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Geometric Programming for Nonlinear Satellite Buffer Networks With Time Delays under L_(1)-Gain Performance

IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 554-556页

作者： Yukang Cui Yihui Huang Michael V.Basin Zongze Wu College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Shenzhen University Shenzhen 518060China Peng Cheng Laboratory Shenzhen 518060China Robotics Institute Ningbo University of TechnologyNingbo 315211China Autonomous University of Nuevo Leon Nuevo Leon 66455Mexico

Dear Editor,This letter concerns the parameter tuning problem for nonlinear satellite buffer networks with communication delays, aiming to optimize their stability properties under L_(1)-gain. We first model the satellite buffer networks by a nonlinear time-delay positive system and propose a novel characterization under which the nonlinear system is asymptotically stable with a prescribed L_(1)-induced performance.

关键词： nonlinear system prescribed

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Inherently integrated microfiber-based flexible proprioceptive sensor for feedback-controlled soft actuators

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npj Flexible Electronics 2024年第1期8卷 803-816页

作者： Hwajoong Kim Hyunbin Na Seungbeom Noh Shinwon Chang Jinho Kim Taejune Kong Gyowook Shin Chankyu Lee Seonggyu Lee Yong-Lae Park Sehoon Oh Jaehong Lee Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)333 Techno jungang-daeroHyeonpung-eupDalseong-gunDaeguRepublic of Korea Department of Mechanical Engineering Seoul National University1 Gwanak-roGwanak-guSeoulRepublic of Korea University of California BerkeleyCAUSA

For the accurate and continuous control of soft actuators in dynamic environments,the movements of the soft actuators must be monitored in *** this end,various soft actuators capable of selfmonitoring have been developed by separately integrating sensing devices into ***,integrating such heterogeneous sensing components into soft actuators results in structural complexity,high manufacturing costs,and poor interfacial ***,we report on intelligent pneumatic fiber-reinforced soft actuators with an inherent flexible proprioceptive sensor that uses only the essential components of typical fiber-reinforced soft *** inherent flexible proprioceptive sensor is achieved by leveraging two parallel conductive microfibers around an elastomeric chamber of the soft actuator,which simultaneously acts as both a capacitive bending sensor and radial expansion limiting fibers of typical fiber-reinforced soft *** proprioceptive soft actuator exhibits excellent mechanical actuation up to 240°bending motion and proprioceptive sensing performance with high sensitivity of 1.2 pF rad^(−1).Mathematical analysis and simulations of the soft actuator can effectively predict the bending actuation and capacitive responses against input *** that proprioceptive soft actuators can be used to construct a soft gripping system and prosthetic hand which express various hand gestures and perform dexterous manipulation with real-time proprioceptive sensing capability.

关键词： prop integrating sensor

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Average Model and Controller Design for Virtual Synchronous Generator

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IEEE Access 2025年 13卷 99377-99390页

作者： Koiwa, Kenta Hirabayashi, Tomo Zanma, Tadanao Liu, Kang-Zhi Shibaura Institute of Technology College of Engineering Tokyo 135-8548 Japan Chiba University Department of Electrical and Electronic Engineering Chiba 263-8522 Japan Tokyo Denki University School of Science and Technology for Future Life Department of Robotics and Mechatronics Tokyo 120-8551 Japan

This paper proposes a novel systematic design procedure for virtual synchronous generators (VSGs) and develops an average VSG model. The VSG comprises distributed generators, an energy storage system consisting of a battery and a DC-DC converter (DDC), and a VSG controller based on the swing equation. Determining the rated power (energy capacity) of the battery and the controller parameters for both the DDC and the VSG is essential, as these factors directly impact the cost and performance of the VSG. The proposed design method enables the determination of the VSG and DDC controller parameters, as well as rated power (energy capacity) of the battery, by incorporating the dynamics of the VSG, DDC, and ESS. Although the proposed design procedure utilizes the time response of the VSG obtained through simulation, the proposed average model for the VSG significantly reduces the simulation time. Simulations and experiments demonstrate the effectiveness of both the proposed design procedure and the average model. © 2013 IEEE.

关键词： Average model energy storage system grid-forming inverter virtual synchronous generator

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Investigating the Failure Mechanisms During the Epoxy-Coated Bearing Steel–Steel and Uncoated Bearing Steel–Steel Interactions (Crack Formation, Surface Tears, Schallamach-like Waves) and Their Corrosion Resistance in NaCl Environment

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-21页

作者： Alavanthar, Amirthalakshmi Bhaumik, Shubrajit Paleu, Viorel Department of Science and Humanities Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics and Robotics Department Mechanical Engineering Faculty "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania

