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Study on wear mechanism of small ball-end grinding wheel and surface integrity of complex component under high-speed machining condition

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Wear 2025年

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

The small ball-end fine diamond grinding wheel is well-suited for machining complex components with small curved surface structures, demonstrating high-precision and high-quality machining capabilities. By increasing the speed of the workpiece, the issue of poor grinding performance caused by the small diameter of the ball-end grinding wheel can be effectively overcome. However, this strategy inevitably increases wheel wear and affects surface integrity. To address these challenges, this paper systematically investigates the grinding characteristics of the small ball-end grinding wheel. First, grinding experiments were performed to investigate the influence of workpiece speed, feed rate, and grinding depth on the material removal rate, wheel wear, and surface integrity. Then, the wear mechanism of the grinding wheel was analyzed. The wear modes of the grinding wheel at high workpiece speeds include metal adhesive wear and abrasive grain fracture, which enhance the self-sharpening of the grinding wheel while accelerating its wear. Furthermore, the surface morphology creation mechanism of fused silica under different material removal modes was revealed. Moreover, the correlation between material removal rate and surface roughness caused by wheel wear was revealed. A high-speed grinding strategy was subsequently proposed based on the relationship between the grinding characteristics and grinding parameters of the small ball-end grinding wheel under various grinding conditions. Finally, the feasibility of this grinding strategy was validated through its application to the machining of the complex curved fused silica hemispherical resonator (HSR). Experimental results indicate that under the high workpiece speed condition, the best surface roughness of HSR decreases from 90.5 nm to 62.2 nm, while the maximum grinding wheel wear increases from 9.7 μm to 11.5 μm, with minimal impact on surface integrity. Therefore, the high-speed grinding strategy proposed in this study ho

关键词： Fused silica

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A two-wheeled robotic wheelchair with a slidable seat for elderly and people with lower limb disabilities

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International Journal of Advanced Robotic Systems 2025年第3期22卷

作者： Kim, Munyu Park, Jongwoo Shin, Heechul Seo, Hyunuk Il Park, Dong Park, Chanhun Cheong, Joono Department of Robotics and Mechatronics Korea Institute of Machinery and Materials Daejeon34103 Korea Republic of Department of Control and Instrumentation Engineering Korea University Sejong City30019 Korea Republic of

This paper introduces a new development of a two-wheeled robotic wheelchair (TWW), designed to address the challenges of personal mobility for the elderly and individuals with lower limb disabilities. By incorporating a sliding seat mechanism and motorized support legs, the TWW enhances stability, comfort, and accessibility in narrow or uneven environments. Notably, the TWW has a minimum turning radius of 0.372[m], enhancing convenience in confined spaces. A dynamic inversion-based motion planner is developed to provide smooth and stable driving experiences by accurately converting user inputs into optimal trajectories. Furthermore, the system prioritizes safety through real-time fault detection, ensuring reliability in various scenarios. Experimental results validate the system’s enhanced posture stability and safety, highlighting its potential for a wide variety of applications in daily mobility and rehabilitation support. © The Author(s) 2025.

关键词： Motion planning

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Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection

arXiv

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arXiv 2025年

作者： Guo, Haoran Wang, Haoyang Li, Zhengxiong Tao, Lingfeng Oklahoma State University Mechatronics and Intelligent Robotics Lab 563 Engineering North StillwaterOK74075 United States University of Colorado Denver Department of Computer Science and Engineering 1380 Lawrence St. Center LW-834 DenverCO80217 United States

Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution and sensitivity of single-modal detection with high-cost components and densely integrated design, incurring complex manufacturing processes and unaffordable prices. In this work, we present Bio-Skin, a cost-effective multi-modal tactile sensor that utilizes single-axis Hall-effect sensors for planar normal force measurement and bar-shape piezo resistors for 2D shear force measurement. A thermistor coupling with a heating wire is integrated into a silicone body to achieve temperature sensation and thermostatic function analogous to human skin. We also present a cross-reference framework to validate the two modalities of the force sensing signal, improving the sensing fidelity in a complex electromagnetic environment. Bio-Skin has a multi-layer design, and each layer is manufactured sequentially and subsequently integrated, thereby offering a fast production pathway. After calibration, Bio-Skin demonstrates performance metrics—including signal-to-range ratio, sampling rate, and measurement range—comparable to current commercial products, with one-tenth of the cost. The sensor’s real-world performance is evaluated using an Allegro hand in object grasping tasks, while its temperature regulation functionality was assessed in a material detection task. Copyright © 2025, The Authors. All rights reserved.

