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Photopolymerization-based additive manufacturing of ceramics:A systematic review

Journal of Advanced Ceramics 2021年第3期10卷 442-471页

作者： Sefiu Abolaji RASAKI Dingyu XIONG Shufeng XIONG Fang SU Muhammad IDREES Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Institute of Microscale Optoelectronics Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China

Conversion of inorganic-organic frameworks (ceramic precursors and ceramic-polymer mixtures) into solid mass ceramic structures based on photopolymerization process is currently receiving plentiful attention in the field of additive manufacturing (3D printing).Various techniques(e.g.,stereolithography,digital light processing,and two-photon polymerization) that are compatible with this strategy have so far been widely *** is due to their cost-viability,flexibility,and ability to design and manufacture complex geometric *** platforms related to these techniques have been developed too,in order to meet up with modem technology *** relevant to this review are the challenges faced by the researchers in using these 3D printing techniques for the fabrication of ceramic *** challenges often range from shape shrinkage,mass loss,poor densification,cracking,weak mechanical performance to undesirable surface roughness of the final ceramic *** is due to the brittle nature of ceramic *** on the summary and discussion on the current progress of material-technique correlation available,here we show the significance of material composition and printing processes in addressing these *** use of appropriate solid loading,solvent,and preceramic polymers in forming slurries is suggested as steps in the right *** are indicated as another factor playing vital roles and their selection and development are suggested as plausible ways to remove these barriers.

关键词： ceramics photopolymerization stereolithography additive manufacturing 3D printing polymer-derived ceramics

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Extensible Hook System for Rendesvouz and Docking of a Cubesat Swarm

arXiv

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arXiv 2024年

作者： Pérez-Del-Pulgar, Carlos J. Palomeque, Antonio López Juli, Jesús Madi, Matteo The Space Robotics Laboratory Mechatronics and Cyber-physical systems research institute Universidad de Malaga Malaga29070 Spain Sirin Orbital Systems AG Zürich Switzerland

The use of cubesat swarms is being proposed for different missions where cooperation between satellites is required. Commonly, the cube swarm requires formation flight and even rendezvous and docking, which are very challenging tasks since they required more energy and the use of advanced guidance, navigation and control techniques. In this paper, we propose the use of an extensible hook system to mitigate these drawbacks,i.e. it allows to save fuel and reduce the system complexity by including techniques that have been previously demonstrated on Earth. This system is based on a scissor boom structure, which could reach up to five meters for a 4U dimension, including three degrees of freedom to place the end effector at any pose within the system workspace. We simulated the dynamic behaviour of a cubesat with the proposed system, demonstrating the required power for a 16U cubesat equipped with one extensible hook system is considered acceptable according to the current state of the art actuators. © 2024, CC BY.

关键词： Degrees of freedom (mechanics)

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope

Obstacle Identification Based on Deep Learning for Inspectio...

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Automation, robotics and Computer Engineering (ICARCE), International Conference on

作者： Chengxu Yang Xiangyu Sun Gangfeng Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks.

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Two-Level Sensorimotor Learning for Leader-Follower Consensus Control

Two-Level Sensorimotor Learning for Leader-Follower Consensu...

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European Control Conference (ECC)

作者： J. Franco-Robles J. Escareno O. Labbani-Igbida 3iL Ingénieurs Limoges France Robotics and Mechatronics Department XLIM Laboratory UMR CNRS 7252 University of Limoges France

The present work addresses the problem of leader-follower consensus based on a bioinspired sensory motor approach. The herein presented learning scheme entails two levels: (i) a supervised offline babbling training, where babbling generates a preliminary inference of the unknown environment, and (ii) during the consensus the execution (online) stage the cortical map is re-training throughout agents, which simultaneously to the consensus lapse the learning model is refined. The purpose of the proposed strategy is to link the human sensorimotor postural model with the consensus problem to endow of natural plasticity to the MAS. In order to fullfil the leader-follower control objective a controller based Lyapunov stability theory is synthesized. A set of numerical simulations are conducted to evaluate the MAS performance while following the cortical mapped leader trajectory.

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Full-state Physical Mirroring Method of Space Manipulator Based on the Multiple Decoupling Principles

Full-state Physical Mirroring Method of Space Manipulator Ba...

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Artificial Intelligence, Human-Computer Interaction and robotics (AIHCIR), International Conference on

作者： Tao Yang Shize Qin Fang Xu Songbo Deng Hao Zhang Yan Shi State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing PR China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing PR China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang PR China

To achieve the goal of an efficient full-state ground test of a 7DOF space manipulator, the kinematic and dynamical coupling characteristics of space manipulator are investigated, and a mirror test method based on the principle of multiple decoupling is proposed to solve the problem of highly dynamic three-dimensional motion conditions of space manipulator that are difficult to verify by ground simulation. It firstly decouples the space manipulator into a 3dof unit,1dof unit and another 3dof unit combination. It achieves joint load reduction through inter-joint dynamics coupling. Afterwards, it designs an air-floating support device to realize the joint space 7DOF motion, and proposes a constant damping joint dynamics compensation control algorithm to eliminate the dynamics disturbances introduced by inter-joint decoupling. Then, an industrial mirror robot arm with consistent kinematic parameters and a highly dynamic mirror control algorithm are designed to map the joint motion states of the space manipulator to the ground robotic arm, and a ground simulation of the Cartesian space motion state of the space robot arm is realized by decoupling the joint space from the Cartesian space motion. Finally, the ground experiment of target grasping based on the physical mirroring method is designed to realize the high-speed full-state ground experiment verification of complex tasks of space manipulator.

