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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Huang, Yijie Zhu, Shuangxi Chen, Cai Kang, Yong Yang, Lei Chen, Haiyan Jin, Zhaosheng Huazhong University of Science and Technology School of Electrical and Electronic Engineering Wuhan China Beijing Institute of Precision Mechatronics and Controls BeiJing China Aecc Aero Engine Control System Institute China

ISBN: (纸本)9798350316445

This paper proposes a switching transient prediction method based on the analytical model of switching characteristics, which is suitable for various wide band gap devices, including e-mode GaN, cascode GaN and SiC devices. The proposed model accounts for the effects of crosstalk and temperature. Double pulse test experiments are conducted to test the switching characteristics of wide band gap devices at 25 and 100 , and the accuracy of the analytical model is validated by comparing waveforms. The results demonstrate the ability of the proposed method to predict switching transients of different devices at different temperatures accurately, even in the presence of crosstalk. © 2023 IEEE.

关键词： crosstalk switching model wide band gap device

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A Time-Optimal Trajectory Planning Algorithm for Six-Degree-of-Freedom Robots Based on NURBS Curves

A Time-Optimal Trajectory Planning Algorithm for Six-Degree-...

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International Conference on Control, Automation and Robotics (ICCAR)

作者： Hao Hong Minxiu Kong Jiawang Wang Qianjiang Wang School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In this paper, we research and analyse the practical needs of robotic arm to complete the complex path planning of robotic arm and smooth transition of multi-attitude in the shortest time under the premise of satisfying the dynamics constraints, and put forward the time-optimal trajectory planning based on NURBS curves and multi-attitude interpolation algorithm based on quaternion with NURBS curves. Using the complex nature of quaternions, the quaternions are converted into three-dimensional space points for curve interpolation, and finally converted back to quaternions to achieve the second-order continuity of multi-gesture interpolation; a time-optimal trajectory planning algorithm based on NURBS curves is designed, which discretises the curves, and fits the NURBS curves using the discrete points. At the same time, the optimal rate solution under all the constraints is calculated point by point according to the discrete points on the motion path, and the optimal velocity curve satisfying the dynamics constraints is obtained, so as to achieve the time-optimal trajectory planning. Finally, the feasibility of the designed trajectory planning algorithm is verified in the simulation software and experimental platform, and it is proved that the algorithm can effectively improve the running speed by at least 30%.

关键词： Surface reconstruction Interpolation Trajectory planning Service robots Quaternions Heuristic algorithms Software algorithms

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K-Nearest Neighbor Method Approach in Implementing Automatic Feeding Efficiency Based on the Internet of Things in Broiler Chickens 9

K-Nearest Neighbor Method Approach in Implementing Automatic...

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9th IEEE Information Technology International Seminar, ITIS 2023

作者： Sukri, Hanifudin Adiputra, Firmansyah Basuki, Ari Syamsuddin, Ahmad Ali Aziz, Abdul University of Trunojoyo Madura Department of Electrical Engineering Bangkalan Indonesia University of Trunojoyo Madura Department of Information System Bangkalan Indonesia University of Trunojoyo Madura Department of Industrial Engineering Bangkalan Indonesia University of Trunojoyo Madura Department of Mechatronics Engineering Bangkalan Indonesia

ISBN: (纸本)9798350306835

Implementation of the Internet of Things (IoT) for Automatic Broiler Chicken Feeding Efficiency Using the K-Nearest Neighbor Method is one approach that can be used to optimize the feeding system on broiler chicken farms against the background that there are still many breeders who still provide conventional feed which often consumes time-consuming and inefficient. This research aims to help chicken farmers save time and efficiency in feeding and minimize stress levels in chickens which can result in chicken death. The system can run well as proven by the sensors functioning in measuring temperature, humidity and distance. The results of testing on the application being built include temperature, humidity and distance features of 30°C, 57% and 80, respectively. © 2023 IEEE.

关键词： Internet of things

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A WLS-Based Step-by-Step Identification Method for Industrial Robot Dynamics Parameters

A WLS-Based Step-by-Step Identification Method for Industria...

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International Conference on Control, Automation and Robotics (ICCAR)

作者： Qianjiang Wang Mingxiu Kong Chuancheng Bian Hao Hong State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In order to improve the accuracy of robot dynamics parameter identification, this paper designs a step-by-step identification method based on weighted least squares. The robot dynamics model is first linearized to obtain the minimum parameter set. Subsequently, the friction model is built separately and experiments are designed to recognize the joint friction parameters first. Based on this, the excitation trajectory of finite term Fourier series is designed and optimized and data are collected. The joint moments obtained from the difference between the overall experimentally collected moments and the calculated friction moments are used to obtain the complete robot dynamics parameters based on weighted least squares identification. Comparison of the designed overall identification experiments shows that the total moment residuals of this method are reduced by 35.52% compared with the one-time identification method, which proves the effectiveness of this method.

