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2024 International Conference on Machine Learning, Pattern Recognition and Automation engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Advancements and Performance Analysis of Feature Detection and Matching Methods in Visual Odometry

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Journal of Institute of Control, robotics and Systems 2025年第3期31卷 231-236页

作者： Choi, Ji Hun Kang, Chang Ho Kim, Sun Young Department of Artificial Intelligence Sejong University Korea Republic of Department of AI Robotics Sejong University Korea Republic of School of Mechanical Engineering Kunsan National University Korea Republic of

This study presents a comprehensive performance analysis of feature detectors and descriptors in visual odometry (VO) based on four key metrics: absolute trajectory error (ATE), relative pose error (RPE), cumulative drift, and frames per second (FPS). Five algorithm-based methods (SIFT, ROOTSIFT, ORB, KAZE, and AKAZE) and five AI-based methods (SuperPoint, DISK, ALIKED, D2NET, and Xfeat) are evaluated using two matching strategies: Brute-Force and LIGHTGLUE. Performance assessment is conducted on the KITTI dataset, demonstrating that KAZE achieves the best results in ATE and cumulative drift, while ALIKED outperforms in RPE and FPS. These findings offer valuable insights for selecting the optimal feature detection and description techniques in real-world VO applications. © ICROS 2025.

关键词： Deep learning

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Expansion of Self-assembled Structures of Heteroarray NdFeB Semicircular Arc Magnetic Minirobots

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Journal of Bionic engineering 2024年第5期21卷 2258-2270页

作者： Wenguang Yang Huibin Liu Qinghao Guo Wenhao Wang Haibo Yu Anqin Liu School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Mechanical and Electrical Engineering Yantai Institute of TechnologyYantai264005China

Researching the cooperative operation and functional expansion of multiple minirobot assemblies has the potential to bring about significant advancements in the practical applications of *** this study,we present a novel assembly sys-tem comprised of arc-shaped NdFeB magnetic *** minirobots can be individually utilized as assembly units,allowing for function expansion and comprehensive capability *** fabricate four Semicircular Arc Magnetic Minirobots(SAMM)arranged in different configurations and analyze their force and motion ***,by using this unit as a base,various expansion structures such as latches,petals,and rings can be assembled through reason-able *** define the comprehensive reinforcement interval by comparatively analyzing changes in the unit's motion characteristics and operational *** motion manipulation is employed to verify the rationality of the basic unit structure and the feasibility of the assembly *** proposed self-assembly scheme for magnetic minirobots exhibits great potential and may be used as a paradigm for future research on expanding the functionality of minirobots.

关键词： NdFeB Semicircular arc Cutoff frequency Assembly Cooperative work Magnetic minirobots

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Development and Experimental Evaluation of an Endoscopic Capsule Robot Equipped With a Fail-safe Biopsy Mechanism 12

Development and Experimental Evaluation of an Endoscopic Cap...

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12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Zarifi Khameneh, M.R. Tolouei, Z. Yousefi, M. Pishkenari, H. Nejat Alasty, A. Sharif University of Technology Micro/Nano Robotics Laboratory Department of Mechanical Engineering Tehran Iran Sharif University of Technology Department of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Endoscopic capsule robots (ECRs) have introduced feasible and painless gastrointestinal diagnostics to endoscopic procedures. To further enhance the capability of these revolutionary devices, many research groups have attempted to equip ECRs with functions such as active locomotion, drug delivery, and biopsy. This study addresses the challenges related to the biopsy functionality of ECRs by introducing a remote biopsy mechanism adapted from the magnetic spring concept. The mechanism consists of one axial permanent magnet (PM) fixed inside the ECR's body, a radial PM free to translate along the device length and rotate perpendicular to its magnetization direction, and conventional biopsy forceps. The presented ECR can locomote directly using external gradient magnetic fields or through rotation via external uniform magnetic fields. Additionally, the proposed biopsy mechanism ensures reliable actuation and a fail-safe design. To evaluate the performance of this design, a prototype with a diameter of 12 mm and a length of 30 mm was fabricated, and its functionality in active rotational locomotion, orientation control, and biopsy actuation was demonstrated through experiments. © 2024 IEEE.

