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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

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Modeling of laser power attenuation by powder particles for laser solid forming

Modeling of laser power attenuation by powder particles for ...

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

作者： Wang, Junhua Zhang, Zhen Han, Fuzhu Chen, Shu-Fan Ying, Weisheng Department of Mechanical Engineering Tsinghua University Beijing100084 China School of Mechatronics Engineering Henan University of Science and Technology Luoyang471023 China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing100084 China

Laser solid forming (LSF) is a typical laser additive manufacturing technology integrating rapid prototyping manufacturing and laser cladding. Laser power attenuation greatly influences the amount and distribution of laser energy. It is important to establish a theoretical model of laser power attenuation to effectively control the laser energy transmission and to ensure the stability of the molten pool. Considering the effects of overlap phenomenon among powder particles, a theoretical model of laser power attenuation is proposed by introducing the concept of the effective number of powder particles. The proposed model enables the accurate calculation of the laser power attenuation in arbitrary volume fraction of powder particles. The results indicate that the laser power attenuation is proportional to the powder feeding rate, and the increase rate of laser power attenuation is inverse proportional to the powder feeding rate. In addition, a simple method for measuring the laser power attenuation is also proposed to experimentally validate the proposed theoretical model. The experimental results validate the proposed method. © 2020 The Authors. Published by Elsevier B.V.

关键词： Inverse problems

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Generation Mechanism and Dual Dynamic Simulations of Surface Patterns in Single-Point Diamond Turning of Single-Crystal Copper

Research Square

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Research Square 2021年

作者： Xiong, Jie Chen, Yanbing Dai, Yuqi Zhang, Guoqing Ran, Jiaqi To, Sandy Shenzhen Key Laboratory of High Performance Nontraditional Manufacturing College of Mechatronics and Control Engineering Shenzhen University Nan-hai Ave 3688 Guangdong Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots College of Mechatronics and Control Engineering Shenzhen University Nan-hai Ave 3688 Guangdong Shenzhen518060 China State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering Hong Kong Polytechnic University Kowloon Hong Kong

Single-crystal copper (Cu), whose atom arrangement is in the same direction and has no grain boundary, is widely used in defense technology, civil electronics and network communication. As a diamond turnable material, fan-shaped patterns appear on the machined surface, which affects the machined surface quality and the optical function it carries. Previous studies on the surface generation mechanism in single-point diamond turning (SPDT) of Cu were limited to experimental analysis, while there is a lack of fundamental understanding of the fan-shaped pattern generation mechanism and suppression method. In the present study, the different fan-shaped patterns, surface quality, cutting force and chip morphology of the typical crystal planes (100), (110) and (111) planes of Cu were studied by both theoretical and experimental analyses. A molecular dynamics (MD) simulation was conducted to present the fundamental generation mechanism of the fan-shaped patterns from atom arrangement directions and its angle change with the main cutting direction, while a cutting dynamics model was established to simulate the generation of fan-shaped patterns on the machined surface. Based on theoretical and experimental analysis, it was found that the atom density arrangement directions of Cu and its angle change with © 2021, CC BY.

关键词： Molecular dynamics

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Evaluation of Students' Learning Based on Cybernetic Models with Differential Equations of Fractional Order

Evaluation of Students' Learning Based on Cybernetic Models ...

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2021 International e-engineering Education Services Conference, e-engineering 2021

作者： Busher, Victor Chornyi, Oleksii Herasymenko, Larisa Tytyuk, Valeriy Khandakji, Kamal Zakis, Janis National University "odessa Maritime Academy" Dept. of Electrical Engineering and Electronics Odessa Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Institute of Electromechanics Energy Saving and Automatic Control Systems Kremenchuk Ukraine Kryvyi Rih Technical University Dept. of Electromechanics Kryvyi Rih Ukraine Tafila Technical University Department of Electrical Power and Mechatronics Tafila Jordan Riga Technical University Institute of Industrial Electronics and Electrical Engineering Riga Latvia

ISBN: (纸本)9781728134703

In this paper, the implementation of a cybernetic learning model based on differential equations of fractional order is justified. Experimental learning results were obtained by testing students during the academic semester. Based on a heterogeneous differential equation with integer order, learning graphs have been compared to a family of models with fractional order equations. Consequently, fractional-order equations are proved to have better approximation properties. Criteria for assessing the learning and differentiation of teaching methods based on the parameters of fractional order equations are proposed. © 2021 IEEE.

