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ASME 2024 International mechanical engineering Congress and Exposition, IMECE 2024

作者： Guerra-Zubiaga, David A. Richards, Gershom Forsberg, Paul Nwachukwu, Kingsley Burroughs, Andrew Sabula, Eric Kuts, Vladimir Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA United States Tallinn University of Technology Department of Mechanical and Industrial Engineering Estonia

ISBN: (纸本)9780791888605

The demands of manufacturing equipment often led to operating the equipment most effectively to maximize productivity or *** need for maximized operating time for the equipment has made the maintenance aspect resort to more creative means to address the risk of equipment *** failure of equipment can range in effect from producing poor quality products, hindering the manufacturing process, or endangering the workers around ***, the damage done to equipment that has malfunctioned often causes a greater loss in profit as the equipment would need to be fixed or *** knowledge gap is in how a manufacturing plant can balance good quality maintenance without hindering the operation of the equipment *** historical maintenance practice is to run scheduled maintenance breaks on the equipment, check for system variables that have been shown to correlate to a decaying system or wait for the equipment to *** Commissioning (VC), which is the practice of using a simulated model of a system to explore the potential of a system without impeding the operation of the physical system, seems to be a sound *** paper explores the potential of integrating Digital Twins, a real-time simulation of a system, into the practice of VC to gather real-time data from the manufacturing *** the ability to collect and store complex data, the algorithms used to diagnose the system would enlighten the industry to various observations of the current practice of maintaining and operating certain *** the effectiveness and potential of this new data have yet to be defined, the ability to obtain the data would prove to be a great step forward in optimizing the maintenance and operation practices within the manufacturing industry. Copyright © 2024 by ASME.

关键词： Computer aided logic design

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Investigating the Fretting of Steel Surfaces in the Presence of Hybrid Anti-Fretting Paste Containing Talc-Graphite-hBN-Molybdenum Disulfide Solid Lubricants

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-11页

作者： Bhaumik, Shubrajit Krishna, Boddu Anurag Paleu, Viorel Choudhury, Nabajit Dev Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics & ampRobotics Department Mechanical Engineering Department "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania Department of Energy Engineering Assam Science and Technology University Assam Jalukbari Guwahati781013 India

The present work proposes a novel combination of additives dispersed in mineral oil to form a paste that exhibited significant anti-fretting properties as compared to a molybdenum-di-sulfide-containing commercial paste. The proposed paste contained 20 wt% MoS2 apart from 20 wt% talc, 15 wt%. graphite to 10 wt% hBN as additives, and 65 wt% mineral oil. The average mass of the bearing raceway tested with the proposed paste was 0.0063 ± 0.0045 g thus, exhibiting 82% less average mass loss than the bearing raceways tested with commercial paste (0.0354 ± 0.0021 g). Additionally, the machine vision system exhibited 40% fewer false brinelling areas with the proposed paste (0.9400 ± 0.108 mm2) as compared to the commercial paste (1.605 ± 0.822 mm2). Optical microscope images of the false brinelling areas further indicated debris adhesion, plastic deformation, and crack formation during the fretting phenomenon. Furthermore, the Raman spectrograph indicated the deposition of the solid lubricants on the steel surfaces during the fretting tests. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Talc

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Exploring Classification, Size, and Quality of Mangifera Indica L. Through Image Processing and AI Techniques 2

Exploring Classification, Size, and Quality of Mangifera Ind...

