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AIAA Aviation Forum and ASCEND, 2024

作者： Huang, Tianci Zahr, Matthew J. Holst, Kevin Freels, James D. Baker, A.J. Batten, Paul Bachchan, Nili Brad Maeng, Jungyeoul Fisher, Travis C. Kim, Dongseok Yune, Kyeol Kim, Chongam Kim, Juhyun Park, Jaehyeon Jee, Solkeun White, William J. Johnsen, Eric Department of Aerospace and Mechanical Engineering University of Notre Dame Notre DameIN46556-5637 United States Department of Electrical Engineering and Computer Science University of Tennessee KnoxvilleTN37996 United States Department of Mechanical Aerospace and Biomedical Engineering University of Tennessee KnoxvilleTN37996 United States Metacomp Technologies Inc. 31365 Oak Crest Drive #250 Westlake Village CA91361 United States Computational Thermal and Fluid Mechanics Sandia National Laboratories AlbuquerqueNM87185 United States Department of Aerospace Engineering Seoul National University 1 Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of Department of Aerospace System Engineering Sejong University Neungdong-ro Gwangjin-gu Seoul05006 Korea Republic of School of Mechanical Engineering Gwangju Institute of Science and Technology 123 Cheomdan-gwagi-ro Kuk-gu Gwangju61005 Korea Republic of University of Michigan Ann ArborMI48109 United States

This manuscript presents the test problems and results of the shock-dominated flow test suite of the first High-Fidelity CFD Verification Workshop held on January 6-7, 2024. © 2024, American Institute of Aeronaut... 详细信息

ISBN: (纸本)9781624107160

关键词： Shock testing

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Tail Classes Matter: Long-Tailed Object Detection Revisited

Tail Classes Matter: Long-Tailed Object Detection Revisited

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Yinglu Zhang Chenbo Zhang Lu Zhang Tianying Liu Jihong Guan Xinkai Liang Jiajia Zhao Shuigeng Zhou Shanghai Key Lab of Intelligent Information Processing and School of Computer Science Fudan University China Department of Computer Science & Technology Tongji University China Science and Technology on Complex System Conroland InelligentAgent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute China

Real-world data ubiquitously exhibit long-tailed distribution, which sparks the increasing interest in long-tailed object detection (LTOD). However, existing methods neglect that a lack of diverse data in tail classes will cause underrepresented tail class features, making their efforts for balancing foreground classes tend to over-fit tail classes and be less effective. In this paper, we propose a multi-class co-attention generation network to increase data diversity of tail classes by generating augmented samples. To alleviate imbalance, we develop a distribution-aware up-sampling strategy, performing differential up-sampling for different classes and design a bi-directional regulation loss to adjust both positive and negative gradients. Moreover, we construct a new dataset LVIS-X with more rare classes based on existing LTOD benchmark dataset LVIS. Experiments on LVIS and LVIS-X demonstrate the superiority of the proposed method.

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A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower-Limb Exoskeletons

TechRxiv

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TechRxiv 2024年

作者： Lin, Jianping Thomas, Gray Cortright Divekar, Nikhil V. Peddinti, Vamsi Gregg, Robert D. State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Mechanical Engineering Texas A&M University College StationTX77843 United States Department of Robotics University of Michigan Ann ArborMI48109 United States Department of Electrical and Computer Engineering University of Michigan Ann ArborMI48109 United States

Various backdrivable lower-limb exoskeletons have demonstrated the electromechanical capability to assist volitional motions of able-bodied users and people with mild to moderate gait disorders, but there does not exist a control framework that can be deployed on any joint(s) to assist any activity of daily life in a provably stable manner. This paper presents the modular, multi-task optimal energy shaping (M-TOES) framework, which uses a convex, data-driven optimization to train an analytical control model to instantaneously estimate assistive joint torques across activities for any lower-limb exoskeleton joint configuration. The presented modular energy basis is sufficiently descriptive to fit normative human joint torques (given normative feedback from signals available to a given joint configuration) across sit-stand transitions, stair ascent/descent, ramp ascent/descent, and level walking at different speeds. We evaluated controllers for four joint configurations (unilateral/bilateral, hip/knee) of the modular M-BLUE exoskeleton on eight able-bodied users navigating a multi-activity course comprising the primary activities of daily life. The two unilateral conditions significantly lowered overall muscle activation across all tasks and subjects (p © 2024, CC BY-NC-SA.

关键词： Exoskeleton (Robotics)

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PID Control with Model-free Adaptive Mechanism for Electromagnetic Scanning Micromirrors

PID Control with Model-free Adaptive Mechanism for Electroma...