关键词： Endoscopy

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An Experimental Study on Response and Control of a Flapping-Wing Aerial Robot Under Wind Gusts

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Journal of Bionic engineering 2024年第1期21卷 209-223页

作者： Kazuki Shimura Hikaru Aono Chang-kwon Kang Graduate School of Science and Technology Shinshu University3-15-1 TokidaUedaNagano 3868567Japan Department of Mechanical Engineering and Robotics 3-15-1 TokidaUedaNagano 3868567Japan Department of Mechanical and Aerospace Engineering University of Alabama in HuntsvilleTechnology Hall N266HuntsvilleAL35899USA

Bioinspired flapping-wing micro-air-vehicles(FWMAVs)have the potential to be useful aerial tools for gathering information in various *** recent advancements in manufacturing technologies and better understanding of aerodynamic mechanisms behind of the flapping flight,outdoor flights have become a ***,to fully realize the potential of FWMAVs,further improvements are necessary,particularly in terms of stability and robustness under gusty *** this study,the response and control of a tailless two-winged FWMAV under the wind gusts are *** experiments are conducted with a one-degree-of-freedom gimbal to focus on effects of wind gusts on the rotational motion of the ***-derivative and sliding-mode controls are adopted for the attitude *** present that the body angles changed in time and reached approximately 50°at the maximum due to the wing *** sliding-mode controller can more effectively control the rotational angle in the presence of disturbances and both the wing speed and changes in wind speed have an impact on the effectiveness of attitude *** results contribute to the development of of tailless two-winged,single-motor driven FWMAVs in terms of the design of attitude controller and testing apparatus.

关键词： Flapping-wing micro-air vehicles Sliding-mode control Pitch and roll angle-Wind gus

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Coverage Path Planning of Agricultural Spraying Drones with Graph Convolutional Network 12

Coverage Path Planning of Agricultural Spraying Drones with ...

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12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Khaloujini, Amirmasood Talaeizadeh, Amin Taheri, Alireza Alastya, Aria Advanced Research Lab for Control and Agricultural Robotics Sharif University of Technology Social and Cognitive Robotics Lab. Department of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Optimal route planning for autonomous robots is a crucial element of contemporary agriculture, especially for activities like spraying and pollination. This paper presents a Graph Convolutional Network (GCN) model especially developed to address the Coverage Path Planning (CPP). The aim of this paper is to convert the CPP problem into a Traveling Salesman Problem (TSP), so that by solving the TSP using the proposed neural network, an optimal route can be extracted for each agricultural field in the shortest possible time and with sufficient accuracy, ensuring full coverage of the field's area. The proposed model is a GCN, augmented with a transformer layer and a Multi-Layer Perceptron (MLP), was trained using datasets produced by a Genetic Algorithm (GA) Method. The model obtained a network error of 0.12 while solving TSP cases with 20 points. It showed robust generalization skills, as evidenced by validation and test errors of 0.1261 and 0.1264, respectively. Significantly, the GCN model reduces the solution time to approximately one-tenth compared to conventional approaches, a benefit that increases as the number of points increases. The effectiveness of the model in producing ideal coverage routes highlights its potential for wider use in optimization and coverage path planning, especially in dynamic and extensive agricultural environments. © 2024 IEEE.

关键词： Traveling salesman problem

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Light-driven high-precision cell adhesion kinetics

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Light(Science & Applications) 2022年第10期11卷 2256-2257页

作者： Zhiyuan Zhang Daniel Ahmed Acoustic Robotics Systems Laboratory Institute of Robotics and Intelligent SystemsDepartment of Mechanical and Process EngineeringETH ZurichS?umerstrasse 4CH-8803 ZurichSwitzerland

Existing single-cell adhesion kinetics methods are performed under conditions highly unlike the physiological cell adhesion ***,researchers have developed a new optical technique for high-precision measurement of cell... 详细信息

关键词： conditions. kinetics formed

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Investigating the Fretting of Steel Surfaces in the Presence of Hybrid Anti-Fretting Paste Containing Talc-Graphite-hBN-Molybdenum Disulfide Solid Lubricants

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-11页

作者： Bhaumik, Shubrajit Krishna, Boddu Anurag Paleu, Viorel Choudhury, Nabajit Dev Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics & ampRobotics Department Mechanical Engineering Department "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania Department of Energy Engineering Assam Science and Technology University Assam Jalukbari Guwahati781013 India