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2nd International Conference on Mechanics, Electronics, Automation and Automatic Control, MEAAC 2024

作者： Wanthong, Irin Sri-On, Theeraphat Seangsri, Soontaree Khaengkarn, Sorada Srisertpol, Jiraphon Mechatronics Engineering Program School of Mechanical Engineering Suranaree University of Technology Nakhon Ratchasima Thailand Department of Mechatronics and Robotics Engineering School of Engineering and Innovation Rajamangala University of Technology Tawan-ok Chonburi Thailand

ISBN: (纸本)9781643685403

This paper introduces methods for efficiently classifying mangoes intended for export, a market valued at approximately 4,500 million baht annually. The classification process is divided into two primary components: size categorization and quality assessment. The first phase involves categorizing mango sizes into four distinct categories (M, 1L, 2L, 3L), while the second phase focuses on assessing mango quality, particularly detecting anthracnoseâ€"a prevalent disease affecting mangoes. This detection is achieved through image processing techniques, where images are converted into binary representations and analyzed using both Artificial Neural Networks (ANNs) and Convolutional Neural Networks (CNNs). Comparative analysis reveals that CNN outperforms ANN in size classification, achieving a remarkable train accuracy of 99.16% and a test accuracy of 88.0%. Furthermore, in quality classification, CNN demonstrates a train accuracy of 91.0% and a test accuracy of 88.0%. These findings underscore the effectiveness of CNN techniques in accurately classifying mangoes for export, thereby facilitating improved quality control and market competitiveness. Â© 2024 The Authors.

关键词： Convolutional neural networks

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Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) Micropositioner with Large Workspace 26

Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) M...

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26th International Conference on Computer and Information Technology, ICCIT 2023

作者： Das, Tilok Kumar Shahrear, Rifat Shirinzadeh, Bijan Dept. of Mechanical Engineering Chattogram Bangladesh Monash University Robotics and Mechatronics Research Laboratory Dept. of Mechanical and Aerospace Engineering Melbourne Australia

ISBN: (纸本)9798350359015

This paper presents a piezo-based compliant planer 3-DOF micropositioning stage for decoupled large workspace of the platform. Three piezoelectric actuators inside three double-stairs bridge-type mechanisms were used to drive the output platform in XY? directions. A-3PPR type kinematic chain has been oriented parallelly in such a way to have a rotational symmetry about the centroid. Two different types of prismatic flexure joints with a passive rotary flexure joint were utilized in each kinematic chain. The proposed design focused on the redundancy of the cross-axis coupling effect from the other axes during directional movements. To evaluate the performance, Finite Element Analysis (FEA) has been conducted. The decoupled 3-DOF micropositioning stage is able to maintain the maximum parasitic motion of 0.05% and 1.95 % in the Y and ? directions of their respective directional working range. So, the effect of cross-coupling motion during directional movement can be presumed to be less in this case. Further, the FEA results show that the micropositioning stage has a large work envelope of ±271.1 µm × 235 µm × ± 6.0352 mrad. Moreover, the evaluation of the dynamic characteristics predicts that out-of-plane motion will be less likely to occur. Thus, the 3-DOF micropositioning stage can provide a unidirectional decoupled large range of motions. © 2023 IEEE.

关键词： Compliant mechanism Cross-coupling effect Decoupling Finite Element Analysis (FEA) Planer motion

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Production of hydrogen from fossil fuel:A review

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Frontiers in Energy 2023年第5期17卷 585-610页

作者： Shams ANWAR Xianguo LI Laboratory for Fuel Cell and Green Energy Department of Mechanical and Mechatronics EngineeringUniversity of WaterlooWaterlooOntario N2L3G1Canada

Production of hydrogen,one of the most promising alternative clean fuels,through catalytic conversion from fossil fuel is the most technically and economically feasible *** conversion of natural gas into hydrogen and carbon is thermodynami-cally favorable under atmospheric ***,using noble metals as a catalyst is costly for hydrogen production,thus mandating non-noble metal-based catalysts such as Ni,Co,and Cu-based *** paper reviews the various hydrogen production methods from fossil fuels through pyrolysis,partial oxidation,autother-mal,and steam reforming,emphasizing the catalytic production of hydrogen via steam reforming of *** multicomponent catalysts composed of several non-noble materials have been *** the Ni,Co,and Cu-based catalysts investigated in the literature,Ni/Al_(2)O_(3)catalyst is the most economical and performs best because it suppresses the coke formation on the *** avoid carbon emission,this method of hydrogen production from methane should be integrated with carbon capture,utilization,and storage(CCUS).Carbon capture can be accomplished by absorption,adsorption,and membrane separation *** remaining challenges,prospects,and future research and development directions are described.

