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arXiv 2022年

作者： Yao, Canqi Chen, Shibo Salazar, Mauro Yang, Zaiyue School of Mechatronics Engineering Harbin Institute of Technology Harbin150000 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering The Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology EindhovenMB 5600 Netherlands

This paper investigates the scheduling problem of a fleet of electric vehicles, providing mobility as a service to a set of time-specified customers, where the operator needs to solve the routing and charging problem jointly for each EV. Hereby we consider incentive-aware customers and propose that the operator offers monetary incentives to customers in exchange for time flexibility. In this way, the fleet operator can achieve a routing and charging schedule with lower costs, whilst the customers receive monetary compensation for their flexibility. Specifically, we first propose a bi-level optimization model whereby the fleet operator optimizes the routing and charging schedule accounting for the spatio-temporal varying charging price, jointly with a monetary incentive to reimburse the delivery time flexibility experienced by the customers. Concurrently the customers choose their own time flexibility by minimizing their own cost. Second, we cope with the computational burden coming from this nonlinear bi-level optimization model with an accurate reformulation approach consisting of the KKT optimality conditions, a Big-M-based linearization method, and the zero duality gap of convex optimization problems. This way, we convert the proposed problem into a single-level optimization problem, which can be solved by a strengthened generalized Benders decomposition method holding a faster convergence rate than the generalized Benders decomposition method. To evaluate the effectiveness of the proposed mathematical model, we carry out numerous simulation experiments by using the VRP-REP data of Belgium. The numerical results showcase that the proposed mathematical model can reduce the delivery fees for the customers together with the cost of operation incurred by the fleet operator. © 2022, CC BY-NC-SA.

关键词： Sales

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Trajectory Tracking of a Quadrotor with Disturbance Rejection using Extended State Observer

Trajectory Tracking of a Quadrotor with Disturbance Rejectio...

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2020 IEEE Asia-Pacific Conference on Computer Science and Data engineering, CSDE 2020

作者： Lazim, Izzuddin Mat Ramli, Liyana Husain, Abdul Rashid Noordin, Aminurrashid Sahrim, Mus'ab Faudzi, Ahmad LAthif M. Universiti Sains Islam Malaysia Faculty of Engineering Built Environment Department of Electrical and Electronic Engineering N. Sembilan Malaysia Universiti Teknologi Malaysia Division of Control and Mechatronics Engineering School of Electrical Engineering Faculty of Engineering Johor Darul Takzim Malaysia Universiti Teknikal Malaysia Melaka Faculty of Electrical and Electronic Engineering Technology Department of Electrical Engineering Technology Melaka Malaysia

ISBN: (纸本)9781665419741

The presence of external disturbances such as wind may affect the stability of a quadrotor during flight. This paper proposes a robust autonomous flight control of a feedback linearized quadrotor model with the presence of external disturbances by using the active anti-disturbance control (AADC) technique. In the inner-loop control, the feedback linearization technique is used to simplify the nonlinear and under-actuated quadrotor dynamics into the corresponding linear representation. In the outer-loop control, the AADC technique using extended state observer (ESO) and state feedback is proposed for trajectory tracking and disturbance rejection control of the quadrotor, respectively. Here, ESO estimates the external disturbances by using only the output of the system. To evaluate the effectiveness of the proposed controller, simulations of the quadrotor were carried in which the results obtained show the advantage of the proposed control algorithm for hovering and trajectory tracking of the quadrotor. © 2020 IEEE.

关键词： Disturbance rejection

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Fabrication of microgrooves by EDM using a laminated disc electrode consisted of different material foils

Fabrication of microgrooves by EDM using a laminated disc el...