关键词： Parameter estimation Accuracy Automation Service robots Friction Industrial robots Kinetic theory

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Tool geometry design and microstructure fabrication by micro flat-end milling on soft-brittle LiF surface

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Journal of Manufacturing Processes 2025年 149卷 868-877页

作者： Lei, Hongqin Zhang, Zixiao Chen, Liang Guo, Yanqiu Cheng, Jian Zhao, Linjie Chen, Mingjun Yang, Dinghuai Chen, Guang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The LiF crystal with the three-layer step microstructure is vital in the laser-driven quasi-isentropic compression experiment. However, due to the high chemical activity and easy deliquescence of soft-brittle LiF crystals, brittle fracture can easily occur during the microstructure preparation achieved by the micro-milling technology. Therefore, it is essential to determine the optimal tool geometry and preferred processing parameters to achieve an ultra-smooth surface. A finite element (FE) model of the tool geometry optimization for LiF crystals is constructed based on dimensional analysis and the stress-strain curve obtained by nanoindentation tests. Micro-slot and microstructure preparation experiments are conducted to verify the cutting performance of the manufactured cutters with optimal geometry. It is found that the optimal negative rake/relief angles of side- and bottom edges are determined to be −35°/9° and − 25°/20° for tool I from the perspectives of the tensile stress, cutting force, and tool surface stress (σ1), respectively. For tool II, optimal negative rake/relief angles of the side- and bottom edges are −60°/15° and − 55°/20°, respectively. The σ1 of tool II is 110.3 MPa, which is 0.74 times and 0.95 times that of tool I (149 MPa) and the CBN tool (116.1 MPa), respectively, indicating that tool II has the most substantial wear resistance under the same processing parameters. Besides, compared with other tool structures, the cutting force and tensile stress are the smallest when using the tool II. The small stress can make the milling process stable, and the vibration and impact generated by the tool are smaller, which helps to make the micro-milled surface smooth. Therefore, the average surface roughness processed by tool II is 0.70 times and 0.47 times that of the CBN tool and tool I, respectively, further illustrating the best cutting performance of tool II. Furthermore, for tool II, the optimal spindle speed and feed per tooth are 40,000 r/min a

关键词： Cutting performance Flat-end milling LiF crystals Microstructure fabrication Tool geometry

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Design of a High Efficiency and High Power-Density GaN-Based Microinverter

Design of a High Efficiency and High Power-Density GaN-Based...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Xu, Wenzhe Zhu, Shuangxi Hu, Zhiyi Liu, Teng Du, Mengyao Wen, Jin Chen, Cai Kang, Yong Chen, Haiyan Jin, Zhaosheng Yang, Lei Huazhong University of Science and Technology School of Electrical and Electronic Engineering Wuhan China Aecc Aero Engine Control System Institute Wuxi China Beijing Institute of Precision Mechatronics and Controls Beijing China

ISBN: (纸本)9798350316445

Gallium-Nitride (GaN)-based microinverters play a crucial role in the next generation of highly integrated distributed photovoltaic (PV) systems. The objective of this paper is to propose an effective and practical design process for a 400W natural-cooled GaN-based microinverter with both high efficiency and high power-density. Independent optimizing parameters are proposed, and loss models of key components are established for efficiency optimization. To restrict the selection of optimized parameters, constraints are proposed. Loss calculations are performed, and the results are used to determine the optimal parameters. Accordingly, a prototype is built and experimentally verified, exhibiting a boxed power density of 106 W/in3 and a full load efficiency of 97.08%. © 2023 IEEE.

关键词： GaN High Electron Mobility Transistor (HEMT) high power-density Microinverter Power Decoupling zero voltage switching (ZVS)

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Thermal Performance Comparisons of Different Spacer Structures in Double-Sided Cooling Power Modules

Thermal Performance Comparisons of Different Spacer Structur...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Yan, Yiyang Liu, Baihan Zhang, Yifan Liu, Jiaxin Chen, Cai Kang, Yong Chen, Haiyan Jin, Zhaosheng Yang, Lei Huazhong University of Science and Technology School of Electrical and Electronic Engineering Wuhan China Aecc Aero Engine Control System Institute Beijing China Beijing Institute of Precision Mechatronics and Controls Beijing China

ISBN: (纸本)9798350316445

The thermal performance of double-sided cooling (DSC) power module is influenced by different spacer structures. In this paper, thermal performance improvement principles of different kinds of spacer structures are described qualitatively and thermal performance of these structures are analyzed by finite element method (FEM) quantitatively. Both Expanding spacer area and connecting low temperature areas to high-temperature areas by thermal conductor are effective methods to improve overall thermal performance. Structure with spacer under the bare die have the best thermal performance among these structures due to larger heat conduction area. Furtherly, transient dual interface method is utilized to measure the thermal resistance of different structures. The body diode electrical characteristic is chosen as the temperature sensitive electrical parameter. © 2023 IEEE.