关键词： Tactile sensors

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Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

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Chinese Journal of Aeronautics 2025年第2期 581-600页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of Technology Centre for Precision Manufacturing DMEMUniversity of Strathclyde State Key Laboratory of Robotics and System Harbin Institute of Technology

To mill fine and well-defined micro-dimpled structures, a machining manner of spiral trajectory tool reciprocating motion, where the tool repeats the process of ‘feed milling±retract±cutting feed±feed milling again' along the spiral trajectory, was proposed. From the kinematics analysis, it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating motion. To reveal this causation, simulation modelling and experimental studies were carried out. A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length) and parameters(discrete angle, discrete arc length, and pitch) on surface texture and residual height of micro-dimpled structures. Subsequently, microdimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion. A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy, surface morphology and surface roughness of milled dimples. Meanwhile, the errors and factors affecting the above three aspects were analyzed. The results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled structures. Spiral trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional surfaces. And an appropriate machining trajectory can be generated based on the optimized trajectory parameters, thus contributing to the improvement of machining quality and efficiency.

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Diffusion-Based mmWave Radar Point Cloud Enhancement Driven by Range Images

arXiv

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arXiv 2025年

作者： Wu, Ruixin Li, Zihan Wang, Jin Xu, Xiangyu Yu, Huan Zheng, Zhi Huang, Kaixiang Lu, Guodong The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China State Key Laboratory of Robotics and Systems Department of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China

Millimeter-wave (mmWave) radar has attracted significant attention in robotics and autonomous driving. However, despite the perception stability in harsh environments, the point cloud generated by mmWave radar is relatively sparse while containing significant noise, which limits its further development. Traditional mmWave radar enhancement approaches often struggle to leverage the effectiveness of diffusion models in super-resolution, largely due to the unnatural range-azimuth heatmap (RAH) or bird’s eye view (BEV) representation. To overcome this limitation, we propose a novel method that pioneers the application of fusing range images with image diffusion models, achieving accurate and dense mmWave radar point clouds that are similar to LiDAR. Benefitting from the projection that aligns with human observation, the range image representation of mmWave radar is close to natural images, allowing the knowledge from pre-trained image diffusion models to be effectively transferred, significantly improving the overall performance. Extensive evaluations on both public datasets and self-constructed datasets demonstrate that our approach provides substantial improvements, establishing a new state-of-the-art performance in generating truly three-dimensional LiDAR-like point clouds via mmWave radar. Copyright © 2025, The Authors. All rights reserved.

关键词： Radar imaging

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Predicting urban landslides in the hilly regions of Bangladesh leveraging a hybrid machine learning model and CMIP6 climate projections

Geosystems and Geoenvironment

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Geosystems and Geoenvironment 2025年第2期4卷

作者： Islam, Md․ Ashraful Arrafi, Musabbir Ahmed Peas, Mehedi Hasan Hossain, Tanvir Hasan, Md Mehedi Murshed, Sanzida Tania, Monira Jahan Department of Geology University of Dhaka Dhaka Bangladesh Department of Mechanical and Aerospace Engineering University of Dayton OH United States Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh Bangladesh Space Research and Remote Sensing Organization (SPARRSO) Dhaka Bangladesh

