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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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Machine Learning-Based Model Prediction of an Adsorption Desalination system and Investigation of the Impact of Parameters on the system's Outputs

SSRN

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SSRN 2023年

作者： Zarei, Taleb Chatavi, Masoud Nazari, Masoud Amirfakhraei, Amirhossein Amidpour, Majid Salimi, Mohsen Department of Mechanical Engineering University of Hormozgan Bandar Abbas Iran Mechatronics Engineering Group Amirkabir University of Technology Tehran Iran Faculty of Mechanical Engineering Department of Energy System Engineering K.N. Toosi University of Technology Tehran Iran Tehran Iran

Adsorption Desalination (AD) has emerged as a novel technique for desalination, offering a ‎‎significant reduction in energy consumption compared to conventional desalination ‎‎technologies. This paper uses Machine Learning procedures to present a ‎model predictive approach for adsorption desalination systems. The goal is to predict the ‎functional parameters of the system and investigate the ‎influence of different components of ‎the AD ‎system on the functional parameters of the plant. ‎The adsorption desalination system ‎will be modeled through the utilization of Multi-Layer ‎Perceptron (MLP) and Radial-Based ‎Function (RBF) neural network approaches. Hence, the ‎Specific Daily Water Production ‎‎(SDWP) and evaluation of other performance indicators, such as ‎the Coefficient of ‎Performance (COP) and Specific Cooling Power (SCP), are determined. ‎There are 55 ‎instances in the dataset, each with five input variables: evaporator and condenser ‎‎temperatures, adsorption beds, and hot water entering the system. Additionally, three output ‎‎variables are recorded: COP, SCP, and SDWP. The results of this investigation show that the ‎MLP is more effective for simulating the ‎AD system, and the Roots of Mean Square Error of COP, SCP, and SDWP are ‎‎0.002, 0.5921, and 0.0465, respectively. Then, the ‎impact of input factors on output parameters was examined. ‎Hence, the hot water temperature ‎parameter entering the system affected the output parameters the most. Subsequently, the ‎COP parameter is mainly affected by the absorption beds, evaporator, and condenser ‎temperature. The SCP ‎parameter is primarily influenced by the inlet hot water temperature, ‎condenser temperature, ‎temperatures of the two adsorption beds, and evaporator temperature. © 2023, The Authors. All rights reserved.

关键词： Desalination

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Optimal Stabilization of Periodic Orbits

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IFAC-PapersOnLine 2023年第2期56卷 7509-7515页

作者： Fabian Beck Noboru Sakamoto Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan

In this contribution the optimal stabilization problem of periodic orbits is studied in a symplectic geometry setting. For this, the stable manifold theory for the point stabilization case is generalized to the case of periodic orbit stabilization. Sufficient conditions for the existence of a normally hyperbolic invariant manifold (NHIM) of the Hamiltonian system are derived. It is shown that the optimal control problem has a solution if the related periodic Riccati equation has a unique periodic solution. For the analysis of the stable and unstable manifold a coordinate transformation is used which is moving along the orbit. As an example, an optimal control problem is considered for a spring-mass oscillator system, which should be stabilized at a certain energy level.

关键词： Hamiltonian Dynamics Nonlinear Control Periodic Orbit Optimal Control

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Optimization of High Aspect Ratio Through Glass Vias Void-Free Filling Using Complex system Response Platform

Optimization of High Aspect Ratio Through Glass Vias Void-Fr...

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International Microsystems, Packaging, Assembly and Circuits Technology (IMPACT)

作者： Yu-Ting FU Yiu-Hsiang Chang Chih-Ming Ho Da-Jeng Yao Institute of NanoEngineering and MicroSystems National Tsing Hua University Hsinchu Taiwan Mechanical and Mechatronics System Research Lab Industrial Technology Research Institute Hsinchu Taiwan Department of Power Mechanical Engineering National Tsing Hua University Hsinchu Taiwan

ISBN: (数字)9798331532246

ISBN: (纸本)9798331532253

In advanced packaging field, 3-D integrated circuits have extensive applications in high-density interconnection (HDI) since component arrangement on 2-D planar wafer faces saturation. Through Glass Via (TGV) technology stands out due to its advantageous electrical, optical, and mechanical properties as a substrate. The main challenge in TGV filling is how to form electroplated copper bridge at the high aspect ratio (HAR) TGV midpoint such as, butterfly mode, X-shaped mode, and so on.[1] Periodic pulse reverse (PPR) plating technique is an effective method using in HAR through hole filling, due to advantageous concentration gradient and mass transport profile.[2] However, it is a challenge to find a quantitative output measure of the butterfly or X mode. The other challenge is that N levels for each P parameter in a P parameter pool form a huge N P search space, which impedes to find the global optimal parameter-level combination.[3] To address this, we introduce AI Complex system Response (AI-CSR) platform, which offers insight into the system's response variations across the multidimensional parameter space.[4], [5] For a complex system having P parameters, the CSR function has coefficients. Only [(P2+3P+2)/2] «N P calibration tests are needed to identify the system response, which allow us to identify the optimal parameter combinations and obtain the global maximum. The optimization target is represented by a quantitative system response property, E. This measure, E, is defined as a dimensionless group, translating a two-dimensional geometric requirement into a scalar quantitative output. This crucial step facilitates the application of the AI-CSR platform to achieve butterfly-shaped electroplating. The AI-CSR platform successfully identify the appropriate parameter-level combinations, achieving desired butterfly-mode plating with “I-shape” (Figure 1-a) as well as effectively preventing voids or seams formation during copper electroplating (Figure 1-b). The optim

