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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Wicht, Andreas Franke, Tobias Hahn, Alina Hakansson, Nils Kurbis, Christian Smol, Robert Hulin, Thomas Eiband, Thomas Lehner, Peter Muhlbauer, Maximilian Nottensteiner, Korbinian Pietschmann, Richard Thaler, Bernhard Thaler, Diana Bosse, Jurgen Berlin12489 Germany Institute of Robotics and Mechatronics Wessling82234 Germany Germany Technical University of Munich Sensor Based Robotic Systems and Intelligent Assistance Systems Garching85748 Germany Robo-Technology GmbH Puchheim82178 Germany

ISBN: (纸本)9798331531614

This paper presents a novel concept for a reconfigurable robotic system specifically designed to meet the demands of hybrid integration for miniaturized photonic and quantum System-in-Packages (SiPs). The proposed solution introduces a distinctive approach to ultra-high-resolution, multi-telerobotic assembly and inspection. By integrating key Industry 5.0 principles, it establishes a human-centric control framework that minimizes both physical and cognitive stress while ensuring the human operator remains in full control at all *** robotic system features eight robots working simultaneously within a compact footprint of just 5×10 cm2. A comprehensive digital twin framework constitutes a central element of the robotic system. It encompasses the robotic workcell, the SiP under assembly, and the components to be integrated, ensuring precise adherence to design specifications. Key functionalities include automated path planning in a multi-robotic environment, collision avoidance in a densely packed workcell, and virtual fixtures to guide teleoperation, enhancing the operator's control and interaction through advanced and intuitive human-machine interfaces (HMI). The proposed system meets the critical demands of ultra-high-resolution assembly for complex, high-value SiPs, providing high flexibility and ease of operation for small-batch manufacturing. © 2025 IEEE.

关键词： System-in-package

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Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance

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IEEE Transactions on Haptics 2025年 PP卷 PP页

作者： Schafer, Niklas Seiler, Julian Latsch, Bastian Kupnik, Mario Beckerle, Philipp Technische Universität Darmstadt Measurement and Sensor Technology Group Darmstadt64283 Germany Friedrich-Alexander-Universität Erlangen-Nürnberg Chair of Autonomous Systems and Mechatronics Erlangen91052 Germany

Haptic motion guidance has the potential to advance assistive technologies that support humans in movement tasks. This study systematically evaluates wrist rotation guidance methods in a 2×2 repeated measures design using a wearable vibrotactile feedback device. In two tasks, we investigate the benefits of encoding the current target distance in the cue strength and conveying additional information about the target location by incorporating a tactile illusion known as phantom sensation. For a directional response task, we analyze reaction times and error rates, and for an angle targeting task, we examine rise time, settling time, and maximum overshoot of the normalized step responses. These objective criteria are complemented by subjective user ratings that assess the intuitiveness and ease of interpreting the vibrotactile cues. Feedback methods incorporating an adaptive amplitude perform significantly better in the angle targeting task compared to those using a constant amplitude. Additional improvements can be achieved by combining the adaptive amplitude with phantom sensations, including an average additional 24.3% reduction in rise time. Furthermore, more than half of the participants rate this combination as their favorite method. Altogether, the results underline the potential of incorporating phantom sensations in vibrotactile wrist guidance, thereby contributing to the advancement of wearable haptics in assistive applications. © 2025 IEEE.

关键词： Assistive technology

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Key factors affecting people's willingness to participate in water resource protection in the agricultural Ba River Basin – in the highlands of Vietnam

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Journal of Water and Climate Change 2025年第4期16卷 1225-1237页

作者： Anh, Nguyen Tuan Can, Le Duy Schmalz, Britta Luu, Tran Le Doctoral Training Program in Sustainable Urban Development Vietnamese-German University Vanh Dai 4 Quarter 4Binh Duong Province Ben Cat Viet Nam Nong Lam University of Ho Chi Minh City Gia Lai Campus Gia Lai Viet Nam Department of Mechatronics and Sensor Systems Technology Vietnamese-German University Vanh Dai 4 Quarter 4 Thoi Hoa Ward Binh Duong Province Ben Cat Viet Nam Engineering Hydrology and Water Management Technical University of Darmstadt Darmstadt Germany Master Program in Water Technology Reuse and Management Vietnamese-German University Vanh Dai 4 Quarter 4 Thoi Hoa Ward Binh Duong Province Ben Cat Viet Nam

Willingness to participate (WP) in community-based management depends on various factors such as a sense of community, perceptions, beliefs, and demographic characteristics. This study first evaluates the WP of locals (n = 100) in water management in the Ba River Basin – Highlands of Vietnam, where ethnic minority groups are living and working in the agricultural sector. The multivariable linear regression model is applied to explain WP through the factors including the sense of community (SC), dependance on river water (DW), perceptions of current water resource management (PW), level of income (IN), gender (GE), education levels (ED), and place of residence (PR). The results showed that the final regression model explains 67.9% of the variation in WP levels (R2 = 0.679, p 0.05) in this model. Sense of community and perceptions greatly influence community participation. To boost willingness, periodic training and campaigns are needed. Additionally, improving legal frameworks can encourage greater community involvement in water management programs. © 2025 The Authors.