关键词： Differential equations

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A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints

arXiv

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arXiv 2022年

作者： Ferrentino, Enrico Savino, Heitor J. Franchi, Antonio Chiacchio, Pasquale University of Salerno SA Fisciano84084 Italy Ambev Robotics Lab Anheuser-Busch InBev SP Jacareí12334-480 Brazil The Robotics and Mechatronics Laboratory Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede7522NH Netherlands The Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is parametrized with a time law. If the two processes are separated, they cannot optimize the same objective function, ultimately providing sub-optimal results. In this paper, a unified approach is presented where dynamic programming is the underlying optimization technique. Its flexibility allows accommodating arbitrary constraints and objective functions, thus providing a generic framework for optimal planning of real systems. To demonstrate its applicability to a real world scenario, the framework is instantiated for time-optimality on Franka Emika's Panda robot. The well-known issues associated with the execution of non-smooth trajectories on a real controller are partially addressed at planning level, through the enforcement of constraints, and partially through post-processing of the optimal solution. The experiments show that the proposed framework is able to effectively exploit kinematic redundancy to optimize the performance index defined at planning level and generate feasible trajectories that can be executed on real hardware with satisfactory results. Note to Practitioners-The common planning algorithms which consolidated over the years for generating trajectories for non-redundant robots are not adequate to fully exploit the more advanced capabilities offered by redundant robots. This is especially true in performance-demanding tasks, as for robots employed on assembly lines in manufacturing industries, repeatedly performing the same activity. Once the assembly line engineer has defined the tool path in the task space, our planning algorithm unifies inverse kinematics and time parametrization so as to bring the manipulator at its physical limits to achieve specific efficiency goals, being execution time the most typical

关键词： Robot programming

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Decomposition method-based global Mittag-Leffler synchronization for fractional-order Clifford-valued neural networks with transmission delays and impulses

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Neural Networks 2025年 189卷 107564页

作者： Sriraman, R. Manoj, N. Pratap, Anbalagan Department of Mathematics College of Engineering and Technology SRM Institute of Science and Technology Tamil Nadu Kattankulathur603203 India College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China

This study examines the global Mittag-Leffler synchronization (GMLS) problem for fractional-order Clifford-valued neural networks (FOCLVNNs) including transmission delays and impulses. Firstly, a novel kind of FOCLVNNs is developed that incorporates impulses and transmission delays, which can be useful for better understanding of Clifford-valued neural networks (CLVNNs) dynamics more precisely. Then, because of the non-commutative multiplication feature of the Clifford algebra, the systems of FOCLVNNs can be decomposed into multi-dimensions real-valued neural networks (RVNNs), that avoid the difficulties associated with Clifford number multiplication. By using Lyapunov functions and inequality techniques, several novel solid conditions for the GMLS of FOCLVNNs under the state feedback controller that has been formulated. In addition, this paper presents novel results that are easy to solve and new insights into GMLS of FOCLVNNs. Then, a numerical verification is given along with graphical analysis to validate the applicability of the obtained theories. Based on the considered master–slave FOCLVNNs, an image encryption algorithm for color images is provided. In addition, simulation and performance analysis are stated to prove the validity of the given algorithms. © 2025 Elsevier Ltd

关键词： Lyapunov functions

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Parallel Distance: A New Paradigm of Measurement for Parallel Driving

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IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1169-1178页

作者： Teng Liu Hong Wang Bin Tian Yunfeng Ai Long Chen the Vehicle Intelligence Pioneers Inc. Qingdao 266109 the Department of Automotive Engineering Chongqing UniversityChongqing 400044China the Mechanical and Mechatronics Engineering Department Waterloo UniversityN2L 3G1Canada the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the School of Data and Computer Science Sun Yat-sen UniversityGuangzhou 510006China

In this paper, a new paradigm named parallel distance is presented to measure the data information in parallel driving system. As an example, the core variables in the parallel driving system are measured and evaluated in the parallel distance framework. First, the parallel driving 3.0 system included control and management platform, intelligent vehicle platform and remote-control platform is introduced. Then,Markov chain(MC) is utilized to model the transition probability matrix of control commands in these systems. Furthermore, to distinguish the control variables in artificial and physical driving conditions, different distance calculation methods are enumerated to specify the differences between the virtual and real signals. By doing this, the real system can be guided and the virtual system can be im-proved. Finally, simulation results exhibit the merits and multiple applications of the proposed parallel distance framework.

