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29th International Conference on Information, Communication and Automation Technologies, ICAT 2023

作者： Umay, Ilknur Melek, William Fidan, Baris University of Waterloo System Design Eng. Waterloo Canada University of Waterloo Mechanical & Mechatronics Eng. Waterloo Canada

ISBN: (纸本)9798350399837

Efficient coordination of multiple mobile and fixed base robot arms to perform independent or cooperative tasks in a shared workspace while avoiding collisions is a challenging research problem that has been studied across various robotic fields. Although robotic systems are commonly used in industrial applications such as automotive production, they typically operate independently with limited collaboration between two or more units. In this study, we propose a unified methodology for motion and task planning for multiple robot arm systems with high degrees of freedom that are simultaneously performing different tasks in a shared workspace. Our methodology introduces an integration module between the high-level task planning module and low-level motion planning module to achieve reliable and collision-free execution of tasks. We also introduce the concept of a dynamic shared space graph (D-SSG) to assess the cooperation between arm pairs that share certain parts of the workspace, which is essential for selecting arm sequences and scheduling each arm to perform a task or sub-task. © 2023 IEEE.

关键词： Motion planning

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Influence of unstable working conditions on friction torque of angular contact ball bearings 6

Influence of unstable working conditions on friction torque ...

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2023 6th World Conference on Mechanical Engineering and Intelligent Manufacturing, WCMEIM 2023

作者： Zhang, Ruoyu Yu, Yongjian Li, Jishun Xue, Yujun School of Mechatronics Engineering Henan University of Science and Technology Henan Luoyang China Henan Key Laboratory for Machinery Design and Transmission System Henan Luoyang China Longmen Laboratory Henan Luoyang China

The influence of rolling element material on friction torque of angular contact ball bearing under variable speed, variable load, and variable load conditions are studied. Based on the unstable working conditions of variable speed and load, the dynamic model of bearing is established by using CMD language in the ADAMS system, and the simulation analysis is carried out. The results show that under variable speed conditions, the shorter the acceleration time is, the greater the radial and axial loads are, and the greater the friction torque of the bearing is;Under variable load conditions, the friction torque of the bearing increases with the increase of load change frequency, and the friction torque of the hybrid ceramic ball bearing is smaller than that of the GCr15 rolling element bearing. The research results provide a reference for reducing the friction heat generation of bearings and improving the operation reliability of bearings under unstable working conditions. © Published under licence by IOP Publishing Ltd.

关键词： Angular contact ball bearings

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Thermal Management and Dynamic Performance of a Cooler design for the Supercritical CO2 Turbine Shaft Cooling

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FRONTIERS IN ENERGY RESEARCH 2022年 10卷

作者： Li, Jun Gurgenci, Hal Guan, Zhiqiang Li, Jishun Xue, Yujun Li, Lun School of Mechatronics Engineering Henan University of Science and Technology Henan Key Laboratory for Machinery Design and Transmission System Henan University of Science and Technology Luoyang China School of Mechanical and Mining Engineering University of Queensland Brisbane QLD Australia

This paper presents the results of a numerical study on a supercritical CO2 (SCO2) turboshaft cooling device by considering heat transfer and hydrodynamics. A micro-cooling device with a radius clearance of 50 micron and a nozzle diameter of 4 mm was designed and used to investigate the heat transfer characteristics of a micro-spacing impinging and gas film dynamics. Sixteen nozzles (N = 16) are equally spaced around the shaft in single or double rows. Investigations include journal speed- and eccentricity-dependent forward and cross-coupled force coefficients, and the effects of nozzle layouts and mass flow rate on the heat transfer efficiency. Analysis of the correlation coefficient shows that the gas density in the radial clearance is the dominant factor affecting the convective heat transfer performance, while the fluid velocity is a secondary factor. And the cooling efficiency (mass flow utilization rate) at low cooling pressure (p(s) < 0.7 MPa) is significantly greater than that at high cooling pressure (p(s) > 0.7 MP). In addition, considering the structure alone, a dual-row cooler exhibits a higher average Nusselt number, also registers a higher mass flow rate at the same pressure. Once the shaft is heated only one end, the difference in effectiveness between single- and dual-row cooling is not significant, so coolers with a single-row configuration should be preferred. Then, experimental values for the temperature of the heated rotor are provided under specific cooling airflow conditions. Dynamic analysis results show that the force coefficient of the single-row configuration is more dependent on the journal rotation speed and eccentricity ratio, and exhibits a negative direct stiffness coefficient at higher inlet pressure and journal rotation speed. Moreover, cross-coupled terms (stiffness coefficient) generally have a more explicit variation tendency than direct terms, and are more sensitive to changes in shaft speed and eccentricity. Small clearance cool

关键词： shaft cooling gas film stiffness heat transfer cooler jet impingement

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Investigation of validation methods for system design in the B2B sector

Investigation of validation methods for system design in the...