Landslides pose significant risks to infrastructure and human lives in cities, exacerbated by climate change. Therefore, a reliable predictive landslide model is crucial for mitigation, especially in resource-limited nations. This study employs hybrid machine learning (ML) techniques and climate projections to predict landslides in the Chattogram development area (CDA) of Bangladesh – a rapidly growing urban city in Bangladesh. The model was trained using diverse geospatial parameters including topographical, hydrological, soil, and geological parameters, along with an updated landslide inventory, enabling spatially explicit predictions of landslide susceptibility. To incorporate future climate scenarios, we utilized the Coupled Model Intercomparison Project Phase 6 (CMIP6) Global Climate Model (GCM), projecting climate impacts under SSP1-2.6 and SSP5-8.5 scenarios for the periods of 2021–2040, 2041–2060, 2061–2080, and 2081–2100, respectively. These scenarios reflect different pathways of greenhouse gas emissions, providing a range of possible future climate conditions. We tested six ML classifiers: random forest (RF), extra trees (ExT), support vector machine (SVM), logistic regression (LR), Bernoulli Naïve Bayes (bNB), and K-nearest neighbor (KNN). Each base model demonstrated high accuracy (>90 %) but combining them improved both accuracy and computational efficiency. The LR-bNB hybrid model outperformed all others, effectively mapping landslide susceptibility in the study area for the current timeframe and future projections. Our results revealed significant variability in landslide-prone areas across the area, with 12 % of the region categorized as high to very high risk, a figure that slightly rises with predicted increased rainfall due to climate change. The present study demonstrates the efficacy of a hybrid ML model for nowcasting as well as forecasting landslide susceptibility under future climate scenarios. These findings offer valuable insights for proa

关键词： Bangladesh Climate change Disaster risk reduction Landslide Landslide mapping Machine learning

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Identification and Control of Industrial Hydraulic Actuators with a Hammerstein-Wiener Model Approach 1st

Identification and Control of Industrial Hydraulic Actuators...

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1st International Symposium on Systems Modelling and Simulation, SMS 2024

作者： Mohamad Ali, Nur Husnina Jaafar, Hazriq Izzuan Ghazali, Rozaimi Ghani, Muhamad Fadli Soon, Chong Chee Has, Zulfatman Fakulti Teknologi dan Kejuruteraan Elektrik Universiti Teknikal Malaysia Melaka Melaka Malaysia Center for Robotics and Industrial Automation Universiti Teknikal Malaysia Melaka Melaka Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Penang Branch Campus Pulau Pinang Malaysia Electrical Engineering Department University of Muhammadiyah Malang Malang Indonesia

ISBN: (纸本)9789819646128

In motion control applications, the precise regulation of Industrial Hydraulic Actuators (IHA) is essential for properly ascertaining the position of the actuator rod. This research used a Hammerstein-Wiener (HW) model to characterize the system, integrating a dead zone to account for nonlinearities and using an open-loop methodology. A grey-box modelling technique is used for estimating the discrete-time model of the system and identifying its parameters. The System Identification toolbox in MATLAB functions as the principal instrument for model estimation, using input-output data acquired via experimental procedures. The validation of the input-output data demonstrated a promising best-fit percentage of 88.21%, indicating a robust connection between the HW model and the real system. To assess the trajectory tracking efficacy of the system, Proportional-Integral-Derivative (PID) and Fractional Order PID (FOPID) controllers developed and evaluated using both simulation and experimental data based on a multi-sinusoidal trajectory. The findings indicate that the FOPID controller surpasses the traditional PID controller, producing reduced Mean Square Error (MSE) and Root Mean Square Error (RMSE) values. In simulations, the FOPID control technique enhanced MSE by 32.8% and RMSE by 18.0% relative to the PID controller, although the experimental findings indicated improvements of 31.9% and 17.5%, respectively. The results highlight the superior efficacy of the FOPID controller in improving trajectory tracking performance owing to its greater complexity and flexibility. Future research may concentrate on developing more sophisticated controllers, including intelligent or nonlinear variants, to enhance the tracking precision of the IHA system. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Three term control systems

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Directional deficits in reactive postural control during perturbations among groups of chronic ankle instability, ankle sprain coper, and healthy control

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Scientific Reports 2025年第1期15卷 1-10页

