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Annual Conference of Industrial Electronics Society

作者： Su Yong Kim Dong Hwal Lee Hee Tae An Sang Hun Lee Young Ho Koh Man Hyung Lee Department of Mechanical and Intelligent Systems Engineering Pusan National University Busan Korea Depatment of Interdisciplinary Program in Mechatronics Pusan National University Busan Korea School of Mechanical Engineering Pusan National University Busan Korea

ISBN: (纸本)0780387309

In this paper, the position of a mobile robot using DGPS (differential GPS) and UPS (ultrasonic positioning system) is measured and the performance of UPS is analyzed using DGPS. UPS is absolute positioning system using ultrasonic waves and has better performance in low price than the other absolute positioning systems. So in order to evaluate the performance, UPS is compared with the RTK (real-time kinematics) method, which is of the most accurate methods in the DGPS. As a result, the possibility of using UPS can be discussed as pseudolites or pseudosatellites in the place where GPS is not available.

关键词： Performance analysis Global Positioning System Robot kinematics Mobile robots Satellites Electronic mail Position measurement Ultrasonic variables measurement Uninterruptible power systems Robot sensing systems

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Design-informatics approach applicable to real-world problem

Design-informatics approach applicable to real-world problem

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IEEE Symposium on Computational Intelligence in Multi-Criteria Decision-Making, MCDM

作者： Kazuhisa Chiba Yoshikazu Makino Takeshi Takatoya Department of Mechanical Systems Engineering Hokkaido Institute of Technology Sapporo Japan Aviation Program Group Japan AeroSpace Exploration Agency Tokyo Japan

The design-informatics approach has been proposed for next-generation innovative design methodology. The multi-objective problem should be treated in a real-world engineering problem because of the various design requirements. When a multi-objective optimization is implemented, the obtained result is not a sole solution but a set of optimum solutions due to tradeoff relations among design requirements. Therefore, decision-making process is necessary as a post-process for optimization result. In the present study, the design-informatics approach, which is considered as a sequential process between an optimization and its post-process operations, is suggested and is applied to the large-scale and real-world design problem. Consequently, a compromised solution can be efficiently decided from the non-dominated solutions obtained by multidisciplinary design optimization. This approach would be a new efficient procedure for design manner, and also it would be the methodology that innovative design knowledge can be acquired.

关键词： Optimization Aerodynamics Data mining Geometry Analysis of variance Shape Databases

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Ultrasonic satellite system for the positioning of mobile robots

Ultrasonic satellite system for the positioning of mobile ro...

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Annual Conference of Industrial Electronics Society

作者： Jung-Min Lee Dong Hwal Lee HeeTae An Nam Huh Myoung Kook Kim Man Hyung Lee Departement of Interdisciplinary Program in Mechatronics Pusan National University Susan Korea Departement of Mechanical and Intelligent Systems Engineering Pusan National University Busan Korea School of mechanical Engineering Pusan National University Busan Korea

ISBN: (纸本)0780387309

The positioning problem of mobile robot is an important part of control problem for mobile robot. Dead Reckoning is widely used for positioning of mobile robot. However this method has problems because it accumulates estimation errors. In this paper, we propose a new method to increase the accuracy of estimated position using the U-SAT (Ultrasonic Satellite system). U-SAT is composed of a distance measurement using ultrasonic wave and the position acquisition in the world coordinate using the GPS. It is shown that we will be able to estimate the position of mobile robot precisely, in which errors are not accumulated. The experimental results show that the proposed method is enable to estimate the position of the mobile robot.

关键词： Satellites Mobile robots Robot kinematics Global Positioning System Orbital robotics Service robots Estimation error Distance measurement Uncertainty Machine vision

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Thermal Air Braking

Thermal Air Braking

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Novel Intelligent and Leading Emerging Sciences Conference (NILES)

作者： Mohammad M. Abdel Karim Mohamed M. Abdelrahman Amr Guaily Aerospace Department Faculty of Engineering Cairo University Giza Egypt Mechanical Engineering Program School of Engineering and Applied Sciences Smart Engineering Systems Research Center (SESC) Nile University Giza Egypt

This paper introduces the concept of thermal air braking, which involves heating a portion of the airfoil's upper surface to achieve the braking effect. A 2D Computational Fluid Dynamics (CFD) analysis is conducted using ANSYS Fluent software to study the impact of heating the upper back portion of the top surface of an airfoil. The study compares the results of the heated and non-heated cases for NACA 4415. Different aerodynamic efficiencies are investigated, such as lift coefficient (C L ), drag coefficient (C D ), lift-to-drag coefficient (C L /C D ), and pressure coefficient (C P ). The results are promising since there is an increase in the drag coefficient by 70% and a decrease in the lift coefficient by 5%, achieved by heating the last portion of the airfoil.