关键词： Artificial and physical system parallel distance parallel driving 3.0 parallel system rotational and accelerator signal

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Full-pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles with Limited Actuation Abilities

TechRxiv

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TechRxiv 2023年

作者： Hamandi, Mahmoud Al-Ali, Ismail Seneviratne, Lakmal Franchi, Antonio Zweiri, Yahya The Department of Aerospace Engineering Khalifa University of Science and Technology Abu Dhabi United Arab Emirates The Department of Mechanical Engineering Khalifa University Abu Dhabi United Arab Emirates Khalifa University of Science and Technology Abu Dhabi United Arab Emirates The Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede Netherlands The Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy LAAS CNRS Université de Toulouse Toulouse31000 France Khalifa University Abu Dhabi United Arab Emirates Center for Artificial Intelligence and Robotics New York University Abu Dhabi Saadiyat Island Abu Dhabi129188 United Arab Emirates

This paper presents a novel optimization-based full-pose trajectory tracking method to control overactuated multirotor aerial vehicles with limited actuation abilities. The proposed method allocates feasible control inputs to track a reference trajectory, while ensuring the tracking of the reference position, and while tracking the closest feasible attitude. The optimization simultaneously searches for a feasible trajectory and corresponding feasible control inputs from the infinite possible solutions, while ensuring smooth control inputs. The proposed real-time algorithm is tested in extensive simulation on multiple platforms with fixed and actuated propellers. The simulation experiments show the ability of the proposed approach to exploit the complex set of feasible forces and moments of overactuated platforms while allocating smooth feasible control inputs. © 2023, CC BY.

关键词： Trajectories

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A novel point inclusion test for convex polygons based on voronoi tessellations

arXiv

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arXiv 2020年

作者： Zengin, Rahman Salim Sezer, Volkan Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

The point inclusion tests for polygons, in other words the point-in-polygon (PIP) algorithms, are fundamental tools for many scientific fields related to computational geometry, and they have been studied for a long time. The PIP algorithms get direct or indirect geometric definition of a polygonal entity, and validate its containment of a given point. The PIP algorithms, which are working directly on the geometric entities, derive linear boundary definitions for the edges of the polygons. Moreover, almost all direct test methods rely on the two-point form of the line equation to partition the space into half-spaces. Voronoi tessellations use an alternate approach for half-space partitioning. Instead of line equation, distance comparison between generator points is used to accomplish the same task. Voronoi tessellations consist of convex polygons, which are defined between generator points. Therefore, Voronoi tessellations have become an inspiration for us to develop a new approach of the PIP testing, specialized for convex polygons. The equations, essential to the conversion of a convex polygon to a Voronoi polygon, are derived. As a reference, a very standard convex PIP testing algorithm, the sign of offset, is selected for comparison. For generalization of the comparisons, the ray crossing algorithm is used as another reference. All algorithms are implemented as vector and matrix operations without any branching. This enabled us to benefit from the CPU optimizations of the underlying linear algebra libraries. Experimentation showed that, our proposed algorithm can have comparable performance characteristics with the reference algorithms. Moreover, it has simplicity, both from a geometric representation and the mental model. Copyright © 2020, The Authors. All rights reserved.

关键词： Computational geometry

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Gyroball exercise can enhance wrist muscle activation

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International Journal of Industrial Ergonomics 2025年 107卷

作者： Hu, Xinyao Zheng, Jihan Liu, Junshi Mo, Shiwei Jia, Ning Zhao, Zhong Qu, Xingda Institute of Human Factors and Ergonomics College of Mechatronics and Control Engineering Shenzhen University China Physical Education Department Dongguan University of Technology China Human Performance Laboratory School of Physical Education Shenzhen University China National Institute of Occupational Health and Poison Control Chinese Center for Disease Control and Prevention China

As a common occupational health concern, wrist injuries not only adversely affect workers’ well-being, but also compromise their productivity. Intermittent short-duration gyroball exercise has the potential to reduce the risk and severity of work-related wrist injuries, however, the underlying biomechanical mechanisms for its effects are still unclear. To address this problem, the present study aimed to examine wrist kinematics and wrist muscle activation with the application of intermittent short-duration gyroball exercise. Eighteen young adults were involved in an experimental study. Comparisons of wrist kinematics and wrist muscle activation were made between the gyroball exercise and two other exercise interventions (i.e., load-holding wrist rotation exercise and free-load wrist rotation exercise). We found that the gyroball exercise intervention was superior to comparative interventions in terms of activating wrist muscles, a critical factor for wrist injury control. This finding implies that intermittent short-duration gyroball exercise could be an effective intervention for preventing and rehabilitating work-related wrist injuries. This quantitative study can provide valuable insights for developing evidence-based guidelines for incorporating gyroball exercise into occupational injury prevention programs. © 2025 Elsevier B.V.

关键词： Industrial hygiene

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