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Evaluation of surface integrity for ultra-precision machined fused silica surface based on atomic point-defect density

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Journal of Manufacturing Processes 2025年 149卷 917-930页

作者： Dinghuai Yang Linjie Zhao Jian Cheng Qi Liu Zixiao Zhang Hongqin Lei Zican Yang Henan Liu Jinghe Wang Yazhou Sun Mingjun Chen State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Centre for Precision Manufacturing DMEM University of Strathclyde Glasgow G1 1XJ UK Center for Precision Engineering School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The degree of plasticity and brittleness (DPB) of the material significantly affects the service performance of fused silica manufacturing surfaces in many frontier fields. However, there is still no effective method to quantitatively and non-destructively characterize their DPB, severely restricting the application of fused silica. Herein, atomic manufacturing-induced point defects on fused silica manufacturing surfaces were determined. Based on this, the evolution laws of various types of point defects with the DPB were discussed. Interestingly, it was found that the DPB is closely related to the densities of specific ODCII point defects, whose proportion ( k ) was chosen as the characteristic parameter to judge surface brittle fractures. Additionally, it was discovered that k sharply increased at the material brittle-plastic transition boundary, which was also verified based on the molecular dynamics simulation. Accordingly, whether k is >15 % was proposed as a criterion to judge whether the material has undergone brittle fractures during manufacturing processes. Furthermore, the significant increment of ODCII point defects was found to be the main cause of the obvious increment of k . Moreover, two causes of the significant increment of ODCII point defects were determined. Finally, the effectiveness of the judge criterion in six specific manufacturing cases was verified. Summarily, the study proposes a powerful nondestructive approach to judge the brittle fractures. It could quantitatively and non-destructively characterize the DPB during manufacturing processes. It is also applicable to the quantitative DPB characterization and the early warning detection of fracture breakdown for other brittle silicate materials.

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Robust Control of a DC Motor and Load Using Quantitative Feedback Theory

Robust Control of a DC Motor and Load Using Quantitative Fee...

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International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Amir Ali Amiri Moghadam Razvan Cristian Voicu Kishan Patel Ying Wang Yusun Chang Department of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

ISBN: (纸本)9781665461986

This paper reports on robust position control of a DC motor and gear system attached to a mechanical load. The dynamics of the system will be identified using the sine wave inputs and least square method. It has been found out that a single linear time invariant (LTI) model cannot perfectly predicts the behavior of the system for a range of different frequencies. So, we are using a family of LTI systems instead with parameter uncertainty. Next a robust controller will be designed using Quantitative Feedback Theory (QFT) to provide consistent robust performance for the system. The performance of the QFT controller will be validated through both simulations and experimental data and will be compared with a PID controller. It has been shown that the QFT controller has a superior performance over the PID controller in terms of tracking error.

关键词： Linear systems Uncertain systems Time-frequency analysis Smart cities Predictive models DC motors Data models

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ECG Signal Denoising using Adaptive Unscented Kalman Filter

ECG Signal Denoising using Adaptive Unscented Kalman Filter

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Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI), IEEE Conference on

作者： Agniva Dutta Manasi Das School of Mechatronics and Robotics IIEST Shibpur Kolkata West Bengal India

Electrocardiography (ECG) is the most popular non-invasive method for generating an Electrocardiogram which contains some very interesting information about the electrical and myographic activities of the heart. It is a graph of voltage vs. time of the electrical activity of the heart using electrodes connected on the skin in various configurations. Due to the noninvasive nature of ECG and also due to capacitive or inductive coupling in this electrical circuit for ECG acquisition or electro-myographic noises due to muscles adjacent to heart there is usually significant noises present in a typical ECG which makes it harder to analyze. There are many methods for denoising ECGs. In this paper an adaptive unscented Kalman filter, where the measurement noise covariance matrix is varied adaptively, is used for denoising acquired discrete ECG signals. The filtered output as well as the improvement of SNR is compared with other existing denoising frameworks like discrete wavelet transform and digital filters and extended Kalman filter, and unscented Kalman filter. The Adaptive Unscented Kalman Filter performed better than the aforementioned existing filtering algorithms in terms of maximum output SNR and MSE computed using Monte Carlo simulation.