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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2022

作者： Sun, Wanyan Tan, Qingyuan Tan, Yonghong Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China University of Windsor Dept. of Electrical and Computer Engineering Windsor Canada College of Information Mechanical and Electrical Engineering Shanghai Normal University Shanghai China

ISBN: (数字)9781665475433

ISBN: (纸本)9781665475433

In this paper, a model-independent adaptive PID control scheme is proposed for the angle control of electromagnetic scanning micromirrors. In this scheme, only using the input and output data of the micromirror, a model-free adaptive mechanism is designed to adjust the PID parameters online to adapt to the change of the micromirror characteristics due to the hysteresis exists in the micromirror. It makes the deflection angle of the micromirror can track the reference trajectory fast and accurately. Finally, the simulation results show that the proposed control method has achieved better control performance than PID control in controlling the deflection angle of the micromirror. © 2022 IEEE.

关键词： Three term control systems

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Modeling Method of Aircraft Simulation Based on Formal Description of Petri Net 18th

Modeling Method of Aircraft Simulation Based on Formal Des...

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18th Chinese Intelligent systems Conference, CISC 2022

作者： Zhan, Tianming Huang, Yu Geng, Huapin Tong, Jiahui TAIJI Computer Co. Ltd Beijing100102 China Peking University Beijing100871 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100190 China Beijing Electro-Mechanical Engineering Institute Beijing102299 China

ISBN: (纸本)9789811962028

The simulation of aircraft guidance and control system has characteristics such as multiple model classification, large parameter influence,complex information interaction and so on. The traditional code-level model development method has many limitations, such as time consuming, low reusability, low modeling efficiency, and model quality can not be guaranteed. Based on the concurrency, graphic representation, mathematics and simulation characteristics of Petri net, this paper studies the aircraft simulation modeling method of formal description based on Petri net, constructs a general modeling development and integration software tool that can carry out component, parametric and graphical modeling, solves the problems of multi granularity model modeling and automatic generation of real-time simulation model code, and realizes the visual graphic modeling and comprehensive integration of different granularity models such as components, modules and meta models. The research method has been successfully applied in the simulation modeling of an aircraft. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Petri nets

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Robotic Slag Removal system with Position Compensation and Defect Detection based on YOLO Algorithm

Robotic Slag Removal System with Position Compensation and D...

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International Conference on Advanced Robotics and Intelligent systems (ARIS)

作者： Chih-Hsuan Shih Chih-Yi Wu Department of Computer Science and Information Engineering National Taiwan University Taipei 10617 Taiwan Mechanical and Mechatronics System Research Laboratories Industrial Technology Research Institute Hsinchu 31040 Taiwan

Robotic arms play a crucial role in factory automation, offering immense versatility, precision, and the capability for autonomous operation, thereby eliminating the need for manual labor. In this study, we have developed a robotic slag removal system with automatic position compensation and defect detection capabilities, which is capable of locating the features of workpieces, perform deslagging, and detect defects using the YOLO (You Only Look Once) algorithm. The experimental workpiece in this study is a knee femoral implant. Firstly, a position compensation method is employed to precisely locate the clamping hole of the workpiece. The robot trajectory is then automatically generated by the software for the deburring of the clamping hole slag. Subsequently, the system utilizes the detected defect locations to generate a re-deslagging path, ensuring that all remnants are thoroughly cleaned.

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Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid

arXiv

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arXiv 2023年

作者： Purushottam, Amartya Jung, Yeongtae Xu, Christopher Ramos, Joao Department of Electrical and Computer Engineering The University of Illinois Urbana-Champaign United States Department of Mechanical Science and Engineering The University of Illinois Urbana-Champaign United States Department of Mechanical System Engineering Advanced Transportation Machinery Research Center Jeonbuk National University Jeollabuk-do 54896 Korea Republic of

Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This paper presents a framework for DMM via whole-body teleoperation, built upon three key contributions: Firstly, a teleoperation framework employing a Human Machine Interface (HMI) and a bi-wheeled humanoid, SATYRR, is proposed. Secondly, the study introduces a dynamic locomotion mapping, utilizing human-robot reduced order models, and a kinematic retargeting strategy for manipulation tasks. Additionally, the paper discusses the role of whole-body haptic feedback for wheeled humanoid control. Finally, the system’s effectiveness and mappings for DMM are validated through locomanipulation experiments and heavy box pushing tasks. Here we show two forms of DMM: grasping a target moving at an average speed of 0.4 m/s, and pushing boxes weighing up to 105% of the robot’s weight. By simultaneously adjusting their pitch and using their arms, the pilot adjusts the robot pose to apply larger contact forces and move a heavy box at a constant velocity of 0.2 m/s. Copyright © 2023, The Authors. All rights reserved.