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Research on navigation system of an autonomous vehicle using RTK-DGPS

Research on navigation system of an autonomous vehicle using...

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Annual Conference of Industrial Electronics Society

作者： Jae Heon Ryu Yu Shin Chang Gun Hong Park Chun Han Lee Seok Hyun Park Man Hyung Lee Departement of Mechanical and Intelligent Systems Engineering Pusan National University Busan Korea Departement of Interdisciplinary Program in Mechatronics Pusan National University Busan Korea School of Mechanical Engineering Pusan National University Busan Korea

ISBN: (纸本)0780387309

This paper describes the development of navigation system for an autonomous ground vehicle at limited area by using RTK-DGPS. Before the autonomous drive, we make map data by using RTK-DGPS that is a reference trajectory for the autonomous vehicle. The navigation system with map data computes the yaw angle of the vehicle by using its present position and next position. And the steering wheel of the vehicle is controlled by using fuzzy logic controller. A prototype of the autonomous vehicle by the navigation method is developed and navigation performance of the system is evaluated. The experimental results show that the navigation system based RTK-DGPS can exactly track the map at the low speed. We expect that this navigation system can be more accurate by augmenting other sensors.

关键词： Navigation Remotely operated vehicles Mobile robots Land vehicles Trajectory Vehicle driving Wheels Fuzzy logic Prototypes Sensor systems

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SYSTEM-75 - COMMUNICATIONS AND CONTROL ARCHITECTURE

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AT&T TECHNICAL JOURNAL 1985年第1期64卷 153-173页

作者： BAXTER, LA BERKOWITZ, PR BUZZARD, CA HORENKAMP, JJ WYATT, FE AT&T Information Systems Laboratories an entity of AT&T Information Systems Inc. Donn Baker: M.E. (Engineering) 1953 Stevens Institute of Technology Bell Laboratories Communications Development Training Program 1956 Bell Laboratories 1953–1982 AT&T Information Systems Laboratories 1983—. Howard D. Frisch: B.S.M.E. M.M.E. M.B.A. (Finance/Operations) Cornell University in 1979 1980 and 1981 respectively Bell Laboratories 1981–1983 AT&T Information Systems Laboratories present affiliation Bell Communications Research Inc. C. R. Lindemulder: B.S.M.E. 1960 New Mexico State University M.M.E. 1963 New York University Bell Laboratories 1960–1982 Albert S. Loverde: B.S. (Mechanical Engineering) 1961 Purdue University M. S. (Engineering Mechanics) 1963 New York University Bell Laboratories Communications Development Training Program 1964 Bell Laboratories 1961–1982

The System 75 office communication system uses a unique communications and control architecture that provides great flexibility and a minimum of overhead for small configurations while growing smoothly to larger line sizes. A distributed communication network provides 64 kb/s connectivity for both voice and data. It consists of a pair of time division multiplexed buses and intelligent port circuits. Flexible conferencing and gain adjustment are supported as an integral part of the network. The control complex supports an operating-system-based software structure.

关键词： DIGITAL COMMUNICATION systems

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Fluid-driven traveling waves in soft robots

arXiv

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arXiv 2021年

作者： Salem, Lior Gat, Amir D. Or, Yizhar Faculty of Mechanical Engineering TASP- Technion Autonomous Systems and Robotics Program Technion - Israel Institute of Technology Technion City Haifa3200003 Israel

Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and experimentally the use of embedded pneumatic networks as a mechanism to mimic nature and generate bi-directional traveling waves in soft robots. We apply long-wave approximation to theoretically calculate the required distribution of pneumatic network and inlet pressure oscillations needed to create desired moving wave patterns. We then fabricate soft robots with internal pneumatic network geometry based on these analytical results. The experimental results agree well with our model and demonstrate the propagation of moving waves in soft robots, along with locomotion capabilities. The presented results allow fabricating soft robots capable of continuous moving waves via the common approach of embedded pneumatic networks and requiring only two input controls. Copyright © 2021, The Authors. All rights reserved.

关键词： Fluid structure interaction

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A stochastic MPEC approach for grid tariff design with demand-side flexibility

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ENERGY systems-OPTIMIZATION MODELING SIMULATION AND ECONOMIC ASPECTS 2023年第3期14卷 707-729页

作者： Askeland, Magnus Burandt, Thorsten Gabriel, Steven A. Energy Systems SINTEF Energy Research Trondheim Norway Department of Electric Power Engineering Norwegian University of Science and Technology Trondheim Norway Workgroup for Infrastructure Policy Technical University of Berlin Berlin Germany The Energy Transportation Environment Department German Institute for Economic Research (DIW Berlin) Berlin Germany Department of Industrial Economics and Technology Management Norwegian University of Science and Technology Trondheim Norway Department of Mechanical Engineering Applied Math and Statistics Scientific Computation Program University of Maryland College Park MD USA