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Annual IEEE systems Conference

作者： Lynn Humpert Daria Wilke Denis Tissen Johannes Rummney Harald Anacker Roman Dumitrescu Fraunhofer Institute for Mechatronics System Design Paderborn Germany Heinz Nixdorf Institute University of Paderborn Paderborn Germany

ISBN: (数字)9798350358803

ISBN: (纸本)9798350358810

The development of new, complex mechatronic systems in custom engineering poses many challenges due to the unique nature of each product and specific customer requirements. systems Engineering (SE) provides a solution by establishing a robust system architecture to ensure reliable products that meet customer requirements. Validation processes play a crucial role in SE to avoid unwanted developments and high costs. By using the right validation methods, potential problems can be identified early. This saves resources and contributes to sustainability. Users in the B2B sector, often with an engineering background, represent a significant potential for validation in system design, as they understand the system architecture. However, to exploit this potential, an analysis of validation methods is required. The aim of this paper is to identify the challenges and the potential of validation methods for system design in the B2B sector. The research question is addressed through a structured literature review. The results will be compared at a conference of 35 experts and then evaluated in a workshop by six experts from industry and research. The outcome will be an overview of validation methods compatible with system design in the B2B sector, providing practical insights and paving the way for further research.

关键词： Industries mechatronics Terminology systems architecture Reliability engineering Stakeholders Usability

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A Harmonic Suppression Method of H6 Topology Single Phase Inverter 7

A Harmonic Suppression Method of H6 Topology Single Phase In...

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7th Asia Conference on Power and Electrical Engineering, ACPEE 2022

作者： Liu, Cong Wang, Yun Shanghai Aircraft Design and Research Institute Electrical System Dept. Shanghai China Shenzhen University College of Mechatronics and Control Engineering Shenzhen China

ISBN: (纸本)9781665418195

The single phase H6 topology inverter has the advantages of simple structure, small common-mode leakage current, low current distortion rate and high security, which is very suitable for small distributed photovoltaic power generation system. In terms of suppressing the power grid harmonics of H6 topology photovoltaic inverter, there have been many studies both at home and abroad. For example, traditional PI control has simple algorithm and fast tracking speed, but poor steady-state performance. Repetitive control has good steady-state performance, but the tracking has one cycle lag. In this paper, the harmonic suppression design of voltage controller with notch filter is introduced. Moreover, the simulation and experimental test of designed controller is provided to validate the voltage controller with notch filter for H6 topology inverter has obvious effect on harmonic suppression. © 2022 IEEE.

关键词： Topology

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Collaborative Multi-Rover Crater Exploration: Concept and Results from the ARCHES Analog Mission

Collaborative Multi-Rover Crater Exploration: Concept and Re...

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IEEE Conference on Aerospace

作者： Lukas Burkhard Ryo Sakagami Kristin Lakatos Heinrich Gmeiner Peter Lehner Josef Reill Marcus G. Müller Maximilian Durner Armin Wedler Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Heinrich Gmeiner System Design and Consultant Waldthurn Germany

Access to extreme terrain, like caves or craters, is a key challenge for future planetary exploration robots. Many experimental robotic systems either use innovative locomotion concepts or elaborate mission designs to explore more challenging terrain. However, this requires a highly-specialized task-specific robot design, limiting the scope of the robot’s general application. We investigate an alternative approach, by enabling an existing team of rover systems to crater exploration as an additional opportunistic mission task. The rovers collaborate in a tethered abseiling operation, enhancing the locomotion capabilities of one member of the robotic team. We use our two planetary rover prototypes for crater exploration within the scope of a general multi-purpose multi-robot Moon analog mission. In this paper, we first outline the design of and the modifications to our rover systems and describe the general partial-autonomous setup of the experiment, including the robot collaboration for hooking the tether and the abseiling into the crater. Second, we showcase the feasibility of this concept during a Moon analog campaign on the volcano Mt. Etna, Italy, in 2022. At the site, the rovers successfully access the Cisternazza crater, a crater of approximately 150 m in width and 30 m in depth, featuring steep flanks of partially compacted and partially loose volcanic soil. The experiment showed the feasibility of collaborative manipulation for tethering the two rovers. It additionally demonstrated enhanced rover locomotion capabilities due to the winch, enabling safe crater exploration. We finally discuss the lessons learned from this experiment and the remaining implementation steps to achieve full locally autonomous crater exploration.