The anti-wear properties of coatings are important to enhance the life of the steel surfaces. Thus, understanding the wear mechanisms of any coating matrix is important while designing and choosing a new coating matrix on steel surfaces. The present work investigated the thermal, mechanical, anti-wear, and anti-corrosion performance of semi-liquid epoxy-coated EN8 steel surfaces under reciprocating motion. The semi-liquid LY556 epoxy mixed with HY951 hardener was used to coat EN8 surfaces. The tribo-tests were conducted at different loads (5 N, 10 N, 15 N, and 20 N), spindle frequencies (1 Hz, 2 Hz, 3 Hz, and 4 Hz), and temperatures (40 °C, 60 °C, 80 °C, and 100 °C), maintaining a stroke length of 15 mm. The differential scanning calorimeter readings indicated the glass transition temperature of the cured epoxy to be 80 °C with the endothermic peak at 119 °C. The thermal degradation of the cured epoxy was found to be 330 °C using a thermal gravimetric analyzer. Artificial neural network models indicated that the frictional coefficient of the coated EN 8 samples increased with an increase in load, frequency, and temperature with the minimum frictional coefficient at 40 °C (0.0767 ± 0.014). The coating peel-off was observed from 80 °C. The optical microscope and scanning electron microscope images of the coating wear scar exhibited cracks and Schallamach-like material waves. Additionally, the corrosion studies indicated a significant corrosion resistance of the coated bars even after 120 h as compared to non-coated bars. Thus, the present work will be highly beneficial in developing new anti-wear and anti-corrosive coatings for steel surfaces. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Cracks

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DeepCat: A Deep Learning Approach to Understand Your Cat's Body Language 11

DeepCat: A Deep Learning Approach to Understand Your Cat's B...

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11th International Japan-Africa Conference on Electronics, Communications, and Computations, JAC-ECC 2023

作者： Fawzy, Arwa Hassan, Ahmed Gad, Ahmed Zaky, Ahmed B. El-Hussieny, Haitham Alexandria Egypt program Alexandria Egypt Benha University Faculty of Engineering at Shoubra Electrical Engineering Department Egypt Egypt-Japan University of Science and Technology Department of Mechatronics and Robotics Engineering Alexandria Egypt

ISBN: (纸本)9798350369328

Pet owners experience difficulty in understanding their pets' body language and its implications for animal welfare, given that animals cannot utilize human speech to communicate their emotions and health conditions. However, previous experiments for analyzing cat behavior have demonstrated that cats are precisely expressive. DeepCat, a deep-learning approach developed in this study, translates cats' body language signals, enabling owners to discern their feline companions' intended messages and emotional states. Our DeepCat model was trained on a dataset comprising 10,000 cat images, implementing automatic labeling to track key features, including the tail, eyes, and mouth. Presented as a Flutter application, DeepCat can function everywhere, allowing owners to easily monitor their cats and make informed decisions in situations that require caution. This paper discusses the potential benefits and limitations of DeepCat and provides suggestions for future research in this domain. © 2023 IEEE.

关键词： Emotion Recognition

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On Designing Control Systems for Electron-Beam Processing Plants

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Russian Electrical engineering 2024年第7期95卷 579-584页

作者： Kozhechenko, A.S. Sliva, A.P. Maslov, A.N. Shcherbakov, A.V. Goncharov, A.L. Rodyakina, R.V. Dragunov, V.K. Department of Power Supply of Industrial Enterprises and Electric Technologies National Research University "Moscow Power Engineering Institute" Moscow111250 Russia Department of Metal Technologies National Research University "Moscow Power Engineering Institute" Moscow111250 Russia Department of Robotics Mechatronics Dynamics and Machine Strength National Research University "Moscow Power Engineering Institute" Moscow111250 Russia

This study shows the need for a common structured approach to designing control systems for electron-beam welding, surfacing, and additive shaping plants. The main controlled parameters of the process are highlighted. The three-level hierarchical structure of the control system is described. The control processes are differentiated taking into account the process requirements for electron-beam treatment processes and the features of the vacuum system, the electron gun, and the positioning system, as well as the system of taking images of the treated area according to the signal of backscattered electrons. The types and quantitative characteristics of the parameters of the signals necessary for running the system are given. It is shown that it is effective to divide the control processes in three groups, depending on the requirements on the rapid response of the actuators, as well as on the need for synchronizing some processes with others over time. The presented differentiation is used to propose a method for selecting technical facilities for each of the mentioned groups. An example is provided of constructing a control system for an electron-beam process plant using hardware components available for purchase. © Allerton Press, Inc. 2024.

关键词： Numerical control systems

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Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping 8

Implicit Grasp Diffusion: Bridging the Gap between Dense Pre...

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8th Conference on Robot Learning, CoRL 2024

作者： Song, Pinhao Li, Pengteng Detry, Renaud KU Leuven Dept. Mechanical Engineering Research Unit Robotics Automation and Mechatronics Belgium KU Leuven Dept. Electrical Engineering Research Unit Processing Speech and Images Belgium AI Thrust Hong Kong

There are two dominant approaches in modern robot grasp planning: dense prediction and sampling-based methods. Dense prediction calculates viable grasps across the robot's view but is limited to predicting a fixed number of grasps per voxel. Sampling-based methods, on the other hand, encode multi-modal grasp distributions, allowing for different grasp approaches at a point. However, these methods rely on a global latent representation, which struggles to represent the entire field of view, resulting in coarse grasps. To address this, we introduce Implicit Grasp Diffusion (IGD), which combines the strengths of both methods by using implicit neural representations to extract detailed local features and sampling grasps from diffusion models conditioned on these features. Evaluations on clutter removal tasks in both simulated and real-world environments show that IGD delivers high accuracy, noise resilience, and multi-modal grasp pose capabilities. Our code is freely available at https://***/detry-lab/public/***. © 2024 Proceedings of Machine Learning Research.