As the end-users increasingly can provide flexibility to the power system, it is important to consider how this flexibility can be activated as a resource for the grid. Electricity network tariffs is one option that can be used to activate this flexibility. Therefore, by designing efficient grid tariffs, it might be possible to reduce the total costs in the power system by incentivizing a change in consumption patterns. This paper provides a methodology for optimal grid tariff design under decentralized decision-making and uncertainty in demand, power prices, and renewable generation. A bilevel model is formulated to adequately describe the interaction between the end-users and a distribution system operator. In addition, a centralized decision-making model is provided for benchmarking purposes. The bilevel model is reformulated as a mixed-integer linear problem solvable by branch-and-cut techniques. Results based on both deterministic and stochastic settings are presented and discussed. The findings suggest how electricity grid tariffs should be designed to provide an efficient price signal for reducing aggregate network peaks.

关键词： Bilevel problem Grid tariffs Mathematical program with equilibrium constraints (MPEC) Uncertainty

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Study on Wearable Gaze-Based Communication System for Patients with Amyotrophic Lateral Sclerosis (ALS)

Study on Wearable Gaze-Based Communication System for Patien...

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IEEE/SICE International Symposium on System Integration

作者： Sawada Nonoka Akira Uehara Hiroaki Kawamoto Yoshiyuki Sankai Master's Program in Intelligent and Mechanical Interaction Systems University of Tsukuba Ibaraki Japan Institute of Systems and Information Engineering Center for Cybernics Research University of Tsukuba Tsukuba Ibaraki Japan

This study centers its attention on communication among ALS patients with severe symptoms, which is essential to daily life and the part that remains a difficulty. Also, communication is important to promote social participation and ability of independence. To promote social participation and improve the ability of independence without the restrictions for patients, the purpose of this study is to develop a wearable interface that enables communication based on the patient's voluntary intent, without temporal, spatial, or physical restrictions, and to confirm the feasibility of intention transmission using a new text entry algorithm. The developed interface utilized a see-through type head-mounted display (HMD) with a gaze estimation sensor to enable patients themselves to transition between cyberspace and physical space and to communicate by the system without restrictions of posture or usage environment during daily life activities. The letter selection is triggered by a change in the direction of the gaze trajectory. This method of letter selection reduces the burden on the user by avoiding the effects of dwell time and other factors associated with gazing input. The key layout for text input UI considers the characteristics of human eye movements, to minimize key selection errors and allows for quick viewpoint movement. To confirm the feasibility of the basic performance, we conducted the experiment with three able-bodied participants using the developed system and a conventional system as a comparison system, respectively. As a result, the developed system was able to input sentences in the same amount of time as the conventional system. The results show that the developed system has the basic performance of a communication interface with a new character input method based on eye movement functions. Therefore, we confirmed the feasibility of transmitting intention using a new text entry algorithm to enable communication without the restrictions.

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All-Electric Ship On-Board Continuous Sustainable H2 Generation from Aluminum Scrap and Seawater

All-Electric Ship On-Board Continuous Sustainable H2 Generat...

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2023 IEEE Electric Ship Technologies Symposium, ESTS 2023

作者： Taher, Dhyogo M. Balmant, Wellington Och, Stephan H. Pitz, Diogo B. Venter, Giuliana S. Filho, Lucio C. Martins, Lauber S. Vargas, Jose V. C. Ordonez, Juan C. Federal University of Paraná Ufpr Graduate Program in Mechanical Engineering Sustainable Energy Research and Development Center PR Curitiba81531-980 Brazil Maringá State University Uem Department of Chemical Engineering PR Maringá87020-900 Brazil Advent Health University Ahu Department of Health and Biomedical Sciences OrlandoFL32803 United States Center for Advanced Power Systems and Energy Sustainability Center Florida State University Fsu Department of Mechanical Engineering TallahasseeFL32310 United States

ISBN: (纸本)9781665465151

A mathematical model of a sustainable H2 generation reactor that utilizes aluminum and seawater is introduced. Conservation of species and the kinetics of the H2 production reaction from aluminum and seawater allowed for obtaining the process transient response in a batch reactor. Continuous steady state production was assessed by adding a balance of energy, allowing for reactants inlet mass flow rates, and calculating the outlet H2 mass flow (generation) rate. The theoretical H2 production curve data showed good quantitative and qualitative agreement with experimental data. The validated mathematical model was then used to optimize the continuous reactor. The maximum was sharp, since an 85% variation between the maximum and the smallest H2 generation rate value as a function of the inlet NaOH solution volumetric flow rate tested range was verified. Such fundamental result stresses the importance of operating the system at the optimal condition, no matter how complex the actual reactor design may be. Since aluminum is inexpensive, abundant, and fully recyclable, in situ sustainable H2 production could allow for fuel cell stacks to become all electric ships (AES) power sources. © 2023 IEEE.

关键词： Aluminum

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