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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic system

Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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A nonlinear triboelectric nanogenerator with a broadened band-width for effective harvesting of vibration energy

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iEnergy 2022年第2期1卷 236-242页

作者： Guoqiang Xu Jingjing Fu Chuanyang Li Juntong Xing Chaojie Chen Wei-Hsin Liao Zhonglin Wang Yunlong Zi Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinN.T.Hong KongChina Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of SciencesBeijing 100083China Shenzhen Research Institute The Chinese University of Hong KongGuangdong 518057China HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute Guangdong 518048China Thrust of Sustainable Energy and Environment The Hong Kong University of Science and Technology(Guangzhou)Guangdong 511400China Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and TechnologyClear Water BayHong KongChina

A narrow resonance bandwidth of an energy harvesters limits its response to the wide frequency spectrum in ambient *** work proposes an addition of a nonlinear restoring force applied to a triboelectric nanogenerator(TENG)to tune and broaden the resonance *** restoring force is applied by permanent magnets at both sides of the slider and two external *** noncontact strategy is adopted between the slider and the grating electrodes to avoid the wear of electrodes and energy loss caused by *** results show that compared with the linear system,the nonlinear noncontact TENG(NN-TENG)can increase the peak current from 6.3μA to 7.89μA,with an increment of about 25%,increase the peak power from 650μW to 977μW,increasing by about 50%,and increase the bandwidth from 0.5 Hz to 7.75 Hz,increasing by about1400%.This work may enable a new strategy to boost the bandwidth and output power of TENG through nonlinear oscillators.

关键词： Nonlinear oscillator triboelectric nanogenerator electromechanical coupling model energy harvester dynamic perfor-mance mechanical vibration

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An Assembly Sequence Planning Method Using Ant Colony Algorithm for Arbitrary Placed Workpieces

An Assembly Sequence Planning Method Using Ant Colony Algori...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Hou, Ruiming Xu, Sheng Yang, Chenguang Zhu, Bing Duan, Jianghua Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China University of Chinese Academy of Science Beijing101408 China Shandong Institute of Advanced Technology Cas Shandong250102 China South China University of Technology College of Automation Science and Engineering Guangzhou510640 China Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350327182

This paper proposes a particular and effective online sequence planning method to help manipulators complete complex assembly tasks. In many existing studies, the workpiece is constrained to be placed at a particular initial position. To overcome this drawback, we combine the ant colony algorithm with a target detection algorithm, which could get the positions of the workpieces in real time for online sequence planning. In addition, the constraint and obstacle avoidance of different workpieces in the assembly process is also considered. According to the experiment results, an observation is found that the new method is superior to the general way in terms of efficiency and cost function value. Furthermore, the proposed method effectively solves different practical and feasible assembly sequence planning problems. © 2023 IEEE.

关键词： Ant colony optimization

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Darcy-Forchheimer mangetized flow based on differential type nanoliquid capturing Ohmic dissipation effects

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Propulsion and Power research 2023年第3期12卷 443-455页

作者： M.Waqas Yunjie Xu M.Nasir Md Mottahir Alam Amjad Ali Pasha Kashif Irshad Bandar M.Fadhl M.S.Kausar NUTECH School of Applied Science and Humanities National University of TechnologyIslamabad 44000Pakistan Department of Mechanical Engineeing Lebanese American UniversityBeirutLebanon School of Engineering Huzhou UniversityHuzhou 313000China Faculty of Informatics and Computing University Sultan Zainal AbidinBesut Campus22200 BesutTereng-ganuMalaysia Department of Electrical and Computer Engineering King Abdulaziz UniversityJeddah 21589Saudi Arabia Aerospace Engineering Department King Abdulaziz UniversityJeddah 21589Saudi Arabia Interdisciplinary Research Centre for Renewable Energy and Power System(IRC-REPS) Research InstituteKing Fahd University of Petroleum and Minerals(KFUPM)Dhahran 31261Saudi Arabia Mechanical Engineering Department College of Engineering and Islamic ArchitectureUmm Al-Qura UniversityP.O.Box 5555Makkah 21955Saudi Arabia