关键词： Multiple linear regression

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Human-Centric Concept for a Reconfigurable Robotic System Enabling Low-Volume Assembly of Photonic and Quantum Modules

Human-Centric Concept for a Reconfigurable Robotic System En...

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IEEE/SICE International Symposium on System Integration

作者： Andreas Wicht Tobias Franke Alina Hahn Nils Håkansson Christian Kürbis Robert Smol Thomas Hulin Thomas Eiband Peter Lehner Maximilian Mühlbauer Korbinian Nottensteiner Richard Pietschmann Bernhard Thaler Diana Thaler Jürgen Bosse Ferdinand-Braun-Institut (FBH) Berlin Germany Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Centre for Tactile Internet with Human-in-the-Loop (CeTI) Germany Sensor Based Robotic Systems and Intelligent Assistance Systems Technical University of Munich Garching Germany Robo-Technology GmbH Puchheim Germany Thaler Engineering GmbH Eichenau Germany Coherent Munich GmbH & Co. KG Gilching Germany

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

This paper presents a novel concept for a reconfigurable robotic system specifically designed to meet the demands of hybrid integration for miniaturized photonic and quantum System-in-Packages (SiPs). The proposed solution introduces a distinctive approach to ultra-high-resolution, multi-telerobotic assembly and inspection. By integrating key Industry 5.0 principles, it establishes a human-centric control framework that minimizes both physical and cognitive stress while ensuring the human operator remains in full control at all *** robotic system features eight robots working simultaneously within a compact footprint of just 5×10 cm 2 . A comprehensive digital twin framework constitutes a central element of the robotic system. It encompasses the robotic workcell, the SiP under assembly, and the components to be integrated, ensuring precise adherence to design specifications. Key functionalities include automated path planning in a multi-robotic environment, collision avoidance in a densely packed workcell, and virtual fixtures to guide teleoperation, enhancing the operator’s control and interaction through advanced and intuitive human-machine interfaces (HMI). The proposed system meets the critical demands of ultra-high-resolution assembly for complex, high-value SiPs, providing high flexibility and ease of operation for small-batch manufacturing.

关键词： System-in-package Service robots Robot kinematics Fixtures System integration Digital twins Collision avoidance Fifth Industrial Revolution Assembly Photonics

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Flexible gustatory artificial synapses based on tribotronic organic electrochemical transistor

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Chemical Engineering Journal 2025年 514卷

作者： Li, Yongbo Zhao, Junqing Luo, Feiling Zeng, Jianhua Fan, Beibei Dang, Tianrui Zhou, Weilin Dai, Yiming Cao, Jie Zhang, Chi Beijing Key Laboratory of Micro-Nano Energy and Sensor Center for High-Entropy Energy and Systems Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of Sciences Beijing101400 China School of Nanoscience and Engineering University of Chinese Academy of Sciences Beijing100049 China School of Mechanical Engineering Guangxi University Nanning530004 China School of Mechanical and Electrical Engineering Guilin University of Electronic Technology Guilin541004 China Institute of Intelligent Flexible Mechatronics Jiangsu University Zhenjiang212013 China

Combining human gustatory perception with intelligent sensing devices to mimic the processing ability of the gustatory nervous system to perceive and recognize liquids is challenging. Here we develop a flexible gustatory artificial synapse based on tribotronic organic electrochemical transistors to simulate the recognizing process of humans drinking liquids. When liquid drops are added to the ion-gel layer on OECT acting as tongue salivary layer, the PEDOT:PSS channel conductance could be modulated by the triboelectric potential-driven the injection/desorption of ions into the semiconductor channel. This will lead to synaptic behaviors such as inhibitory postsynaptic currents (IPSC) and paired-pulse depression. Feature information such as synaptic gain and synaptic weight is extracted from the IPSC signal of the device by coupling with a convolutional neural network model. The gustatory recognition neural network achieved the accuracy of 95.7% for six different liquids. This work successfully simulates the complex ability of the human gustatory system to perceive and recognize liquid information, which will play a great role in intelligent sensing and food safety detection research. © 2025 Elsevier B.V.

关键词： Convolutional neural networks

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Design of compact upper exoskeleton: A new view of variable stiffness mechanism

Design of compact upper exoskeleton: A new view of variable ...