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Vision-guided Unified Task and Motion Planning for Multiple Robots in Cluttered Environments

Vision-guided Unified Task and Motion Planning for Multiple ...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Ilknur Umay William Melek Baris Fidan System Design Eng. University of Waterloo Waterloo Canada Mechanical&Mechatronics Eng. University of Waterloo Waterloo Canada

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A generative deep learning framework for inverse design of compositionally complex bulk metallic glasses

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npj Computational Materials 2023年第1期9卷 2196-2203页

作者： Ziqing Zhou Yinghui Shang Xiaodi Liu Yong Yang Department of Mechanical Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongChina City University of Hong Kong(Dongguan) 523000 DongguanChina College of Mechatronics and Control Engineering Shenzhen University518060 ShenzhenChina Department of Materials Science and Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongChina Department of Advanced Design and System Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongChina

The design of bulk metallic glasses(BMGs)via machine learning(ML)has been a topic of active research ***,the prior ML models were mostly built upon supervised learning algorithms with human inputs to navigate the high dimensional compositional space,which becomes inefficient with the increasing compositional complexity in ***,we develop a generative deep-learning framework to directly generate compositionally complex BMGs,such as high entropy *** framework is built on the unsupervised Generative Adversarial Network(GAN)algorithm for data generation and the supervised Boosted Trees algorithm for data *** studied systematically the confounding effect of various data descriptors and the literature data on the effectiveness of our framework both numerically and *** importantly,we demonstrate that our generative deep learning framework is capable of producing composition-property mappings,therefore paving the way for the inverse design of BMGs.

关键词： inverse metallic entropy

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Line laser measurement, evaluation and utilization of holistic gear deviations

Line laser measurement, evaluation and utilization of holist...

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作者： Shi, Zhaoyao Sun, Yanqiang Yu, Bo Wang, Xiaoyi Zhao, Baoya Beijing Engineering Research Center of Precision Measurement Technology and Instruments Beijing University of Technology Beijing China School of Construction Machinery Shandong Jiaotong University Shandong Jinan China Henan Key Laboratory of Mechanical Design and Transmission System Henan University of Science and Technology Luoyang China School of Mechatronics Engineering North China Institute of Aerospace Engineering Langfang China

The measurement of holistic gear deviations (HGD) is a fast-developing field of gear measurement technology in recent years. Line laser measurement is an effective approach to measure the HGD, and is beginning to be applied. However, compared with the mature conventional gear measurement based on “point” and “line” measurement, the holistic gear deviations measurement is imperfect, especially in acquisition, evaluation and utilization. This paper introduces the line laser measurement model of HGD and puts forward the solutions to the problems such as the determination of the position and attitude parameters of the laser sensor, the influence of the incident angle of the measuring light, and the occlusion of the adjacent gear teeth in the measurement. The representation method of the three-dimensional deviations of the tooth flank is illustrated. According to the HGD, a unified model for calculating the elemental deviations of the gear, such as the involute and helix, is found. The HGD evaluation system is established by means of the statistical analysis method. The full use of the HGD is explored from two aspects of gear process error analysis and gear performance prediction, including tooth flank twist analysis, calculation of gear integrated error (GIE) and transmission error (TE), matching method of large batch of gears, etc. The analysis system of HGD is built on the cloud platform. The measurement, evaluation and utilization of HGD are the key technologies of the next generation gear measurement. © 2025

关键词： Gear Holistic gear deviations Metrology

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Non-Line-of-Sight Footstep Localization for Autonomous Mobile Robots

Non-Line-of-Sight Footstep Localization for Autonomous Mobil...

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mechatronics and Robotics Engineering (ICMRE), International Conference on

作者： Moeka Yoshinari Masaki Takahashi Yusuke Hioka School of Science for Open and Environmental Systems Keio University Yokohama Japan Department of System Design Engineering Keio University Yokohama Japan Department of Mechanical and Mechatronics Engineering Acoustics Research Centre University of Auckland Auckland New Zealand

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Autonomous mobile robots (AMRs) perform tasks in various industrial applications to enhance productivity and reduce labor costs. To ensure the safety of humans sharing spaces with robots in operation, most AMRs use visual sensors to avoid collision by detecting humans and obstacles. However, when humans are outside the robot’s field of vision, the robot should mitigate the risk of collision by sensing humans’ presence before they enter the robot’s visual range. In this study, we propose a non-line-of-sight sound source localization algorithm that can be applied to collision avoidance for AMRs. The range of human detection for robots can be increased using auditory sensors. To localize the position of a human in a non-line-of-sight area, such as behind a corner of a corridor, we use direction-of-arrival (DOA) estimation of reflection sounds and the ray tracing method. Performance evaluations in real life were performed to verify the possibility of its implementation in practical scenes.

关键词： Location awareness Visualization Service robots Estimation Robot sensing systems Sensors Safety

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