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Dynamic Charging and Path Planning for UAV-Powered Rechargeable WSNs Using Multi-Agent Deep Reinforcement Learning

IEEE Transactions on Automation Science and Engineering 2025年 22卷 15610-15626页

作者： Betalo, Mesfin Leranso Leng, Supeng Seid, Abegaz Mohammed Abishu, Hayla Nahom Erbad, Aiman Bai, Xiaoshan Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China University of Electronic Science and Technology of China School of Information and Communication Engineering Chengdu611731 China Hamad Bin Khalifa University Division of Information and Computing Technology College of Science and Engineering Doha Qatar Shenzhen University College of Mechatronics and Control Engineering National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China

Unmanned Aerial Vehicle (UAV)-powered 5G/6G networks integrated with rechargeable wireless sensor networks (RWSNs) offer promising solutions for extending system lifetime, collecting data, and providing computing services and power to sensor nodes (SNs). UAVs offer significant advantages, including exceptional mobility, cost-effective deployment, and the ability to be easily reprogrammed for a wide range of missions. However, the limited onboard power capacity of UAVs, coupled with the lack of dynamic and intelligent charging station (CS) management and inefficient path planning, can lead to SN failure in dynamic mobile environments. To address these challenges, we propose an energy-efficient laser-charged UAV (LCU)-enabled RWSN environment, wherein UAVs, powered by laser beams from ground-based stations, provide services, collect data, and transfer energy to SNs. We formulate a joint optimization problem involving power allocation, dynamic charging strategy (DCS), and path planning to minimize task completion time and sensor node death time. Given the NP-hard nature of the problem, we employ a stochastic game model based on a Markov decision process (MDP) for its solution. To solve this problem, we propose a deep reinforcement learning (DRL) based algorithm that enables real-time charging scheduling decisions while optimizing network performance. We introduce a multi-agent double deep Q-network (MA-DDQN) model to determine the optimal trajectories for all UAVs in large and complex environments. Simulation results demonstrate that the MA-DDQN approach outperforms state-of-the-art techniques, showing significant improvements in terms of average delay, energy consumption, and task completion time. © 2004-2012 IEEE.

关键词： Stochastic models

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Study on Dry Electrical Discharge Assisted Grinding of SiCp/Al Composite

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Chinese Journal of Mechanical Engineering 2025年第1期38卷 106-118页

作者： Yanjun Lu Yuming Huang Xiaobu Liu Rong Cheng Shunda Zhan Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China School of Intelligent Manufacturing and Equipment Shenzhen Institute of Information TechnologyShenzhen 518172China

SiC-reinforced aluminum matrix(SiCp/Al)composite is widely utilized in the aerospace,automotive,and electronics industries due to the combination of ceramic hardness and metal ***,the significant disparity in properties between SiC particles and the aluminum matrix results in severe tool wear and diminished surface quality during conventional *** study proposes an environmentally friendly and clean dry electrical discharge assisted grinding process as an efficient and low-damage machining method for SiCp/*** experimental platform was set up to study the impact of grinding and discharge process parameters on surface *** study compared the chip formation mechanism and surface quality between dry electrical discharge assisted grinding and conventional grinding,revealing relationships between surface roughness,grinding force,grinding temperature,and related *** results indicate that the proposed grinding method leads to smaller chip sizes,lower grinding forces and temperatures,and an average reduction of 19.2%in surface roughness compared to conventional *** axial,tangential,and normal grinding forces were reduced by roughly 10.5%,37.8%,and 23.0%,*** optimized process parameters were determined to be N=2500 r/min,vf=30 mm/min,a=10μm,E=15 V,f=5000 Hz,dc=80%,resulting in a surface roughness of 0.161μm.

关键词： Dry electrical discharge assisted grinding SiCp/Al composite Surface quality Grinding force Grinding temperature

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Robotic Artistic Writing—Reproduction of Signs Drawn on the Surface of Plastically Deformable Materials

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IEEE Sensors Journal 2025年第10期25卷 18090-18105页

作者： He, Xin Zielinska, Teresa Matsumaru, Takafumi Dutta, Vibekananda Waseda University Graduate School of Information Production and Systems Fukuoka Kitakyushu808-0135 Japan Warsaw University of Technology Faculty of Power and Aeronautical Engineering Warsaw00-661 Poland Warsaw University of Technology Faculty of Mechatronics Warsaw00-661 Poland

