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Improvement of Localization Algorithm for Indoor and Outdoor Navigation of Autonomous Robots

Journal of Institute of Control, Robotics and systems 2025年第5期31卷 502-509页

作者： Cho, Joonhyuk Kim, Bongsang Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

Location estimation for waypoint-based autonomous driving robots primarily relies on SLAM (Simultaneous Localization and Mapping) and GNSS (Global Navigation Satellite system) technologies. GNSS performs well in open areas but struggles with signal issues, while SLAM offers high accuracy in feature-rich environments but faces challenges in open spaces. This study integrates SLAM and GNSS, enabling seamless switching between systems when one encounters difficulties. The combined system ensures consistency by aligning coordinate systems and directional data. Experiments in indoor, forest, and open environments demonstrate that the switching algorithm enables stable autonomous driving in diverse conditions, effectively leveraging the strengths of both systems. © ICROS 2025.

关键词： Global positioning system

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GeoRefineNet: A Multistage Framework for Enhanced Cephalometric Landmark Detection in CBCT Images Using 3D Geometric Information 17th

GeoRefineNet: A Multistage Framework for Enhanced Cephalome...

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17th Asian Conference on Computer Vision, ACCV 2024

作者： Viriyasaranon, Thanaporn Ma, Serie Choi, Jang-Hwan Department of Computational Medicine Graduate Program in System Health Science and Engineering Ewha Womans University Seoul Korea Republic of Division of Mechanical and Biomedical Engineering Graduate Program in System Health Science and Engineering Ewha Womans University Seoul Korea Republic of Department of Artificial Intelligence Ewha Womans University Seoul Korea Republic of

ISBN: (纸本)9789819609000

The precise detection of cephalometric landmarks on two-dimensional (2D) radiographs or three-dimensional (3D) computed tomography (CT) images is a fundamental step in various medical fields, especially in research on orthodontics and maxillofacial surgery. Deep learning-based detectors have demonstrated remarkable accuracy in 2D cephalometric analysis, whereas conventional single-view approaches are limited by their reliance on information from a single perspective. This study proposes GeoRefineNet, a novel multistage framework that leverages information from multiple CT scans acquired at various angles. By incorporating geometric knowledge through a 3D heatmap reconstruction process, GeoRefineNet improves robustness, accuracy, and adaptability to various cephalometric configurations. The proposed framework predicts 3D landmark positions on CT images, effectively addressing challenges associated with high-dimensional input data and limited training examples. GeoRefineNet surpasses the existing state-of-the-art models in the 2D and 3D domains, as demonstrated by its superior performance on numerical and clinical datasets. These findings indicate that GeoRefineNet offers a promising avenue for improving the accuracy and reliability of cephalometric landmark detection fostering further advances in clinical diagnosis and treatment planning. Our code is available at https://***/Thanaporn09/***. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Computerized tomography

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Effect of Surface Curvature on Drop Impact Forces on Curved Superhydrophobic Surfaces

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International Journal of Multiphase Flow 2025年

作者： Akash Ranjan Pati Ikroh Yoon Young-su Ko Seungwon Shin Choongyeop Lee Department of Mechanical Engineering (Integrated Engineering Program) Kyung Hee University Yongin-si 17104 Republic of Korea Department of Mechanical System Engineering Korea Military Academy Seoul 01805 Republic of Korea Department of Mechanical and System Design Engineering Hongik University Seoul 04066 Republic of Korea

The dynamic impact of liquid drops on rigid surfaces can be found in numerous practical applications, including spray cooling, inkjet printing, spray coating, airplane wings, and steam turbine blade. Notably, the post-impact dynamics can affect the robustness and durability of the impacted surfaces by causing erosion or degradation. This study experimentally and numerically investigates the impact forces on cylindrically curved superhydrophobic (C-SHPo) surfaces across a wide range of Weber number (We = 50 − 175) and cylinder diameter (3 − 20 mm). The results show two distinct peaks in the impact force: the one originating from the inertial impact of the drop and the other from the pressure rise during the retraction motion. Initial peak force increases with We owing to higher inertial effect, whereas the second peak force shows unexpected behavior on small C-SHPo surfaces: the second peak force increases with We first then it decreases again if We is greater than the certain Weber numbers. Based on the three-dimensional direct numerical simulation, it is found that the reduced contact area resulted from the detached and fingered parts of drop plays a major role in the reduced second peak force on small C-SHPo surfaces.