关键词： Remote control

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Predictive Energy Management Based on Flight Condition Recognition for Hybrid Uavs

SSRN

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SSRN 2024年

作者： Liu, Yansong Xi, Jianxiang Dong, Yijie Yang, Langhong Li, Aoxuan Huang, Weiqing School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314019 China Rocket Force University of Engineering Xi’an710025 China National Computer System Engineering Research Institute of China Beijing100083 China

To enhance the energy utilization efficiency of hybrid unmanned aerial vehicles (UAVs), this paper presents a novel predictive energy management strategy grounded in flight condition identification. Leveraging a k-Nearest Neighbor(kNN) method, flight conditions are accurately identified, and these results are seamlessly integrated as additional inputs into a bidirectional long and short-term memory (Bi-LSTM) network for demand power prediction, thus enhancing prediction accuracy. Simulation comparison results demonstrate the efficacy of this approach in improving demand power prediction accuracy by identifying flight conditions, compared to methods relying solely on historical demand power data. Moreover, when combined with model predictive control (MPC), the proposed energy management strategy achieves 93.79% of the dynamic programming (DP) strategy, representing a notable improvement of about 1% over strategies relying solely on historical demand power prediction. © 2024, The Authors. All rights reserved.

关键词： Model predictive control

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Predictive Energy Management Based on Flight Condition Recognition for Unmanned Aerial Vehicles

SSRN

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SSRN 2024年

作者： Liu, Yansong Xi, Jianxiang Dong, Yijie Yang, Langhong Li, Aoxuan Huang, Weiqing School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy Beijing Institute of Technology Jiaxing314019 China Rocket Force University of Engineering Xi’an710025 China National Computer System Engineering Research Institute of China Beijing100083 China

To enhance the energy utilization efficiency of hybrid unmanned aerial vehicles (UAVs), this paper presents a novel predictive energy management strategy grounded in flight condition identification. Leveraging a k-Nearest Neighbor(kNN) method, flight conditions are accurately identified, and these results are seamlessly integrated as additional inputs into a bidirectional long short-term memory (Bi-LSTM) network for demand power prediction, thus enhancing prediction accuracy. Simulation comparison results demonstrate the efficacy of this approach in improving demand power prediction accuracy by identifying flight conditions, compared to methods relying solely on historical demand power data. Moreover, when combined with model predictive control (MPC), the proposed energy management strategy achieves 93.79% of the dynamic programming (DP) strategy, representing a notable improvement of about 1% over strategies relying solely on historical demand power prediction. © 2024, The Authors. All rights reserved.

关键词： Model predictive control

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Mathematical modeling of mixed convective MHD Falkner-Skan squeezed Sutterby multiphase flow with non-Fourier heat flux theory and porosity

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Applied Mathematics and Mechanics(English Edition) 2023年第11期44卷 2005-2018页

作者： Shuguang LI M.I.KHAN F.ALI S.S.ABDULLAEV S.SAADAOUI HABIBULLAH School of Computer Science and Technology Shandong Technology and Business UniversityYantai 264005Shandong ProvinceChina Department of Mechanics and Engineering Science Peking UniversityBeijing 100871China Department of Mechanical Engineering Lebanese American UniversityBeirut 11020Lebanon Department of Mathematical Sciences Federal Urdu University of ArtsSciences&TechnologyGulshan-e-IqbalKarachi 75300Pakistan Faculty of Chemical Engineering New Uzbekistan UniversityTashkent 100070Uzbekistan Department of Science and Innovation Tashkent State Pedagogical University named after NizamiTashkent 100070Uzbekistan Department of Physics Faculty of Science and ArtsMohayel AserKing Khalid UniversityAbha 61421Saudi Arabia State Key Laboratory of Turbulence and Complex System Collaborative Innovative Center for Advanced Aero-EnginesPeking UniversityBeijing 100871China

In a wide variety of mechanical and industrial applications,e.g.,space cooling,nuclear reactor cooling,medicinal utilizations(magnetic drug targeting),energy generation,and heat conduction in tissues,the heat transfer phenomenon is ***’s law of heat conduction has been used as the foundation for predicting the heat transfer behavior in a variety of real-world *** model’s production of a parabolic energy expression,which means that an initial disturbance would immediately affect the system under investigation,is one of its main ***,numerous researchers worked on such problem to resolve this *** last,this problem was resolved by Cattaneo by adding relaxation time for heat flux in Fourier’s law,which was defined as the time required to establish steady heat conduction once a temperature gradient is *** offered a material invariant version of Cattaneo’s model by taking into account the upper-connected derivative of the Oldroyd ***,both models are combinedly known as the Cattaneo-Christov(CC)*** this attempt,the mixed convective MHD Falkner-Skan Sutterby nanofluid flow is addressed towards a wedge surface in the presence of the variable external magnetic *** CC model is incorporated instead of Fourier’s law for the examination of heat transfer features in the energy expression.A two-phase nanofluid model is utilized for the implementation of *** nonlinear system of equations is tackled through the bvp4c technique in the MATLAB software *** influence of pertinent flow parameters is discussed and displayed through different *** and important results are summarized in the conclusion ***,in both cases of wall-through flow(i.e.,suction and injection effects),the porosity parameters increase the flow speed,and decrease the heat transport and the influence of drag forces.

关键词： sporosity Cattaneo-Christov(CC)heat flux model Falkner-Skan Sutterby nanofluid mixed convection stagnation point

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