关键词： Electrochemical deposition Refining Production Glass Plating Packaging Filling Copper Complex systems Optimization

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Rover Wheel Assistive Grouser Shape Effects on Traction Force in Flat Soft Terrain

Rover Wheel Assistive Grouser Shape Effects on Traction Forc...

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IEEE International Conference on Automatic Control and Intelligent systems (I2CACIS)

作者： Intan Nur Aqiella Che Aziz Ahmad Najmuddin Ibrahim Ikmanizardi Basri Yasuhiro Fukuoka Faculty of Manufacturing and Mechatronics Engineering Technology Universiti Malaysia Pahang Pekan Campus Pekan Pahang Malaysia Department of Mechanical System Engineering Ibaraki Universit College of Engineering Ibaraki University Hitachi Japan

This paper presents the study of different grouser shapes on the performance of the assistive grouser wheel travelling on a flat surface loose soil terrain. This work is an extension from our previous work exploring the rover wheel assistive grouser angle of attack effects on traction force in soft terrain. Therefore, a new experiment involving the different grouser shapes on the assistive grouser wheel must be conducted to comprehend the interactions between the grouser and loose soil. From observation, the bulldozing effect of the assistive grouser is also influenced by the grouser shapes. Further understanding of the soil flow also effect of the grouser shape design in general. Hence, we have developed 4 different grouser shapes to be attached to the single wheel rover testbed to evaluate the effects of the shape to the performance of the assistive grouser wheel on a 0-degree slope loose soil surface. The grouser shapes consisted of Inverse Parallel, C-Shape, Inverse C-Shape and Inverse Chevron Shape. The average total traction force and current consumption was examined. It was observed during the grouser entering the sand surface, the sand piled up onto the grouser surface effecting the value of average total traction force. This was caused by surface area of the grouser. The more surface area of the assistive grouser, the more traction force generated to push the wheel forward. Based on the experimental results, it was concluded that Inverse Parallel is the optimal grouser design for use as assistive grouser in wheeled rover on soft sand, as it has the lowest surface area and the lowest average total traction force. However, Inverse Chevron generated the least current consumption by the half-wheel rover. These results indicate that the traction force of the assistive grouser is not affected by shape, but the width and depth of the assistive grouser.

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A Study on Optimal Path Analysis Considering the Production of Offshore Plant Blocks

A Study on Optimal Path Analysis Considering the Production ...

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International Conference on Control and Robots (ICCR)

作者： Haneul Kang Sungkyu Kim Juyoung Shin Janghwan Hyun Department of Energy and Mechanical Engineering KHAN PLANT Co.Ltd Geoje Republic of Korea Department of Mechatronics KHAN PLANT Co.Ltd Geoje Republic of Korea Department of Marine Engineering System KHAN PLANT Co.Ltd Geoje Republic of Korea Department of Mechanical Engineering KHAN PLANT Co.Ltd Geoje Republic of Korea

ISBN: (数字)9798331518158

ISBN: (纸本)9798331518165

In the shipbuilding and offshore plant industries, determining efficient transportation routes for large blocks is crucial. This study aims to optimize transportation routes for large blocks using transporters to ensure efficient route planning. To achieve this, Dijkstra's algorithm was used to determine not only the shortest distance but also to comprehensively consider factors such as the size and weight of each block, as well as road and bridge information along the route to derive the optimal route. The proposed algorithm was validated by comparing it with actual transportation routes, and its effectiveness was confirmed with a low error rate. This study contributes to enhancing the efficiency of large block transportation, minimizes economic losses, and provides foundational data for future optimization research on similar problems.

关键词： Bridges Industries Accuracy Shape Roads Transportation Planning Reliability Optimization Robots

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Pixel-Level Sea Ice Concentration Retrieval from Sentinel-1 SAR Imagery and Ancillary Data via Regional Loss Representations

Pixel-Level Sea Ice Concentration Retrieval from Sentinel-1 ...