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Nonlinear Analysis of Axi-Symmetric Solid Using Vector Mechanics

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CMES-COMPUTER MODELING IN engineering & SCIENCES 2011年第2期82卷 83-112页

作者： Wu, T. Y. Mechanical System Engineering Program Institute of Nuclear Energy Research ROC AEC Taiwan ROC

In this work nonlinear analysis of axi-symmetric solid using vector mechanics is performed, in which a triangular solid unit developed in compliance with the concept of vector form analysis is proposed. The vector form analysis uses point value description (rather than function) to describe motion and configuration of solid, which has governing equation directly formulated with respect to each mass point (particle). The point value description includes particles allocation for configuration and defining path elements for particle motion. In addition, constitutive conditions are properly defined to complete the formulation. The constitutive conditions linking the mass points in deformable solids are primarily complemented by the generalized forces evaluated by a solid unit which is developed in a set of physical modeling procedures. Along each path element, particle motion is described by Newton's law of motion for free particles or by prescribed path for constrained particles. Implementations of vector form analysis presented herein are carried out employing the solution steps of vector form intrinsic finite element (VFIFE). Numerical examples with behaviors of large deformation, nonlinear material properties, and contact for benchmark verifications are performed to demonstrate the capability and accuracy of the approach developed under the framework of vector form analysis.

关键词： vector mechanics axi-symmetric solid large deformation

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Saturable intercalation doping enables scalable and selective graphene gas sensors on plastic

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Chemical engineering Journal 2025年 515卷

作者： Kwon, Bitnuri Lee, Jung Hun Jo, Sae Byeok Hwang, Jinhyun Lee, Donggeun Cha, Jonghyun Lim, Soomook Suk, Ji Won Lee, Wi Hyoung Department of Organic and Nano System Engineering Konkuk University Seoul05029 Cuba Department of Materials Science and Engineering and the Materials Research Center Northwestern University 2220 Campus Drive EvanstonIL60208-3108 United States School of Chemical Engineering Sungkyunkwan University Suwon16419 Cuba Sungkyunkwan University Suwon16419 Cuba Advanced Materials Program Department of Materials Science and Engineering Konkuk University Seoul05029 Cuba School of Mechanical Engineering Sungkyunkwan University Suwon16419 Cuba Department of Smart-Fab. Technology Sungkyunkwan University Suwon16419 Cuba Department of Materials Science and Engineering Konkuk University Seoul05029 Cuba

Developing highly sensitive and selective gas sensors for nitrogen dioxide (NO2) detection remains crucial for environmental monitoring and public health protection. Graphene-based chemiresistive sensors show promise due to their exceptional electronic properties and high surface area, which enhance gas adsorption. However, they face persistent challenges in selectivity, stability, and sensitivity characteristics. This study presents a facile one-step molecular intercalation doping approach that can effectively overcome these limitations. By intercalating carefully selected dopant molecules between graphene and flexible substrates during the wet-transfer process, we achieve uniform doping distribution while maintaining intrinsic carrier mobility. The resulting sensors demonstrate remarkable NO2 detection capabilities with a limit of detection of 1 ppb at room temperature. Importantly, the intercalated devices exhibit exceptional stability over extended periods of time and show minimal cross-sensitivity to common interfering gases. Moreover, the sensors retain their sensing characteristics under mechanical deformation, including fully transparent gas sensors with a dogbone structure, thereby enabling seamless integration into wearable monitoring systems. Our scalable fabrication process and comprehensive understanding of the intercalation doping mechanism provide a practical pathway for the development of reliable, flexible gas sensors capable of addressing real-world environmental and healthcare challenges. © 2025 Elsevier B.V.