Hydromagnetic nanoliquid establish an extraordinary category of nanoliquids that unveil both liquid and magnetic *** interest in the utilization of hydromagnetic nanoliquids as a heat transporting medium stem from a likelihood of regulating its flow along with heat transportation process subjected to an externally imposed magnetic *** analysis reports the hydromagnetic nanoliquid impact on differential type(second-grade)liquid from a convectively heated extending *** well-known Darcy-Forchheimer aspect capturing porosity characteristics is introduced for nonlinear *** conditions elaborating heat-mass transportation effect are *** addition,Ohmic dissipation and suction/injection aspects are also a part of this *** analysis is done by implementing the basic relations of fluid *** modeled physical problem is simplified through order *** resulting systems(partial differential expressions)are rendered to the ordinary ones by utilizing the apposite *** solutions are constructed employing homotopy *** and numeric result are addressed comprehensively to elaborate the nature of sundry parameters against physical *** velocity profile is suppressed with increasing Hartmann number(magnetic parameter)whereas it is enhanced with increment in material parameter(second-grade).With the elevation in thermophoresis parameter,temperature and concentration of nanoparticles are accelerated.

关键词： Darcy-Forchheimer magnetized flow Differential type nanoliquid Ohimc dissipation Robin conditions Homotopy algorithm

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STUDY ON SHORT RANGE FORMATION FLIGHT AND DOCKING CONTROL USING AC MAGNETIC FIELD 74

STUDY ON SHORT RANGE FORMATION FLIGHT AND DOCKING CONTROL US...

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74th International Astronautical Congress, IAC 2023

作者： Tajima, Hayate Takahashi, Yuta Shibata, Takuma Sakai, Shin-Ichiro Department of Advanced Energy The University of Tokyo 5-1-5 Kashiwanoha v Kashiwa277-8561 Japan Department of Mechanical Engineering Tokyo Institute of Technology 2-12-1 Ookayama Meguro Tokyo152-8552 Japan College of Design and Manufacturing Technology Aerospace System Engineering Research Unit Muroran Institute of Technology 27-1 Mizumoto-cho Hokkaido Muroran-shi050-8585 Japan Department of Spacecraft Engineering Japan Aerospace Exploration Agency 3-1-1 Yoshinodai Kanagawa Sagamihara252-5210 Japan

Rendezvous and docking are key operational technologies, such as In-space assembly (ISA), a resupply of supplies to space stations, and a sample return mission. However, the use of propulsion systems at short distances causes negative effects such as sensor contamination, which can lead to failure of the satellite or onboard equipment. On the other hand, motion control by magnetorquers is expected to overcome propulsion weaknesses. In particular, AC magnetic fields allows the elimination of unwanted magnetic interactions and electromagnetic torque control, enabling control among desired satellite groups, absolute attitude control, and angular momentum management. Considering ISA from small satellite swarm, the AC magnetic field is effective since it is necessary to consider payload limitation, collision avoidance, and contamination from propulsion systems. In docking, the distance between satellites is short, but the magnetic field models of previous studies are based on the assumption that the coils are far enough apart (Far field model), which causes deviations from the accurate model at short distances. Such deviations may cause satellite collisions because the desired values are not obtained as the satellite approaches. Therefore, it is not recommended to use far field model at short distances, and it is desired to propose control laws based on more accurate magnetic field models. For these reasons, the purpose of this study is to realize ISA from small satellite swarm, and we propose a multi-satellite control system using AC magnetic field. In this research, our proposed controller utilizes a magnetic field model described by Biot-Savart's law without distance approximations (Near field model) in consideration of short distance operation. In the docking simulation of two small satellites equipped with electromagnetic coils on three axes, control current calculations are performed on a far field model basis and a near field model basis, respectively, and the res

关键词： Electromagnetic Spacecraft Swarm Electromagnetism Rendezvous and Docking

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A 4D printed self-assembling PEGDA microscaffold fabricated by digital light processing for arthroscopic articular cartilage tissue engineering

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Progress in Additive Manufacturing 2024年第1期9卷 3-14页

作者： Hao, Yunjie Wu, Chuanyung Su, Yuchuan Curran, Jude Henstock, James R. Tseng, Fangang Department of Engineering and System Science National Tsing Hua University Hsinchu 30013 Taiwan Department of Engineering and System Science Frontier Research Centre On Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu 30013 Taiwan Research Centre for Applied Sciences Academia Sinica No. 128 Sec. 2 Academia Rd. Taipei Nankang 11529 Taiwan Department of Mechanical Materials and Aerospace School of Engineering Harrison Hughes Building University of Liverpool Liverpool L69 3GH United Kingdom Institute of Life Course & Medical Sciences William Henry Duncan Building University of Liverpool Liverpool L7 8TX United Kingdom