Existing surface shaping methods focus on hard materials with stable physical properties. This means that the approaches developed are insufficient for shaping soft materials. The article describes a cheap method of reproducing plastic deformations using a robotic manipulator. The shape recording and reproduction system consists of two RGB-D cameras, two containers with kinetic sand, and a manipulator with 6 degrees of freedom (DOF). Volunteers create templates by drawing on the surface of kinetic sand with a wooden stylus or finger. Some pressure is exerted while writing. The resulting shapes recorded by the RGB-D camera have the form of ribbon ditches (grooves). The obtained point cloud is processed to create a sand deformation model. In the first stage, a dedicated local smoothing technique is used. Then, special algorithms are implemented to create a description of the main curvatures and key dimensions of recorded signs. A spline-based approach is used. The method allows for the representation of various shapes in a unified form. In the final stage, modulated sinusoidal functions define the robot’s trajectory. The effects of the robot’s operation are recorded to assess the reproduction quality. The point cloud structural similarity measure (Point SSIM) evaluates the results. Experimental research takes into account many different shapes. Copies of shapes created by humans and robots are compared with the originals. The outcomes show that the quality of reproduction achieved by humans and robots is comparable. The median-based curvature similarity measure obtained for the human was only 1.92% higher than the robot’s result, and the covariance-based geometric similarity measure was only 0.74% higher than the robot’s score. The system can be used to mass-produce souvenirs or special implants. © 2001-2012 IEEE.

关键词： Wooden containers

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DESIGN AND ANALYSIS OF FLEXIBLE MICROSTRIP PATCH ANTENNA ON rGO MATERIAL DEPOSITION FOR WIRELESS APPLICATIONS

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Telecommunications and Radio Engineering (English translation of Elektrosvyaz and Radiotekhnika) 2025年第3期84卷 1-17页

作者： Madabhushi, Havishma Venkata De, Shounak Kumar, Pramod Ali, Tanweer Kumar, Praveen Kumar, Om Prakash Junjunwala, Vikas Kumar Vincent, Shweta Pathan, Sameena Department of Electronics & Communication Engineering Manipal Institute of Technology Manipal Academy of Higher Education Karnataka Manipal576104 India Department of Electrical & Electronics Engineering Manipal Institute of Technology Manipal Academy of Higher Education Karnataka Manipal576104 India Department of Mechatronics Manipal Institute of Technology Manipal Academy of Higher Education Karnataka Manipal576104 India Department of Information & Communication Technology Engineering Manipal Institute of Technology Manipal Academy of Higher Education Karnataka Manipal576104 India

This paper describes the design and analysis of a flexible microstrip patch antenna for wireless applications that uses reduced graphene oxide (rGO) material deposition on cotton substrates. Using a microstrip line-fed design, the proposed dual-band antenna resonates at 5.5 and 8 GHz. The study investigates the application of rGO as a conductive patch on cotton, emphasizing its durability, low energy gap, and strong conductivity. The design methodology uses a step-by-step optimization process to achieve an efficient performance. The antennas are simulated with the high-frequency structure simulator (HFSS), and prototype results are reported. © 2025 by Begell House, Inc.

关键词： Slot antennas

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HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability

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Defence technology(防务技术) 2025年第2期44卷 30-51页

作者： Jintao Zhang Xuechao Chen Zhangguo Yu Lianqiang Han Zhifa Gao Qingrui Zhao Gao Huang Ke Li Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyNo.5South StreetZhongguancunHaidian DistrictBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationNo.5South StreetZhongguancunHaidian DistrictBeijing100081China School of Information Science and Technology Beijing University of TechnologyNo.100PingleyuanChaoyang DistrictBeijing100124China Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and ControlsDonggaodiFengtai DistrictBeijing100076China

Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental *** this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics ***,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human ***,the kinematics and REH dynamics of the HTEC model were *** on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was ***,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid *** foot static stability is *** enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone *** proposed design method and structure,the mobility of the humanoid robot is improved.

关键词： Humanoid robot Bionic structure Passive foot structure Rigid-elastic hybrid dynamics model Optimal stiffness matching

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Reconstruction of a 3D Model Using Monocular Depth Estimation Algorithm

Reconstruction of a 3D Model Using Monocular Depth Estimatio...

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Cybernetics & Informatics (K&I)

作者： Richard Schwarz Faculty of Electrical Engineering and Information Technology Institute of Automotive Mechatronics Slovak University of Technology Bratislava Slovakia

ISBN: (数字)9798331541811

ISBN: (纸本)9798331541828

This paper is focused on a possible application of the latest depth inference models for scanning and reconstructing 3D surface in the form of a point cloud and a triangle mesh surface from a single photograph. It evaluates whether computer vision algorithms have already reached the necessary precision to compete with more standard approaches of 3D scanning and proposes other potential uses.