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2021 International Conference on System Science and Engineering, ICSSE 2021

作者： Thanh Tu, Phan Huu Phu, Do Xuan Van Chi, Le Vietnamese-German University Mechatronics and Sensor Systems Technology Binh Duong Viet Nam

ISBN: (纸本)9781665448482

In this study, a new view of variable stiffness mechanism for upper exoskeleton is presented. The proposed mechanism is designed following soft-model of Euler-Bernoulli beam. The beam model includes two links. The closed form equations of upper-limb motion are also derived. The Lagrangian approach is used for finding dynamic parameters of the system. Three modes of the upper limb exoskeleton are no payload, nominal payload, and double payload are analyzed. The simulation is carried out for these modes. The results of the simulation show that the analysis is good and can be expanded to design of a real system with the controlled modes. © 2021 IEEE.

关键词： Stiffness

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A New Optimal Control with Adjustable Gains for Nonlinear systems 3

A New Optimal Control with Adjustable Gains for Nonlinear Sy...

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3rd International Conference on Intelligent Autonomous systems, ICoIAS 2020

作者： Phu, Do Xuan Vietnamese-German University Binh Dept. of Mechatronics and Sensor Systems Technology Duong Viet Nam

ISBN: (纸本)9781728160788

In this study, a new optimal control law associated with the sliding mode control is developed on the basis of the Bolza-Meyer criterion. The salient characteristics of the controller proposed in this work is to have adjustable gains. This leads to the enhancement of control performances with the given cost function. After formulating the proposed optimal control law for nonlinear systems, two examples are simulated to validate some benefits of the proposed approach. It is demonstrated that the controller proposed in this work requires less power, but provides more stronger stability than conventional optimal controller. © 2020 IEEE.

关键词： Nonlinear systems

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A new adaptive hybrid pid controller for severe disturbance of bus suspension featuring smart damper 2nd

A new adaptive hybrid pid controller for severe disturbance ...

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2nd Annual International Conference on Material, Machines and Methods for Sustainable Development, MMMS 2020

作者： Do, Xuan Phu Department of Mechatronics and Sensor Systems Technology Vietnamese-German University Thu Dau Mot City Binh Duong Viet Nam

ISBN: (纸本)9783030696092

A new proposed control based on the modified Riccati-like equation is developed in this study. The interval type 2 fuzzy model is applied and embedded in the controller for control the uncertainty and also support for calculation progress of the proposed control. To design of the control, the first sliding surface based on the conventional model is established and its elements using for combine with the other elements of the Riccati-like equation. The robustness control is designed including three components of PID control and matrices of the traditional model of Riccati equation. Model of the proposed control is evaluated by applying to the bus suspension system. In the suspension, a magneto-rheological (MR in short) damper with its stiffness following the variation of applied current is used. The main input control is applied to change the value of the applied current. Belong to the magnitude of vibration, the current is also changed. The results of simulation of the proposed control are shown that the proposed control is better for control real system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

关键词： H-infinity technique Interval type 2 fuzzy control Hybrid control Magneto-rheological (MR) damper PID control Suspension control Vibration control

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Machine learning in design of optimization of mr actuators: A new view of solution 2nd

Machine learning in design of optimization of mr actuators: ...

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2nd Annual International Conference on Material, Machines and Methods for Sustainable Development, MMMS 2020

作者： Do, Xuan Phu Department of Mechatronics and Sensor Systems Technology Vietnamese-German University Thu Dau Mot city Binh Duong Viet Nam

ISBN: (纸本)9783030696092

In this study, a new progress of optimization of smart structure is carried out. The application of machine learning through neural networks brings a new view in design. The data using for optimization is collected from the simulation results, the real values of the closed structure with the proposed model. The combination of these data and the outstanding property of the neural networks helps improve the obtained variables, and then performance of the proposed structure is also improved. The proposed structure is built based on cantilever beam model. Smart material is covered outside of the beam based on magnetorheological elastomer (MRE in short). This model is used for evaluate the performance of the neural networks in optimization. Results of the progress show that this method can use in case of no specialize software, and satisfy the initial requirements. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

关键词： Actuator Block-up phenomenon Machine learning Magneto-rheological elastomer (MRE) Neural networks optimization Valve optimization

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Green Synthesis of RuO2 Electrode for Electrochemical Water Treatment

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Journal of Environmental Science and Engineering(B) 2016年第7期5卷 335-341页

作者： Tran Le Luu Department of Mechatronics & Sensor Systems Technology Vietnamese German University Binh Duong Province Vietnam

Nowadays, the electrochemical water treatments are very important methods used for the removal of organic and inorganic impurities from fresh, drinking water and wastewater. The method consists of carrying out the oxidation reaction at the anode where pollutants are transferred into non-toxic substances, by decomposing into simpler compounds or transferring into oxidation form. RuO2-based Dimensional Stable Anode （DSA） is a technologically good and important electrode for water treatment because of its unique characteristics such as high thermal and chemical stability, low resistivity and low overpotential. This paper reviews the methods for fabricating RuO2-based electrodes that can be used in electrochemical water treatment. Depending on the different fabrication routes, RuO2 electrodes will possess the different electro-catalytic property and stability.

关键词： Electrocatalytic DSA RuO2 water treatment.

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