关键词： pH sensors

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Drivetrain simulation using variational autoencoders

arXiv

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arXiv 2025年

作者： Sharma, Pallavi Urrea-Quintero, Jorge-Humberto Bogdan, Bogdan Ciotec, Adrian-Dumitru Vasilie, Laura Wessels, Henning Skull, Matteo Porsche Engineering Etzelstraße 1 Bietigheim-Bissingen74321 Germany Graduate Program Computational Sciences in Engineering Technische Universität Braunschweig Braunschweig Germany Fraunhofer Institute for Energy Economics and Energy System Technology Joseph-Beuys-Straße 8 Kassel34117 Germany Institute of Applied Mechanics Division Data-Driven Modeling of Mechanical Systems Technische Universität Braunschweig Pockelsstraße 3 Braunschweig38106 Germany

This work proposes variational autoencoders (VAEs) to predict a vehicle’s jerk from a given torque demand, addressing the limitations of sparse real-world datasets. Specifically, we implement unconditional and conditional VAEs to generate jerk signals that integrate features from different drivetrain scenarios. The VAEs are trained on experimental data collected from two variants of a fully electric SUV, which differ in maximum torque delivery and drivetrain configuration. New meaningful jerk signals are generated within an engineering context through the interpretation of the VAE’s latent space. A performance comparison with baseline physics-based and hybrid models confirms the effectiveness of the VAEs. We show that VAEs bypass the need for exhaustive manual system parametrization while maintaining physical plausibility by conditioning data generation on specific inputs. © 2025, CC BY.

关键词： Signal encoding

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Current scenario and potential of waste cooking oil as a feedstock for biodiesel production in Indonesia: Life cycle sustainability assessment (LCSA) review

Case Studies in Chemical and Environmental Engineering

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Case Studies in Chemical and Environmental engineering 2025年 11卷

作者： Rahman, Arif Oktaufik, M.A.M. Sasongko, Triyono Widi Guntoro, Iwan Soedjati, Dadi Abbas, Najmi Rahman, Abdul Ulfah, Fathiah Widiarto, Ari Siswanto Dharmawan Trihadi, Sudarwaji Edi Yuwono Kusrestuwardani Prihatin, Anggara Lomak Hadi, Adim Indrijarso, Surat Rahardjo, Priyambodo Barkah, Arief Febijanto, Irhan Sasongko, Nugroho Adi Research Center for Sustainable Production System and Life Cycle Assessment National Research and Innovation Agency – BRIN Indonesia Department of Mechanical Engineering Faculty of Engineering Universitas Esa Unggul Jakarta Indonesia Principal Expert of the Steering Board National Research and Innovation Agency - BRIN Indonesia Energy Security Graduate Program Republic of Indonesia Defense University (UNHAN RI) IPSC Sentul Area West Java Bogor 16810 Indonesia

WCO is a second-generation biofuel made up of accumulated free fatty acids, which can be used as feedstock for biodiesel production. The review aims to: (a) evaluate the sustainability of waste cooking oil (WCO) for biodiesel production in Indonesia using life cycle sustainability assessment (LCSA) methods;(b) explain the challenges, development, recommendation, and industrial potential of WCO for biodiesel production in Indonesia;and (c) determine the sustainability concept of WCO for biodiesel production. This study was carried out by reviewing papers related to LCSA which include Life Cycle Assessment (LCA), Life Cycle Cost Analysis (LCCA), and Social Life Cycle Assessment (SLCA). The review found that the WCO collection, pretreatment, and transesterification processes have the biggest environmental impact caused by the use of chemicals, catalysts, and electrical energy from fossil fuels. According to the LCCA results, WCO-based biodiesel production has a high economic potential and is more practicable due to lower raw material and production costs than biodiesel from edible and non-edible plants. Meanwhile, the SLCA aspect emphasizes that the WCO-based biodiesel industry must consider social indicators such as employment provision, human rights, human health impact, working conditions, local community impact, cultural heritage, socio-economic repercussions, governance, and large accident risk. There are several recommendations that can be made to develop WCO-based biodiesel, namely the government must demonstrate political commitment by promoting WCO as a national energy source feedstock. The sustainable concept has three pillars: environmental, economic, and social. These pillars must simultaneously direct every stage of the WCO production process. To produce high-quality biodiesel, the government must support all of these stages, establish regulations and governance for WCO supply and the WCO processing industry, and provide implementable R&D, adequate funding

关键词： Biodiesel Life cycle assessment Life cycle cost analysis Life cycle sustainability assessment Social life cycle assessment Waste cooking oil

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Dynamic Load Comparison between Fully Coupled and Simplified Models on Offshore Wind Turbines with Jacket Support Structures under Seismic Conditions 28

Dynamic Load Comparison between Fully Coupled and Simplified...