Articular cartilage in synovial joints such as the knee has limited capability to regenerate independently, and most clinical options for focal cartilage repair merely delay total joint replacement. Tissue engineering presents a repair strategy in which an injectable cell-laden scaffold material is used to reconstruct the joint in situ through mechanical stabilisation and cell-mediated regeneration. In this study, we designed and 3D-printed millimetre-scale micro-patterned PEGDA biomaterial microscaffolds which self-assemble through tessellation at a scale relevant for applications in osteochondral cartilage reconstruction. Using simulated chondral lesions in an in vitro model, a series of scaffold designs and viscous delivery solutions were assessed. Hexagonal microscaffolds (750 μm x 300 μm) demonstrated the best coverage of a model cartilage lesion (at 73.3%) when injected with a 1% methyl cellulose solution. When chondrocytes were introduced to the biomaterial via a collagen hydrogel, they successfully engrafted with the printed microscaffolds and survived for at least 14 days in vitro, showing the feasibility of reconstructing stratified cartilaginous tissue using this strategy. Our study demonstrates a promising application of this 4D-printed injectable technique for future clinical applications in osteochondral tissue engineering. © 2022, The Author(s).

关键词： Articular cartilage DLP-3D printing PEGDA hydrogel Self-assembly scaffold Tissue engineering

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Anisotropic and Temperature-Dependent mechanical Properties of TPDH-Graphene

Anisotropic and Temperature-Dependent Mechanical Properties ...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Qing Peng Gen Chen Zeyu Huang Yuqiang Zhang Xintian Cai Xiao-Jia Chen Zhongwei Hu School of Science Harbin Institute of Technology Beijing China State Key Laboratory of Nonlinear Mechanics Institute of Mechanics Chinese Academy of Sciences Beijing China Guangdong Aerospace Research Academy Beijing China Institute of Manufacturing Engineering Huaqiao University Beijing China Institute of Mechanical Engineering and Automation Huaqiao University Beijing China Institute of Manufacturing Engineering Huaqiao University Xiamen China Institute of Mechanical Engineering and Automation Huaqiao University Xiamen China School of Mechanical Engineering Hubei University of Technology Wuhan China School of Science Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798350362107

ISBN: (纸本)9798350362114

TPDH-graphene is a newly predicted two-dimensional carbon material with exceptional physical properties, positioning it as a promising candidate for nanoelectronics applications. Using classical molecular dynamics simulations, we investigated the anisotropic properties of the material and assessed how temperature influences its mechanical behavior. The results demonstrate that TPDH-graphene shows significant mechanical anisotropy, displaying superior tensile toughness and fracture strength along the zigzag direction in comparison to the armchair direction. At high temperatures up to 1200 K, the material exhibits a certain degree of tensile toughness in the armchair direction.

关键词： Temperature measurement Temperature Anisotropic magnetoresistance Anisotropic Nanoscale devices Manufacturing Softening Stress Strain Nanoelectronics

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Coupled Effects of Temperature and Defects on the mechanical Properties of 8-16-4 Graphyne: Atomistic Aspect

Coupled Effects of Temperature and Defects on the Mechanical...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Qing Peng Zeyu Huang Gen Chen Yuqiang Zhang Xintian Cai Xiao-Jia Chen Zhongwei Hu School of Science Harbin Institute of Technology Beijing China State Key Laboratory of Nonlinear Mechanics Institute of Mechanics Chinese Academy of Sciences Beijing China Guangdong Aerospace Research Academy Beijing China Institute of Manufacturing Engineering Huaqiao University Beijing China Institute of Mechanical Engineering and Automation Huaqiao University Beijing China Institute of Manufacturing Engineering Huaqiao University Xiamen China Institute of Mechanical Engineering and Automation Huaqiao University Xiamen China School of Mechanical Engineering Hubei University of Technology Wuhan China School of Science Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798350362107

ISBN: (纸本)9798350362114

The 8-16-4 graphyne is a freshly discovered two-dimensional carbon allotrope that exhibits unique mechanical, electrical, and adsorption properties, with potential applications in single-atom catalysis, hydrogen storage, and flexible electronic devices. This research aims to deepen our understanding of the fracture behavior and mechanical characteristics of 8-16-4 graphyne monolayers. Through molecular dynamics simulations, we investigated how temperature, along with the interactions between temperature, vacancy defects, and microcracks, influences its mechanical performance. The results indicate that 8-16-4 graphyne fractures by the cleavage of ethylene bonds at a critical strain of approximately 0.29. The mechanical properties are significantly influenced by temperature, vacancy concentration, and microcrack presence. Compared to its sibling carbon allotropes, 8-16-4 graphyne shows reduced sensitivity to vacancy defects. Pre-existing microcracks alter its fracture modes.

