an adaptive extended state observer, and the estimated results are applied to the closed-loop control system for compensation. Finally, the stability of the closed-loop system is proved, and the simulation shows that the proposed method can realize the high-precision trajectory tracking control of the underwater swimming manipulator and meet the actual constraints when considering the system uncertainties. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Manipulators

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