引用

28th International Ocean and Polar engineering Conference, 2018

作者： Lai, Wen-Jeng Su, Wei-Nian Huang, Chin-Cheng Huang, Yi-Mei Mechanical and System Engineering Program Institute of Nuclear Energy Research Taiwan Department of Mechanical Engineering National Central University Taiwan

ISBN: (纸本)9781880653876

The dynamic load calculation of offshore wind turbine is an important technology in the future development of wind turbine industry in Taiwan. This paper presents a simplified equivalent-monopile model of reducing the dynamic load simulation time for offshore wind turbines with jacket support structures under seismic conditions. The FAST v7 code that only simulates monopile substructure is chosen as the analysis tool and is further recompiled to include the effect of seismic-pile-soil interaction in the simplified model. The numerical analysis results are then validated by comparing with the results from the fully coupled model, calculated by Bladed software, in a NREL 5MW offshore wind turbine. Two seismic load scenarios, operational and idling conditions, are studied in this work. The results show that usage of simplified model may offer advantages in preliminary support structure design. The advantages are apparent in seismic simulation since the simplified equivalent-monopile modeling allows current FAST v.7 code constraints relaxed for simulating jacket structures and leads to quicker and more convenient dynamic load calculation. The influence of earthquake and soil flexibility is especially important in design considerations since Taiwan is located in a seismically active region. Thus, the developed simplified numerical model will be helpful to shorten the simulation time of a series of seismic design load cases in the preliminary design phase. Copyright © 2018 by the International Society of Offshore and Polar Engineers (ISOPE)

关键词： Dynamic loads

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Negative Stiffness Mechanism on An Asymmetric Wave Energy Converter by Using A Weakly Nonlinear Potential Model

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China Ocean engineering 2024年第4期38卷 689-700页

作者： Sunny Kumar POGULURI Dongeun KIM Yoon Hyeok BAE Department of Ocean Engineering IIT MadrasChennaiIndia Multidisciplinary Graduate School Program for Wind Energy Jeju National UniversityJejuRepublic of Korea Mechanical and System Design Engineering Hongik UniversitySeoulRepublic of Korea

Salter's duck,an asymmetrical wave energy converter(WEC)device,showed high efficiency in extracting energy from 2D regular waves in the past;yet,challenges remain for fluctuating wave *** can potentially be addressed by adopting a negative stiffness mechanism(NSM)in WEC devices to enhance system efficiency,even in highly nonlinear and steep 3D waves.A weakly nonlinear model was developed which incorporated a nonlinear restoring moment and NSM into the linear formulations and was applied to an asymmetric WEC using a time domain potential flow *** model was initially validated by comparing it with published experimental and numerical computational fluid dynamics *** current results were in good agreement with the published *** was found that the energy extraction increased in the range of 6%to 17%during the evaluation of the effectiveness of the NSM in regular *** irregular wave conditions,specifically at the design wave conditions for the selected test site,the energy extraction increased by 2.4%,with annual energy production increments of approximately *** findings highlight the potential of NSM in enhancing the performance of asymmetric WEC devices,indicating more efficient energy extraction under various wave conditions.

关键词： asymmetric wave energy converter negative stiffness mechanism weakly nonlinear potential flow power

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RESPONSIVENESS IMPROVEMENT OF IDLING SPEED CONTROL FOR AUTOMOTIVE

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38th International Conference on Computers and Industrial engineering

作者： Zhang, Yang Koorikawa, Takashi Kurihara, Nobuo Science Program in Mechanical System Engineering Hachinohe Institute of Technology School of Engineering Japan Hachinohe Institute of Technology School of Engineering Japan

ISBN: (纸本)9787121074370

Fuel economy is an important issue in the modern automotive industry. So fuel economy technologies are a research emphasis. Improving engine efficiency as a core of fuel saving technologies is under extensive study. Idle speed is the minimum operating speed of a combustion engine. The period of the idling operation occupies thirty percent of driving time for. urban traffic. Therefore significant fuel economy and emissions improvements can be gained by lowering the idle speed of an engine. In order to achieve a lower idle speed it is necessary to maintain a stable idle speed in the presence of known disturbances (e.g. air conditioning) and unknown disturbances. In this paper, idling speed was studied based on a four-cylinder gasoline engine model by three kinds of robust control methods, or PID control, Smith predictor and sliding mode control. A sliding mode controller was proposed, and accordingly a speed sliding surface was designed From the result of simulation, it was confirmed that control performance with load disturbance could be improved.

关键词： Idle speed control Robust control Sliding mode control Smith predictor Smith plus Compensation

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