关键词： Temperature sensors Temperature measurement Performance evaluation Visualization Temperature Sensitivity Market research Nanoscale devices Stress Strain

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Effect of molybdenum on interfacial properties of titanium carbide reinforced Fe composite

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Journal of Materials Science & Technology 2022年第12期107卷 252-258页

作者： Seungchan Cho Junghwan Kim Ilguk Jo Jae Hyun Park Jaekwang Lee Hyun-Uk Hong Bong Ho Lee Wook Ryol Hwang Dong-Woo Suh Sang-Kwan Lee Sang-Bok Lee Composites Research Division Korea Institute of Materials Science(KIMS)Changwon 51508South Korea Advanced Materials Engineering Dong-Eui UniversityBusan 47340South Korea Department of Aerospace and Software Engineering Gyeongsang National UniversityJinju 52828South Korea Department of Physics Pusan National UniversityBusan 46241South Korea Department of Materials Convergence and System Engineering Changwon National UniversityChangwon 51140South Korea Center for Core Research Facilities Daegu Gyeongbuk Institute of Science and TechnologyDaegu 42988South Korea School of Mechanical Engineering Gyeongsang National UniversityJinju 52828South Korea Graduate Institute of Ferrous Technology Pohang University of Science and TechnologyGyeongbuk 37673South Korea

This study shows that the mechanical strength of the composite of Fe matrix and titanium carbide(Ti C)ceramic particles is significantly enhanced with addition of molybdenum(Mo) atoms. Ti C reinforced Fe(Fe-0.2C-7Mn) composites with and without Mo were fabricated by a liquid pressing infiltration(LPI)process and the effect of Mo on interfacial properties of TiC–Fe composite was investigated using atomic probe tomography(APT) analysis, molecular dynamics(MD) simulations, first-principle density functional theory(DFT), and thermodynamic calculations. First, DFT calculations showed that total energies of the Mo-doped Ti C–Fe superlattices strongly depend on the position of Mo defects, and are minimized when the Mo atom is located at the TiC/Fe interface, supporting the probable formation of MoC-like interphase at the TiC/Fe interface region. Then, APT analysis confirmed the DFT predictions by finding that about6.5 wt.% Mo is incorporated in the Ti C–Fe(Mo) composite and that sub-micrometer thick(Ti,Mo)C interphase is indeed formed near the interface. The MD simulations show that Mo atoms migrate to the Mo-free TiC–Fe interface at elevated temperatures and the mechanical strength of the interface is considerably enhanced, which is in good agreement with experimental observations.

关键词： Metal matrix composites(MMCs) Titanium carbide Fe matrix composite Infiltration Molybdenum Interfacial property

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Reducing Overfitting Risk in Small-Sample Learning with ANN: A Case of Predicting Graduate Admission Probability 1st

Reducing Overfitting Risk in Small-Sample Learning with ANN:...

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1st International Artificial Intelligence Conference, IAIC 2023

作者： Han, Mengjie Cai, Daomeng Huo, Zhilin Shen, Zhao Tang, Lianghu Yang, Shan Wang, Cong School of Marxism University of Electronic Science and Technology of China Chengdu China University of Electronic Science and Technology of China Chengdu China School of Mechanical Engineering and Automation Beihang University Beijing China CSCC System Engineering Research Institute Beijing China The Intelligent Policing Key Laboratory of Sichuan Province Sichuan Police College Luzhou China Department of Chemistry Physics and Atmospheric Sciences Jackson State University JacksonMS United States

ISBN: (纸本)9789819712762

AI-assisted personal educational career planning holds immense promise, especially with artificial neural network algorithms demonstrating significant potential in predicting graduate admission probabilities for specific schools. However, issues like graduate admission probability prediction are typical instances of small-sample learning problems. Overcoming neural network overfitting in small-sample learning is a major challenge. To address this, we first introduce a method that cyclically runs shallow neural networks to avoid the traditional use of a high number of epochs called Cyclic-LightNet(CLN). Secondly, in previous research, a validation set is typically employed to promptly detect overfitting. However, this approach further depletes the actual training data in the dataset. Consequently, we employ a dynamic training method during the training process called Dynamic Training Set Augmentation(DTSA), supplementing the training set with the validation set. This method effectively mitigates the risk of overfitting. Finally, we put CLN and DTSA into practice on publicly available small-sample datasets, achieving precise predictions of graduate admission probabilities. Experimental results demonstrate a significant improvement in prediction accuracy and effective resistance against overfitting risk. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Neural networks

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