关键词： Heart Adaptation models Computational modeling Noise reduction Electrocardiography Filtering algorithms Kalman filters

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Towards Validation of Autonomous Vehicles Across Scales using an Integrated Digital Twin Framework

Towards Validation of Autonomous Vehicles Across Scales usin...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Tanmay Vilas Samak Chinmay Vilas Samak Venkat Narayan Krovi Department of Automotive Engineering Automation Robotics and Mechatronics Laboratory (ARMLab) Clemson University International Center for Automotive Research (CU-ICAR) Greenville SC USA

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Autonomous vehicle platforms of varying spatial scales are employed within the research and development spectrum based on space, safety and monetary constraints. However, deploying and validating autonomy algorithms across varying operational scales presents challenges due to scale-specific dynamics, sensor integration complexities, computational constraints, regulatory considerations, environmental variability, interaction with other traffic participants and scalability concerns. In such a milieu, this work focuses on developing a unified framework for modeling and simulating digital twins of autonomous vehicle platforms across different scales and operational design domains (ODDs) to help support the streamlined development and validation of autonomy software stacks. Particularly, this work discusses the development of digital twin representations of 4 autonomous ground vehicles, which span across 3 different scales and target 3 distinct ODDs. We study the adoption of these autonomy-oriented digital twins to deploy a common autonomy software stack with an aim of end-to-end map-based navigation to achieve the ODD-specific objective(s) for each vehicle. Finally, we also discuss the flexibility of the proposed framework to support virtual, hybrid as well as physical testing with seamless sim2real transfer.

关键词： Navigation Heuristic algorithms Ecosystems Full stack Aerodynamics Digital twins Vehicle dynamics

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Thermal Resistivity of FFF Printed Carbon Black Doped Polymers

Thermal Resistivity of FFF Printed Carbon Black Doped Polyme...

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IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)

作者： Heime Jonkers Dimitrios Kosmas Jurriaan Schmitz Gijs Krijnen Robotics And Mechatronics group University of Twente Enschede The Netherlands Integrated Devices and Systems group University of Twente Enschede The Netherlands

Carbon black doped polymer filaments for Fused Filament Fabrication (FFF) have previously been shown to exhibit temperature dependent resistance. In this work three commercially available filaments were characterized by thermal treatment and exposure, whilst monitoring their electrical resistance. Temperature coefficients of resistance were determined for the materials, along with the influence of printing orientation.

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Kinesthetic Skill Refinement for Error Recovery in Skill-Based Robotic Systems

Kinesthetic Skill Refinement for Error Recovery in Skill-Bas...

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International Conference on Ubiquitous Robots (UR)

作者： Victor Kowalski Thomas Eiband Dongheui Lee Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Autonomous Systems Technische Universität Wien (TU Wien) Vienna Austria

ISBN: (数字)9798350361070

ISBN: (纸本)9798350361087

Skill-based robotic systems can perform tasks more flexibly than typical industrial manipulators. These systems are equipped with a repertoire of reusable skills and take advantage of a knowledge base about their workspace. That being so, the robot can execute tasks composed of a combination of different skills, tools, and objects without having to be reprogrammed explicitly for each task. Despite its advantages, these systems are affected by modeling errors and an inaccurate knowledge base. Such issues lead to failures in production. Since automated error detection is still an open problem, they often have to be solved by a robot operator. That is generally done by accessing the implementation of the faulty task and determining what to change to achieve the desired outcome, which is time-consuming and requires expertise. The proposed work aims to provide the robot operator with a faster and more intuitive error recovery method for a skill-based system via GUI-assisted kinesthetic refinement of robot skills. Furthermore, partially automated error recovery strategies are included. First, the targeted skills can be composed of an arbitrary number of steps with corresponding reversion behaviors. Second, consecutive human corrections on different parts of a given object are analyzed to infer a possible object pose error. Experiments show that our method takes one-fourth of the time required for conventional manual correction.

关键词： Service robots Knowledge based systems Production Manuals Manipulators Task analysis Robots

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Rationale for the Applicability of the PULSE Data Transfer Protocol for Use in Predictive Diagnostic Systems for Complex Technical Equipment

Rationale for the Applicability of the PULSE Data Transfer P...

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2025 International Russian Smart Industry Conference, SmartIndustryCon 2025

作者： Alexeev, Alexander Polyakov, Roman Chernychev, Vladimir LLC RT-Development Tomsk Russia Orel State University named after I.S. Turgenev Department of Mechatronics Mechanics and Robotics Orel Russia

ISBN: (纸本)9798331511241

The article considers modern tasks of collecting and interpreting data on the state of technical equipment, prospects for integrating various types of sensors and protocols into a single information network within the framework of the Internet of Things (IoT) and Industrial Internet of Things (IIoT) technologies, as well as features of using predictive analytics methods to ensure operating regulations based on the actual state. The key technical difficulties associated with differences in polling speed, data volumes and protocol incompatibility are presented. The developed Pulse protocol and the Signalogic platform are described, providing efficient data processing, process automation and the ability to create a digital layer of the enterprise. The results of comparative tests of the performance of the Pulse protocol with MQTT are presented, demonstrating its superiority in signal processing speed. Examples of successful application of the developed solutions in industry are considered, including control systems for mining and processing equipment, as well as hazardous waste disposal. Particular attention is paid to the potential of predictive analytics in IoT and IIoT for predicting malfunctions, optimizing production processes and increasing equipment reliability. The paper describes the prospects for using machine learning technologies, real-time data analysis, and virtual stands for developing and testing systems. The paper highlights the importance of an interdisciplinary approach for the further development of IoT integration technologies that combine analytical, UX design, and engineering solutions. © 2025 IEEE.