关键词： Robot programming

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Improving Road Safety With Enhanced Vehicle Detection for Night-time Traffic in Mirpur 6

Improving Road Safety With Enhanced Vehicle Detection for Ni...

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6th International Conference on robotics and Automation in Industry, ICRAI 2024

作者： Younis, Usama Riaz, Faisal Raza, Umar Atali, Gokhan Rabnawaz, Hamid HEC Control Automotive and Robotics Lab Islamabad Pakistan Manchester Metropolitan University Department of Engineering Manchester United Kingdom Mechatronics Engineering Sakarya University of Applied Sciences Sakarya54050 Turkey Selftech Pvt Ltd Pakistan

ISBN: (纸本)9798350355703

This paper presents a study on improving night-time vehicle detection in the Mirpur region through a modified neural network model. Given the challenges of low visibility at night, the research focused on optimizing a deep learning algorithm to enhance detection accuracy. A dataset of 10,000 images covering various vehicle types was collected and annotated to train and test the model. The study found a 7% increase in detection performance compared to the standard model, highlighting the potential for tailored algorithms in specific environmental conditions. The findings suggest significant implications for road safety and autonomous driving systems, particularly in regions with similar night-time driving challenges. The research contributes to the broader field of computer vision by showing the effectiveness of model optimization in real-world conditions. © 2024 IEEE.

关键词： Vehicle safety

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Potholes Detection Using Yolo Algorithms and Their Integration Into Gazebo Simulation 9

Potholes Detection Using Yolo Algorithms and Their Integrati...

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9th International Conference on Control, robotics and Cybernetics, CRC 2024

作者： Hassan Tanveer, M. Fatima, Zainab Rehman, Tanazzah Siddique, Moaaz Shah, Arbaz Voicu, Razvan Cristian Farrukh Shahid, M. Kennesaw State University Department of Robotics and Mechatronics Engineering Marietta30060 United States NED University of Engineering and Technology Department of Software Engineering Karachi Pakistan FAST University of computing and Emerging Science Department of AI and Data Science Karachi Pakistan

ISBN: (纸本)9798331517489

Road cavities, often called potholes, pose a major problem for our transportation infrastructure, causing accidents, costly repairs, and traffic jamming. This study shows using a computer vision technique called You Only Look Once (YOLO) to find potholes on roads. YOLO is proficient and efficient for realtime object detection. The researchers want to see which version of YOLO is more effective in object analysis in pictures and videos. We'll be comparing YOLOv5, YOLOv7, and YOLOv8, thereby also setting up the system in Gazebo simulated environment. By carefully analyzing the results, we aim to understand the advantages and disadvantages of each YOLO version. This will help us see the most useful ones for finding potholes when managing and maintaining roads. © 2024 IEEE.

关键词： Object detection

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CO2 Laser Fabrication of a Passive continuous-flow T-shaped Polymethyl Methacrylate (PMMA) Micromixer

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Lasers in Manufacturing and Materials Processing 2023年第3期10卷 373-388页

作者： Okello, Job Lazarus El-Bab, Ahmed M. Fath Yoshino, Masahiko El-Hofy, Hassan A. Industrial and Manufacturing Engineering Department University of Science and Technology New Borg El-Arab City Egypt Mechatronics and Robotics Engineering Department University of Science and Technology New Borg El-Arab City Egypt Department of Mechanical Engineering Tokyo Institute of Technology Tokyo Japan On leave from Department of Production Engineering Faculty of Engineering Alexandria University Alexandria Egypt

Since the emergence of microfluidics, the demand for microfluidic devices is ever increasing. Polymethyl methacrylate (PMMA) is extensively used to manufacture microfluidic devices because it is cheap, disposable, and biocompatible. CO2 laser micromachining of PMMA is cheap, fast, and efficient. However, thermal defects affect the process. In this work, a passive continuous-flow T-shaped micromixer was fabricated using a low-power CO2 laser. Microchannels were fabricated on PMMA substrates coated with a 1-µm layer of 99.95% pure aluminium. The power and speed of the laser varied from 1.5 to 7.5 W and 5 to 17.5 mm/s respectively. The effects of the deposited energy on surface roughness, heat-affected zone, and volumetric removal rate were examined. The microchannels were characterized to get the suitable dimensions for the micromixer’s microchannel which was fabricated at 3.0 W and 17.5 mm/s. The micromixer was bonded using the microwave welding technique and tested for leakage using purple dye by varying the flow pressure at intervals of 100 kPa for 20 min. Up to 1.5 MPa, no leakage occurred. Beyond 1.5 MPa, any increase in pressure resulted in leakage from the inlet tubes. Coating PMMA substrates with 99.95% pure aluminium before fabrication reduces thermal defects and improves efficiency. © 2023, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.

关键词： Carbon dioxide lasers

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