作者： Kim, Min Jun Kim, Sehee Kim, Junyoung Hopkins, J. Ty Choi, Wiha Oh, Sehoon Jun Son, S. Graduate School of Sports Medicine CHA University Gyeonggi-do South Korea AI Robotics R & D Division Korea Institute of Robotics & Technology Convergence (KIRO) Gyeongbuk South Korea Department of Exercise Sciences Brigham Young University Utah United States Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu South Korea Graduate School of Medicine University of Osaka Osaka Japan

Unanticipated postural control measures may better identify mechanisms of ankle sprains in real-life situations. The purpose of this study was to identify directional deficits in reactive postural control during unanticipated horizontal perturbations among groups of chronic ankle instability (CAI), ankle sprain coper, and healthy control. Sixty-eight volunteers (24 CAI patients, 23 ankle sprain copers, and 21 healthy controls) participated in this study. The participants performed a single-leg stance with unanticipated horizontal perturbations in four random directions of anterior, posterior, medial, and lateral. Anterior-posterior time to stabilization (APTTS) and medial-lateral time to stabilization (MLTTS) were calculated as an indicator of reactive postural control during horizontal perturbations. A significant interaction effect of the group x perturbation directions (3 × 4) was found. Both CAI and ankle sprain coper groups showed longer APTTS and MLTTS during medial and lateral horizontal perturbations compared to the healthy control group. However, no difference was found in APTTS and MLTTS during anterior and posterior horizontal perturbations between three groups. Directional deficits in reactive postural control during medial and lateral perturbations could result from sensorimotor dysfunction as consequences of lateral ankle sprains in the CAI and ankle sprain groups. © The Author(s) 2025.

关键词： Balance Lateral ankle sprain Postural stability Sensorimotor control Time to stabilization

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Vlm-Nav: Mapless Uav-Navigation Using Monocular Vision Driven by Vision-Language Model

SSRN

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SSRN 2025年

作者： Sarker, Gobinda Chandra Azad, A.K.M. Rahman, Sejuti Hasan, Md. Mehedi Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka1000 Bangladesh Riyadh13318 Saudi Arabia

Autonomous vehicles, such as Unmanned Aerial Vehicles (UAVs), have the potential to completely reshape various industries such as parcel delivery, agriculture, surveillance, and search-and-rescue missions. Consequently, the demand for safe, cost-effective, and intelligent navigation systems is crucial to ensure reliable performance in complex and dynamic environments. In this study, we propose a novel vision-based UAV navigation method that integrates depthmap estimation with a Vision-Language Model (VLM) for efficient obstacle avoidance and path planning. The system processes RGB images captured by the UAV, transforming them into depth maps using DepthAnythingV2, a powerful zero-shot depth estimator. These depth maps are then analyzed by the VLM, which detects nearby obstacles and plans avoidance maneuvers. We have explored Gemini-flash and GPT-4o model as VLM in our study. A fully connected network integrates the VLM output with the UAV’s relative heading angle to predict the optimal course of action, enabling the UAV to dynamically navigate complex environments toward its target. The system’s effectiveness is validated through simulations in AirSim using Blocks and Downtown West environment. The UAV consistently reaches its destination, avoiding obstacles and achieving a near perfect task completion rate of 0.98. By eliminating the need for costly sensors such as LiDAR and operating without pre-existing maps, our solution provides a cost-efficient, and generalizable approach to real-time UAV navigation, especially in unfamiliar or dynamic settings and highlights emerging trends in autonomous systems research utilizing VLMs. The navigation demonstration and the source code are openly available at (https://***/vlmnav/) to encourage further research. © 2025, The Authors. All rights reserved.

关键词： Drones

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Kinematic and Dynamic Analysis of a 3-■US Spatial Parallel Manipulator

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Chinese Journal of Mechanical engineering 2020年第1期33卷 114-130页

作者： Mervin Joe Thomas M.L.Joy A.P.Sudheer Mechatronics/Robotics Lab Department of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia

Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector *** are found in medical,assembly and manufacturing industries where accuracy is *** is often desired to have a compact and simple architecture for the robotic *** this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is *** kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive *** kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free *** analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system *** gravity and inertial forces of all links are considered in the mathematical *** analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.

关键词： Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis

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