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20th CIRP Conference on Electro Physical and Chemical Machining, ISEM 2020

作者： Lei, Jianguo Wu, Xiaoyu Xu, Bin Zhu, Likuan Zhou, Zhiwen Guo, Dengji Jiang, Kai Zhao, Yonghua Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control Engineering Shenzhen University Nan-hai Ave 3688 Shenzhen Guangdong518060 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen Guangdong518055 China

Different material tool electrodes exhibit various wear rates in electrical discharge machining (EDM). To make full use of such characteristic, in the present study, different materials disc foils including Cu, Cu-Sn alloy and Sn disc foils were used to construct a laminated disc electrode (LDE) blank, performing EDM to fabricate LDE with stable micro channels on the outer edge surface, and then the LDE was applied in EDM to produce microgrooves on workpieces with the same machining conditions. The wear difference between the single disc foil electrode and the corresponding disc foil in the LDE blank, and the WV-EDM formation of the LDE were studied, respectively. The experimental results show that not all the wear patterns of disc foils in the LDE were equivalent to the single disc foil electrodes due to the protection effect between the foils. This method could effectively fabricate the LDEs with stable micro channels on the outer surfaces. During the WV-EDM process of the LDEs, Cu disc foils with lower wear rates exhibited significant protection and wear resistance effects on the adjacent Cu-Sn alloy disc foils, while the latter provided supportive and stabilized effect in return. Finally, based on the proposed method, the array LDEs composed of Cu disc foils, Cu-Sn alloy disc foils and Sn disc foils were obtained and then used in EDM, the microgroove structures and micro-columnar structures were machined on the surface of titanium alloy. © 2020 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the ISEM 2020

关键词： Wear of materials

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Multifunctional regenerative buffering baffle device utilizing fluid-electromechanical interaction for automotive IoV applications

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Thin-Walled Structures 2025年 214卷

作者： Fang, Shitong Zhang, Zihao Guo, Yufeng Gao, Qiang Lai, Zhihui Bao, Bin Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Shenzhen University Shenzhen518060 China Department of Mechanical Engineering Southeast University Nanjing211189 China

The current field of automotive energy recovery primarily focuses on vehicle inertia, tire motion, and component vibrations. However, the potential for collecting vibrational energy from the fluid–structure interactions of air and liquid two-phase flows within tanker trucks equipped with anti-wave baffles remains largely unexplored. Typically, traditional anti-wave baffles in tanker trucks serve a single purpose: to reduce the inertial impact force of the internal liquid, thereby enhancing vehicular stability. This study proposes a regenerative buffering baffle device that combines anti-wave functionality with the innovative feature of energy harvesting. The proposed device utilizes an inverted Y-shaped baffle combined with a small portion of smart material to collect flow-induced vibrational energy to power low-power wireless sensors used for vehicle health monitoring. The fluid-electromechanical interaction between two-phase flow and smart baffle structures is investigated in detail. Optimized design parameters resulted in a harvested power output of 745.89 μW, while maintaining anti-wave performance equivalent to conventional anti-wave baffle designs. Additionally, a long-duration driving test demonstrated the continuous power supply capability of the proposed device for Internet of Vehicles (IoV) nodes, generating 774.99 mJ of energy over approximately one hour of operation. The proposed anti-wave baffle also boasts enhanced practicality due to its ease of disassembly and maintenance, setting it apart from traditional designs. © 2025 Elsevier Ltd

关键词： Two phase flow

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Triple-Doping (Cu, P, N) for the Activation of Catalytic Sites in Co0.4mn0.6o2 Nanosheets for Zn-Air Battery Applications

SSRN

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SSRN 2022年

作者： Li, Ying Talib, Shamraiz Hussain Liu, Dongqing Zong, Kai Saad, Ali Song, Zhaoqi Zhao, Jie Liu, Wei Liu, Fude Tsiakaras, Panagiotis Cai, Xingke Institute for Advanced Study Shenzhen University Shenzhen China Guangdong Provincial Key Laboratory of Catalysis China College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China College of Physics and Optoelectronic Engineering Shenzhen University 518060 China Laboratory of Alternative Energy Conversion Systems Department of Mechanical Engineering School of Engineering University of Thessaly 1 Sekeri Str. Pedion Areos 38834 Greece