关键词： Point cloud compression Solid modeling Surface reconstruction Computer vision Three-dimensional displays Shape Computational modeling Software algorithms Image reconstruction Standards

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ACbot:an IIoT platform for industrial robots

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Frontiers of Computer Science 2025年第4期19卷 13-27页

作者： Rui WANG Xudong MOU Tianyu WO Mingyang ZHANG Yuxin LIU Tiejun WANG Pin LIU Jihong YAN Xudong LIU School of Computer Science and Engineering Beihang UniversityBeijing 100191China Zhongguancun Laboratory Beijing 100194China School of Software Beihang UniversityBeijing 100191China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Information Engineering China University of GeosciencesBeijing 100083China

As the application of Industrial Robots(IRs)scales and related participants increase,the demands for intelligent Operation and Maintenance(O&M)and multi-tenant collaboration *** methods could no longer cover the requirements,while the Industrial Internet of Things(IIoT)has been considered a promising ***,there’s a lack of IIoT platforms dedicated to IR O&M,including IR maintenance,process optimization,and knowledge *** this context,this paper puts forward the multi-tenant-oriented ACbot platform,which attempts to provide the first holistic IIoT-based solution for O&M of *** on an information model designed for the IR field,ACbot has implemented an application architecture with resource and microservice management across the cloud and multiple *** this basis,we develop four vital applications including real-time monitoring,health management,process optimization,and knowledge *** have deployed the ACbot platform in real-world scenarios that contain various participants,types of IRs,and *** date,ACbot has been accessed by 10 organizations and managed 60 industrial robots,demonstrating that the platform fulfills our ***,the application results also showcase its robustness,versatility,and adaptability for developing and hosting intelligent robot applications.

关键词： IIoT platform industrial robots cloud-edge collaboration intelligent applications

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Analytical Conversion of the Strejc Model to the First Order with Time Delay (FOTD) Model 19thth

Analytical Conversion of the Strejc Model to the First O...

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19th International Conference on Computer Aided Systems Theory, EUROCAST 2024

作者： Czemplik, Anna Department of Control Systems and Mechatronics Faculty of Information and Communication Technology Wroclaw University of Science and Technology Wroclaw Poland

ISBN: (纸本)9783031829512

Several variants of analytical conversion of the Strejc model to the First-Order Time Delay (FOTD) model have been proposed. This conversion extends the applicability of control system design methods that are based on FOTD models. An example of applying the Ziegler-Nichols method to a control system with the Strejc model is presented. Additionally, the reverse operation - converting the FOTD model to the Strejc model - is also feasible and can be employed as a method for identifying the Strejc model. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Delay-sensitive applications

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ChatGPT Language Model as Support for Teaching and Self-learning in the Field of Engineering and Technical Sciences 19thth

ChatGPT Language Model as Support for Teaching and Self-l...

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19th International Conference on Computer Aided Systems Theory, EUROCAST 2024

作者： Czemplik, Anna Karcz-Duleba, Iwona Department of Control Systems and Mechatronics Faculty of Information and Communication Technology Wroclaw University of Science and Technology Wroclaw Poland

ISBN: (纸本)9783031829512

Widespread availability of ChatGPT has posed new challenges for teaching and learning. The paper examines whether and how the chat can be used to support teaching and self-learning in engineering and technical sciences domains. ChatGPT (version 3.5) was tested and assessed in a similar way as our students were. Different types of exams (exclusion tests, multiple choice tests, open questions) were carried out in two areas: control theory and metaheuristics. On average, the chat received quite good marks. However, it had a problem with questions that required detailed information and understanding of the subject. A number of conclusions have been drawn from the research. In general, AI can be helpful to teachers and students if used wisely. However, it must be emphasized that the use of the chat can not be uncritical, and almost all information should be carefully checked and validated, especially in engineering and technical sciences where precision and unambiguity are important. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： ChatGPT Engineering Teaching Support Technical Sciences

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An automated approach for difference detection in cultural heritage applications

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Multimedia Tools and Applications 2025年 1-21页

作者： Saiti, Evdokia Saha, Sunita Bunsch, Eryk Sitnik, Robert Theoharis, Theoharis Department of Computer and Information Science Norwegian University of Science and Technology Trondheim7030 Norway Faculty of Mechatronics Warsaw University of Technology św. Andrzeja Boboli 8 Warsaw02-525 Poland Saarland Saarbrücken Germany Museum of King Jan III’s Palace at Wilanów ul. Stanislawa Kostki Potockiego 10/16 Warsaw02-958 Poland

This paper presents the application of two key stages in Cultural Heritage (CH) analysis: cross-time registration and change detection, aimed at automatically identifying subtle geometric variations in CH objects. The proposed method addresses the challenge of manually aligning and detecting differences among large collections of 3D-digitized objects, which is both time-consuming and error-prone. The method combines CrossTimeReg deep learning technique for automatic registration and the Change-Based-Segmentation method for identifying differences and segmented changes. We applied this method to two ceramic sculptures, titled Zephyr and Flora, from the Museum of King Jan III’s Palace at Wilanów, Poland, and validated the results with the CH scientific experts of the museum. The results demonstrated that our method effectively detected geometric variations resulting from potential alterations or restorations, which are crucial for verifying the authenticity of artifacts. Additionally, the method facilitated comparative analysis, enabling researchers to examine similar objects and establish connections, origins, and historical significance. The technique also proved useful in analyzing changes in the geometry of the same object over time due to destructive factors. © The Author(s) 2025.

关键词： Change detection

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