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OCEANS

作者： Xinwei Chen Muhammed Patel Linlin Xu Yuhao Chen David A. Clausi K. Andrea Scott Weimin Huang School of Marine Science and Engineering South China University of Technology Department of System Design Engineering Vision and Image Processing Lab University of Waterloo Department of Mechanical & Mechatronics Engineering University of Waterloo Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John's NL Canada

ISBN: (数字)9798350362077

ISBN: (纸本)9798350362084

The automated monitoring and high resolution mapping of Arctic sea ice concentration (SIC) from synthetic aperture radar (SAR) images are crucial for various purposes, such as tactical navigation. However, the available labels for training deep learning-based SIC estimation models are mostly in coarse spatial resolution. This study tackles this key issue by proposing a novel loss calculation algorithm during model training. Consequently, a U-Net-based model can produce fine-grained SIC estimates via direct learning from ice charts in low resolution. The proposed method is evaluated with the recently release AI4Arctic Sea Ice Challenge Dataset with more than 500 Sentinel-1 SAR imager and associated ice charts. Visual interpretation and numerical results demonstrate the outstanding performance of the proposed method in terms of SIC mapping resolution. The effectiveness of incorporating multi-source ancillary data in performance improvement is also validated.

关键词： Training Visualization Sentinel-1 Estimation Radar polarimetry Numerical models Spatial resolution

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Overcoming Performance Limitations of Linear Control with Hybrid Integrator-Gain systems ⁎

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IFAC-PapersOnLine 2021年第5期54卷 289-294页

作者： D. van Dinther B. Sharif S.J.A.M. van den Eijnden H. Nijmeijer M.F. Heertjes W.P.M.H. Heemels Department of Mechanical Engineering Eindhoven University of Technology The Netherlands Mechatronics System Design Department ASML The Netherlands

It is well-known that the performance of linear time-invariant (LTI) feedback control is hampered by fundamental limitations. In this paper, it is shown that by using a so-called hybrid integrator-gain system (HIGS) in the controller, important fundamental LTI performance limitations can be overcome. In particular, in this paper, we show this for two well-known limitations, where overshoot in the step-response of the system has to be present for any stabilizing LTI controller. For each case, it is shown that by using HIGS-based control, one can avoid overshoot in the step-response of the system. Key design considerations for HIGS-based controllers as well as the stability of the resulting closed-loop interconnections are discussed.

关键词： Hybrid integrator-gain systems Fundamental performance limitations LTI control

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Robotic Slag Removal system with Position Compensation and Defect Detection based on YOLO Algorithm

Robotic Slag Removal System with Position Compensation and D...

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International Conference on Advanced Robotics and Intelligent systems (ARIS)

作者： Chih-Hsuan Shih Chih-Yi Wu Department of Computer Science and Information Engineering National Taiwan University Taipei 10617 Taiwan Mechanical and Mechatronics System Research Laboratories Industrial Technology Research Institute Hsinchu 31040 Taiwan

Robotic arms play a crucial role in factory automation, offering immense versatility, precision, and the capability for autonomous operation, thereby eliminating the need for manual labor. In this study, we have developed a robotic slag removal system with automatic position compensation and defect detection capabilities, which is capable of locating the features of workpieces, perform deslagging, and detect defects using the YOLO (You Only Look Once) algorithm. The experimental workpiece in this study is a knee femoral implant. Firstly, a position compensation method is employed to precisely locate the clamping hole of the workpiece. The robot trajectory is then automatically generated by the software for the deburring of the clamping hole slag. Subsequently, the system utilizes the detected defect locations to generate a re-deslagging path, ensuring that all remnants are thoroughly cleaned.

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Programmable UV-Curable Resin by Dielectric Force

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Micromachines 2023年第2期14卷 490-490页

作者： Lin, Yi-Wei Chen, Chang-Yi Chang, Ying-Fang Chang, Yii-Nuoh Yao, Da-Jeng Institute of NanoEngineering and Microsystem National Tsing Hua University Hsinchu30013 Taiwan Mechanical and Mechatronics System Research Laboratories Industrial Technology Research Institute Hsinchu310401 Taiwan Department of Power Mechanical Engineering National Tsing Hua University Hsinchu30013 Taiwan

In this study, UV-curable resin was formed into different patterns through the programmable control of dielectric force. The dielectric force is mainly generated by the dielectric chip formed by the interdigitated electrodes. This study observed that of the control factors affecting the size of the UV resin driving area, current played an important role. We maintained the same voltage-controlled condition, changing the current from 0.1 A to 0.5 A as 0.1 A intervals. The area of droplets was significantly different at each current condition. On the other hand, we maintained the same current condition, and changed the voltage from 100 V to 300 V at 50 V intervals. The area of droplets for each voltage condition was not obviously different. The applied frequency of the AC (Alternating Current) electric field increased from 10 kHz to 50 kHz. After driving the UV resin, the pattern line width of the UV resin could be finely controlled from 224 um to 137 um. In order to form a specific pattern, controlling the current and frequency could achieved a more accurate shape. In this article, UV resin with different patterns was formed through the action of this dielectric force, and after UV curing, tiny structural parts could be successfully demonstrated. © 2023 by the authors.

关键词： Drops

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