The present work proposes a novel combination of additives dispersed in mineral oil to form a paste that exhibited significant anti-fretting properties as compared to a molybdenum-di-sulfide-containing commercial paste. The proposed paste contained 20 wt% MoS2 apart from 20 wt% talc, 15 wt%. graphite to 10 wt% hBN as additives, and 65 wt% mineral oil. The average mass of the bearing raceway tested with the proposed paste was 0.0063 ± 0.0045 g thus, exhibiting 82% less average mass loss than the bearing raceways tested with commercial paste (0.0354 ± 0.0021 g). Additionally, the machine vision system exhibited 40% fewer false brinelling areas with the proposed paste (0.9400 ± 0.108 mm2) as compared to the commercial paste (1.605 ± 0.822 mm2). Optical microscope images of the false brinelling areas further indicated debris adhesion, plastic deformation, and crack formation during the fretting phenomenon. Furthermore, the Raman spectrograph indicated the deposition of the solid lubricants on the steel surfaces during the fretting tests. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Talc

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Heat Transfer Area Optimization for Heat Exchanger System

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Computer Modeling in engineering & Sciences 2025年第4期143卷 335-349页

作者： Yu-Cheng Liao Fu-I Chou Po-Yuan Yang Jyh-Horng Chou Department of Electrical Engineering National Kaohsiung University of Science and TechnologyKaohsiung807Taiwan Department of Intelligent Robotics National Pingtung UniversityPingtung900Taiwan Department of Mechanical and Computer-Aided Engineering Feng Chia UniversityTaichung407Taiwan

This paper presents an allowable-tolerance-based group search optimization(AT-GSO),which combines the robust GSO(R-GSO)and the external quality design planning of the Taguchi ***-GSO algorithm is used to optimize the heat transfer area of the heat exchanger *** R-GSO algorithm integrates the GSO algorithm with the Taguchi method,utilizing the Taguchi method to determine the optimal producer in each iteration of the GSO algorithm to strengthen the robustness of the search process and the ability to find the global *** conventional parameter design optimization,it is typically assumed that the designed parameters can be applied accurately and consistently throughout ***,for systems that are sensitive to changes in design parameters,even minor inaccuracies can substantially reduce overall system ***,the permissible variations of the design parameters are considered in the tolerance-optimized design to ensure the robustness of the *** optimized design of the heat exchanger system assumes that the system’s operating temperature parameters are ***,fixing the systemoperating temperature parameters at a constant value is *** paper assumes that the system operating temperature parameters have an uncertainty error when optimizing the heat transfer area of the heat exchanger *** results show that the AT-GSO algorithm optimizes the heat exchanger system and finds the optimal operating temperature in the absence of tolerance and under three tolerance conditions.

关键词： Heat exchanger system allowable tolerance-based group search optimization Taguchi method tolerance design

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Evaluation of complaint damper for assessing its effectiveness and efficiency through the utilization of topology optimization

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Interactions 2024年第1期245卷 1-17页

作者： Emmanual, L. Narayanan, V. R. Shankara Mukesh, G. Sibi, M. Vijayan, V. Department of Robotics and Automation Easwari Engineering College Tamil Nadu Chennai600089 India Department of Mechanical Engineering M.Kumarasamy College of Engineering Thalavapalayam Tamil Nadu Karur639113 India Department of Mechanical Engineering K.Ramakrishnan College of Technology Tamil Nadu Samayapuram Trichy621 112 India

The term 'chatter' is related to the undesirable vibration produced in any equipment under dynamic operating conditions. It has a wide range of negative consequences for both the machine and the components it produces. Vibrations in the process of machining must be minimized as much as feasible. Dampers serve an important function in mitigating the impacts of chatter during machining. Dampers have traditionally been used to support machines and reduce clatter. Dampers are currently made up of numerous pieces that are mechanically joined together to perform the needed task of reducing chatter. To reduce the number of components and mechanical assembly, we use a complaint mechanism that transmits and absorb force, motion, and so on in a single monolithic structure. This paper presents a unique method to construct dampers utilizing a complaint system. A design was created implementing building pieces in a structure that has been topology optimized. The complaint damper was created using Fused Deposition Modeling (FDM). The complaint damper was employed in place of the rubber damper to evaluate performance. The experiments were carried out on a 3D printer (Fractal Twin Dragon) under various operating circumstances. During the experiment, a 1.75 mm diameter PLA spool was used as the feed. The machine attributes were taken into account. The complaint damper was located at the bottom of the machine's leg. The vibrometer VB-820HA contact type was also mounted to the machine leg and measured response that include velocity, acceleration, displacement, and frequency. The acceleration & frequency profile clearly suggest a larger magnitude when the complaint damper is used. When compared to conventional solid damping, The initial runs are at lower federate of 0.6 mm/min shows nearly identical velocity readings between the two dampers. Rubber damping resulted in a maximum displacement of 0.55 mm. The displacement created by the suggested damper is insignificant. even at higher fr

关键词： Fused Deposition Modeling

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