In this work, we successfully synthesized bimetallic transition oxides into two-dimensional nanosheets, which expose all the catalytic sites on the surface. Then, Cu, N, and P elements were rationally doped inside the as prepared Co0.4Mn0.6O2 nanosheets to activate the Co/Mn catalytic sites. It is found that the resulting N/P-Cu0.1Co0.3Mn0.6O2/CNTs composites show an overpotential η10 of 290 mV for OER, much lower than the value measured using the original Co0.4Mn0.6O2/CNTs (463 mV). Meanwhile, N/P-Cu0.1Co0.3Mn0.6O2/CNTs also show decent performance with a half potential (E1/2) of 0.82 V vs RHE for ORR, i.e., a 702 mV voltage difference for OER and ORR, much lower than other transition metal oxide catalysts. By using N/P-Cu0.1Co0.3Mn0.6O2/CNTs as a cathodic catalyst for ZAB, we measured superior performance, with a peak power density of 108.1 mW cm-2 and stable operation for over 200 hours at 10 mA cm-2, better than IrO2-Pt/C-based ZAB. © 2022, The Authors. All rights reserved.

关键词： Chemical activation

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Enhancing prediction accuracy of Remaining Useful Life in lithium-ion batteries: A deep learning approach with Bat optimizer

Future Batteries

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Future Batteries 2024年 2卷

作者： Shahid A. Hasib S. Islam Md F. Ali Subrata. K. Sarker Li Li Md Mehedi Hasan Dip K. Saha Department of Control & Instrumentation Engineering King Fahd University of Petroleum & Minerals Dhahran 31261 Saudi Arabia Department of Mechatronics Engineering Rajshahi University of Engineering & Technology Bangladesh School of Electrical and Data Engineering University of Technology Sydney Australia School of Engineering & Informatics University of Sussex Brighton United Kingdom

Remaining Useful Life (RUL) prediction in lithium-ion batteries is crucial for assessing battery performance. Despite the popularity of deep learning methods for RUL prediction, their complex architectures often pose challenges in interpretation and resource consumption. We propose a novel approach that combines the interpretability of a convolutional neural network (CNN) with the efficiency of a bat-based optimizer. CNN extracts battery data features and characterizes degradation kinetics, while the optimizer refines CNN parameters. Tested on NASA PCoE data, our method achieves exceptional results with minimal computational burden and fewer parameters. It outperforms traditional approaches, yielding an R2-score of 0.9987120 , an MAE of 0.004397067 Ah , and a low RMSE of 0.00656 Ah . The proposed model outperforms traditional deep learning models, as confirmed by comparative analysis.

关键词： Li-ion battery Convolutional neural network Remaining Useful Life prediction Battery degradation model Bat based optimization algorithm

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A Space Crawling Robotic Bio-Paw (Scrbp) Enabled by Triboelectric Sensors for Surface Identification

SSRN

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SSRN 2022年

作者： Hou, Xuyan Zhang, Li Gao, Guowei Liu, Yuhui Na, Zhonglai Xu, QingZhang Ding, Tianxiang Li, Long Chen, Tao Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Department of MECHANICAL ENGINEERING FACULTY OF ENGINEERING Hong Kong Polytechnic University Hong Kong Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215123 China

With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. © 2022, The Authors. All rights reserved.

关键词： End effectors

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Intermetallic disordered magnet Gd2Pt1.1Ge2.9 and its relation to other AlB2-type compounds

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Physical Review B 2022年第5期105卷 054427-054427页

作者： L. S. Litzbarski M. J. Winiarski T. Klimczuk M. Łapiński M. Pugaczowa-Michalska P. Skokowski B. Andrzejewski Faculty of Applied Physics and Mathematics Gdansk University of Technology Narutowicza 11/12 80-233 Gdansk Poland Advanced Materials Center Gdansk University of Technology Narutowicza 11/12 80-233 Gdansk Poland Department of Mechatronics and High Voltage Engineering Faculty of Electrical and Control Engineering Gdansk University of Technology Narutowicza 11/12 80-233 Gdansk Poland Institute of Molecular Physics Polish Academy of Science Smoluchowskiego 17 60-179 Poznan Poland