关键词： methane catalytic conversion natural gas hydrogen production CCUS

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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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Design of Fuzzy controller for position control of a magnetic catheter in uniform magnetic fields 11

Design of Fuzzy controller for position control of a magneti...

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11th RSI International Conference on robotics and mechatronics, ICRoM 2023

作者： Bidgoli, Mohammadhossein Zahedi Pouya, Mohammad Hatami Pishkenari, Hossein Nejat Taheri, Alireza Sharif University of Technology Nano Robotics Laboratory Department of Mechanical Engineering Tehran Iran Sharif University of Technology Robotics Laboratory Department of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

Magnetic catheters have gained popularity as a safer and more precise alternative to manually guided catheters, reducing X-ray exposure for medical professionals. However, achieving precise control of the catheter's tip remains a topic of debate. In this paper, we introduce a fuzzy controller designed to control the position of the magnetic catheter's tip with high accuracy in a controlled environment with a uniform magnetic field and a feeder mechanism, providing a 3DOF setup. We implemented the fuzzy controller using a dynamic Cosserat model of the magnetic catheter and conducted simulations to assess its performance. To evaluate the closed-loop system, two trajectory paths, one following a cubic pattern and the other a helical pattern, were provided as desired inputs to the closed-loop system using the proposed controller. Additionally, Gaussian-distributed noise was added to the feedback loop of the system. The Root Mean Square Error (RMSE) values for a catheter with a variable free length ranging from 3 to 5 cm for these two input trajectories were 0.96 mm and 0.86 mm, respectively. The simulation results indicated that the presented control system has the capability to accurately track various trajectories with high precision. © 2023 IEEE.

关键词： Mean square error

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System 8

Comparative Study of Anti-Swing Controllers for a Triple Lin...

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8th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2023

作者： Hazem, Zied Ben Bingul, Zafer University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey

ISBN: (纸本)9798350327090

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination. © 2023 IEEE.

关键词： Controllers

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Investigating Neural Network Hyperparameter Variations in Robotic Arm Inverse Kinematics for Different Arm Lengths 3

Investigating Neural Network Hyperparameter Variations in Ro...

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3rd International Conference on Power, Control and Computing Technologies, ICPC2T 2024

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassene Borj Cedria Tunis1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India Tunis1002 Tunisia

ISBN: (纸本)9798350349207

This research delves into the evaluation of Artificial Neural Networks (ANNs) in tackling the intricate domain of inverse kinematics problems within the context of robotic systems. Compared to direct kinematics, inverse kinematics presents significant challenges, especially when dealing with different arm lengths, which can impact the system's overall functionality. In this study, we conduct a comprehensive comparative analysis to assess the performance of ANNs across various robotic arm lengths. Following the forward kinematics of a simple 2-DoF robotic manipulator, three distinct datasets (fixed step size, random step size, and sinusoidal step size) are generated for training, testing, and validation phases. For every dataset, three optimizers, namely Levenberg Marquardt, Bayesian Regularization, and Scaled Conjugate Gradient, are considered with different hyperparameters to investigate the performance of the ANN models. Based on the validation of MSE values, ANN models with different hyperparameters are found to be a promising approach in estimating the inverse kinematic solutions for different arm lengths with data complexities. Such solutions can be further extended to higher DoF robotic solutions and save the computational burden of evaluating analytical solutions. © 2024 IEEE.

关键词： Inverse kinematics

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Target Tracking Control of Space-Manipulators on Lie Groups

Target Tracking Control of Space-Manipulators on Lie Groups

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Moghaddam, Borna Monazzah Chhabra, Robin Carleton University Autonomous Space Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering Department OttawaONKIS 5B6 Canada

ISBN: (纸本)9798350337020

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity. © 2023 IEEE.

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