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Towards mechatronics Approach of System Design, Verification and Validation for Autonomous Vehicles

Towards Mechatronics Approach of System Design, Verification...

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

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

Modern-day autonomous vehicles are increasingly becoming complex multidisciplinary systems composed of mechanical, electrical, electronic, computing and information subsystems. Furthermore, the individual constituent technologies employed for developing autonomous vehicles have started maturing up to a point, where it seems beneficial to start looking at the synergistic integration of these components into sub-systems, systems, and potentially, system-of-systems. Hence, this work applies the principles of mechatronics approach of system design, verification and validation for the development of autonomous vehicles. Particularly, we discuss leveraging multidisciplinary co-design practices along with virtual, hybrid and physical prototyping and testing within a concurrent engineering framework to develop and validate a scaled autonomous vehicle using the AutoDRIVE Ecosystem. We also describe a case-study of autonomous parking application using a modular probabilistic framework to illustrate the benefits of the proposed approach.

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Saratov Fall Meeting 2020 - Computations and Data Analysis: From Molecular Processes to Brain Functions

作者： Frolov, Nikita Pitsik, Elena Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis420500 Russia

ISBN: (数字)9781510645332

ISBN: (纸本)9781510645325

Healthy aging affects structural and neurochemical properties of the human brain neural network. It also changes the brain functioning via the transformation of neural interactions both within and between functionally distinct brain areas. The age-related degradation of the brain functioning is evident on the behavioral level in terms of the decline in reaction time, low ability to execute and control complex motor actions, weak flexibility in learning new skills. In this paper we apply functional connectivity analysis to reveal the age-related changes in the integrative brain dynamic during the motor initiation before the dominant hand movements accompanied. Analyzing the whole-scalp electroencephalography (EEG) signals on the sensor level, we find higher theta-band coupling in the ipsilateral hemisphere. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Electroencephalography

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Architecture and Operation Algorithms of a General-Purpose Integrated Bilateral Manipulator System

Architecture and Operation Algorithms of a General-Purpose I...

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2021 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies", T and QM and IS 2021

作者： Leskov, Alexey G. Illarionov, Vladimir V. Moroshkin, Svyatoslav D. Bauman Moscow State Technical University Department of Robotic Systems and Mechatronics Moscow Russia Bauman Moscow State Technical University Laboratory of Robotic Systems and Mechatronics Moscow Russia PJSC Sberbank Sberbank Robotics Laboratory Moscow Russia

ISBN: (纸本)9781665433020

The article introduces an architecture and operation algorithms for a bilateral manipulator system (MS) with force feedback. Bilateral control systems allow a person to remotely grasp various objects and manipulate them, while also providing telepresence. A manipulator system model has been developed as a result of the work described in the article. It comprises a pair of robot arms and a pair of grippers. Force sensors are one of the main components of the system. Some of the sensors are located in the manipulator wrists, while the others - in the gripper fingers. This allows the system to transmit information on the position of the MS, as well as on the forces and torques of interaction with external objects in the bilateral control (BC) mode. The experiments carried out have indicated that it is possible to build a system on the basis of commercial industrial robots and use this system to perform various tasks related to object grasping and manipulation. © 2021 IEEE.

关键词： Grippers

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A Study of Stabilization and Swing-up Linear Control for a Single Link Rotary Pendulum

A Study of Stabilization and Swing-up Linear Control for a S...

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Theoretical and Applied Computer Science and Engineering (ICTASCE), International Conference on

作者： Zied Ben Hazem Zafer Bingül Department of Mechatronics Engineering Istanbul Gedik University Istanbul Turkey Department of Mechatronics Engineering Automation and Robotics Laboratory Kocaeli University Kocaeli Turkey

Single link rotary inverted pendulum (SLRIP) is a highly nonlinear control system that has complex dynamic behavior. This type of system requires a high-performance controller for its control. The rotary pendulum system is present as a control problem challenge because the system often moves to an uncontrolled state. The problem consists to balance one or more attached pendulums vertically in the upward position on a rotational arm which has a single degree of freedom and turns horizontally on only one axis. The aim is to find a control strategy that provides accurate performance with respect to the angles of the pendulums and the horizontal arm. This paper proposes a study of a PID, Linear Quadratic Regulator (LQR) stabilization control, and swing-up linear control based on LQR. The gains of the PID and LQR controllers are optimized by using the particle swarm optimization (PSO) algorithm to provide more robust controllers. A dynamic mechanical simulation study was conducted on MATLAB/SimMechanics obtained by the designed 3D-CAD models of the SLRIP. According to experimental results, the systems demonstrate the efficiency and robustness of all controllers.

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High Performance Soft Electrochemical Actuators Based on Hierarchical Conductive Polymer Ionogels

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Journal of Bionic Engineering 2023年第6期20卷 2755-2763页

作者： Hongwei Hu Shengtao Zhang Yan Li Xinghao Hu Lin Xu Aixin Feng Guanggui Cheng Jianning Ding Zhejiang Provincial Key Laboratory of Laser Processing Robotics College of Mechanical and Electrical EngineeringWenzhou UniversityWenzhou325035China Institute of Intelligent Flexible Mechatronics Jiangsu UniversityZhenjiang212013China School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang212100China School of Mechanical Engineering Yangzhou UniversityYangzhou225127China Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou UniversityChangzhou213164China Ruian Graduate School of Wenzhou University Ruian325207ZhejiangChina

Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working *** development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation *** the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple ***,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS *** show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical *** a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 *** these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical *** work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.

关键词： Conductive polymer Soft actuator Polyaniline PEDOT:PSS Bioinspired actuator

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