The intermetallic germanide Gd2Pt1.1Ge2.9 was synthesized using an arc-melting method. The crystal structure was characterized using powder x-ray diffraction, revealing a disordered ternary AlB2-type structure (space group P6/mmm, No. 191) with lattice parameters a=4.2092(1)Å and c=4.0546(2)Å. Physical properties were investigated by magnetic susceptibility and heat capacity measurements, which indicated onset of antiferromagnetic order at Tt=8K. The obtained properties were compared with the ones reported for other members of the AlB2-type Gd2TGe3 (T=Ni, Cu, and Pd) family. The magnetic ordering in these compounds was discussed in terms of their crystal structure and the influence of Gd ions.

关键词： Antiferromagnetism Frustrated magnetism Magnetic susceptibility Antiferromagnets Disordered alloys Polycrystalline materials Rare-earth alloys Transition-metal rare-earth alloys AC susceptibility measurements Crystallography Density functional theory Magnetization measurements

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Event-triggered Dynamic Output Feedback controller for Discrete-time LPV Systems with Constraints ⁎ ⁎

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IFAC-PapersOnLine 2021年第9期54卷 213-218页

作者： C. de Souza S. Tarbouriech E.B. Castelan V.J.S. Leite Department of Control and Systems Engineering DAS/CTC/UFSC 88040-900 Florianópolis SC Brazil LAAS-CNRS Université de Toulouse CNRS Toulouse France Department of Mechatronics Engineering Campus Divinópolis — CEFET–MG R. Álvares Azevedo 400 35503-822 Divinópolis MG Brazil

This paper examines an event-triggered control design approach for discrete-time linear parameter-varying (LPV) systems under control constraints. A parameter-dependent dynamic output-feedback controller with an event-triggering condition is designed to ensure the regional asymptotic stability of the closed-loop system while minimizing a quadratic cost function. Sufficient conditions are derived in terms of linear matrix inequalities (LMIs) thanks to the use of a parameter-dependent quadratic Lyapunov function. Also, convex optimization schemes are proposed using these conditions to minimize an upper bound of a given cost function or to maximize the size of the region of closed-loop stability. Examples illustrate the proposal.

关键词： Linear parameter-varying systems Event-triggered control Saturation Dynamic controller Discrete-time systems

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A Systematic Survey of control Techniques and Applications in Connected and Automated Vehicles

arXiv

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arXiv 2023年

作者： Liu, Wei Hua, Min Deng, Zhiyun Meng, Zonglin Huang, Yanjun Hu, Chuan Song, Shunhui Gao, Letian Liu, Changsheng Shuai, Bin Khajepour, Amir Xiong, Lu Xia, Xin School of Automotive Studies Tongji University Shanghai218074 China State Key Laboratory of Automotive Simulation and Control Jilin University Changchun130025 China School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430074 China Department of Civil and Environmental Engineering University of California Los AngelesCA90095 United States School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China College of Computer Science and Technology Zhejiang University Hangzhou310027 China School of Vehicle and Mobility Tsinghua University Beijing100084 China Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooON Canada

Vehicle control is one of the most critical challenges in autonomous vehicles (AVs) and connected and automated vehicles (CAVs), and it is paramount in vehicle safety, passenger comfort, transportation efficiency, and energy saving. This survey attempts to provide a comprehensive and thorough overview of the current state of vehicle control technology, focusing on the evolution from vehicle state estimation and trajectory tracking control in AVs at the microscopic level to collaborative control in CAVs at the macroscopic level. First, this review starts with vehicle key state estimation, specifically vehicle sideslip angle, which is the most pivotal state for vehicle trajectory control, to discuss representative approaches. Then, we present symbolic vehicle trajectory tracking control approaches for AVs. On top of that, we further review the collaborative control frameworks for CAVs and corresponding applications. Finally, this survey concludes with a discussion of future research directions and the challenges. This survey aims to provide a contextualized and in-depth look at state of the art in vehicle control for AVs and CAVs, identifying critical areas of focus and pointing out the potential areas for further exploration. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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