关键词： Mining machinery

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Learning flatness-based controller using neural networks

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ASME Letters in Dynamic Systems and Control 2021年第2期1卷 021003页

作者： Ren, Hailin Qi, Jingyuan Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Department of Mechanical Engineering Virginia Tech BlacksburgVA24060 United States Department of Physics Virginia Tech BlacksburgVA24060 United States

This paper presents a method to imitate flatness-based controllers for mobile robots using neural networks. Sample case studies for a unicycle mobile robot and an unmanned aerial vehicle (UAV) quadcopter are presented. The goals of this paper are to (1) train a neural network to approximate a previously designed flatness-based controller, which takes in the desired trajectories previously planned in the flatness space and robot states in a general state space, and (2) present a dynamic training approach to learn models with high-dimensional inputs. It is shown that a simple feedforward neural network could adequately compute the highly nonlinear state variables transformation from general state space to flatness space and replace the complicated designed heuristic to avoid singularities in the control law. This paper also presents a new dynamic training method for models with high-dimensional independent inputs, serving as a reference for learning models with a multitude of inputs. Training procedures and simulations are presented to show both the effectiveness of this novel training approach and the performance of the welltrained neural network. Copyright © 2021 by ASME.

关键词： Machine learning

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Robot Interaction Behavior Generation based on Social Motion Forecasting for Human-Robot Interaction

Robot Interaction Behavior Generation based on Social Motion...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Esteve Valls Mascaro Yashuai Yan Dongheui Lee Autonomous Systems Technische Universität Wien (TU Wien) Vienna Austria Institute of Robotics and Mechatronics (DLR) German Aerospace Center Wessling Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which facilitates us to synthesize robot motions that interact with humans in social scenarios despite not observing any robot in the motion training. We develop a transformer-based architecture called ECHO, which operates in the aforementioned shared space to predict the future motions of the agents encountered in social scenarios. Contrary to prior works, we reformulate the social motion problem as the refinement of the predicted individual motions based on the surrounding agents, which facilitates the training while allowing for single-motion forecasting when only one human is in the scene. We evaluate our model in multi-person and human-robot motion forecasting tasks and obtain state-of-the-art performance by a large margin while being efficient and performing in real-time. Additionally, our qualitative results showcase the effectiveness of our approach in generating human-robot interaction behaviors that can be controlled via text commands.

关键词： Robot motion Training Semantics Human-robot interaction Predictive models Transformers Skeleton

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Mechanical properties of graphene oxide?silk fibroin bionanofilms via nanoindentation experiments and finite element analysis

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Friction 2022年第2期10卷 282-295页

作者： Hyeonho CHO Joonho LEE Hyundo HWANG Woonbong HWANG Jin-Gyun KIM Sunghan KIM School of Mechanical Engineering Chung-Ang UniversitySeoul 06974Republic of Korea Department of Mechanical Engineering(Integrated Engineering) Kyung Hee UniversityGyeonggi 17104Republic of Korea Department of Mechanical Engineering POSTECHPohang 37673Republic of Korea Department of Robotics&Mechatronics.Korea Institute of Machinery&Materials Daejeon 34103Republic of Korea

Understanding the mechanical properties of bionanofilms is important in terms of identifying their *** primary focus of this study is to examine the effect of water vapor annealed silk fibroin on the indentation modulus and hardness of graphene oxide-silk fibroin(GO-SF)bionanofilms through nanoindentation experiments and finite element analysis(FEA).The GO-SF bionanofilms were fabricated using the layer-by-layer *** water vapor annealing process was employed to enhance the interfacial properties between the GO and SF layers,and the mechanical properties of the GO-SF bionanofilms were found to be affected by this *** employing water vapor annealing,the indentation modulus and hardness of the GO-SF bionanofilms can be ***,the FEA models of the GO-SF bionanofilms were developed to simulate the details of the mechanical behaviors of the GO-SF *** difference in the stress and strain distribution inside the GO-SF bionanofilms before and after annealing was *** addition,the load-displacement curves that were obtained by the developed FEA model conformed well with the results from the nanoindentation *** summary,this study presents the mechanism of improving the indentation modulus and hardness of the GO-SF bionanofilms through the water vapor annealing process,which is established with the FEA simulation models.

关键词： graphene oxide silk fibroin layer-by-layer(LbL) nanoindentation finite element analysis(FEA)

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