关键词： double-sided cooling power module spacer thermal performance

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A Stacked SiC Half-Bridge Power Module with Comprehensive Optimization of Parasitic Capacitance and Parasitic Inductance

A Stacked SiC Half-Bridge Power Module with Comprehensive Op...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Zhang, Yifan Xie, Yue Yan, Yiyang Liu, Baihan Zeng, Chenhang Liu, Sijia Liu, Jiaxin Chen, Cai Kang, Yong Yang, Lei Chen, Haiyan Jin, Zhaosheng Huazhong University of Science and Technology School of Electrical and Electronic Engineering Wuhan China Beijing Institute of Precision Mechatronics and Controls Beijing China Aecc Aero Engine Control System Institute Jiangsu China

ISBN: (纸本)9798350316445

This article introduces a 1200V/36A SiC half-bridge power module with ultra-low parasitic capacitance and low inductance, maintaining excellent switching performance and low conducted EMI. According to the comprehensive comparison results of different power module's packaging structures, the structure of multi-stacked DBC module is chosen and improved. The parasitic capacitance of the presented module is reduced to less than 1pF by using the shielding theory. The parasitic loop inductance is reduced to 4.5nH by mutual inductance cancellation principle by optimizing the structure and layout of the power module. Compared with the pre-improved module, the experimental results show that the improved multi-stacked DBC structure greatly reduces the switching time, overvoltage, and the common mode current. © 2023 IEEE.

关键词： EMI packaging structure parasitic capacitance parasitic inductance Power Module switching performance

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Conceptual Mechatronic Design of Ankle-foot Exoskeleton system for Assisted Rehabilitation of Pediatric Patients with Spastic Cerebral Palsy

Conceptual Mechatronic Design of Ankle-foot Exoskeleton Syst...

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2023 IEEE MIT Undergraduate Research Technology Conference, URTC 2023

作者： Sandoval, Carol Martel, Cesar Palomares, Ricardo Arroyo, Jeanette Borja Manrique, Margarita F. Murillo Cornejo, Jose Professional School of Mechatronics Engineering Ricardo Palma University Lima Peru Ricardo Palma University Lima Peru Rehabilitation Service for Locomotor and Cardiovascular System Edgardo Rebagliati Martins Hospital Lima Peru

ISBN: (纸本)9798350308600

For this design, average anthropometric data specified by the National Institute of Health (NIH) were used for an 11-year-old child. Regarding the elements and materials, two motors with a reduction ratio of 500:1 were used, along with a control module that includes a rotary encoder for angle configuration, two Bowden cables for motion transmission, and an ankle-foot orthosis with variable angle adjustment. The results obtained for the motor ratio were a torque of 11.60 N.m. A Von Mises stress analysis was conducted on the support components made of ABS, the AISI 304 stainless steel pulley, and the PETG casing. Maximum stresses of 0.52MPa, 34.34 MPa and 0.95MPa were recorded, respectively. Finally, the ankle-foot working angle obtained for palmar flexion movement was 30°, and 20° for dorsiflexion. As future work, the exoskeleton will be implemented in a patient with spastic cerebral palsy, validating its impact on physical rehabilitation through gait analysis. © 2023 IEEE.

关键词： Patient rehabilitation

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An Explainable Artificial Intelligence Based Model Predictive Control Approach

An Explainable Artificial Intelligence Based Model Predictiv...

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International Conference on Control, mechatronics and Automation (ICCMA)

作者： Shekhar Mahmud Mustafa Kutlu System Engineering Department Military Technological College Muscat Oman Mechatronics Engineering Department Sakarya University of Applied Sciences Sakarya Turkey

ISBN: (数字)9798331517519

ISBN: (纸本)9798331517526

This paper presents an innovative implementation of Explainable Artificial Intelligence techniques with Model Predictive Control to enhance the transparency and interpretability of its decisions also improve its performance. The traditional black-box nature of MPC has limited its adoption in safety-critical applications where trust and understanding of automated control systems are essential. To address this challenge, XAI methods were incorporated, specifically SHapley Additive exPlanations into the MPC framework, thereby providing interpretable and clear explanations for control actions. The proposed XAI-enhanced MPC framework is evaluated through chemical system simulations. The results demonstrate that the integration of XAI techniques not only improves the interpretability of control decisions but also maintains, and in some cases enhances, the overall performance of the MPC system. Key performance metrics, such as tracking error, control effort, and constraint violations, are analysed to validate the effectiveness of the approach. The findings suggest that XAI-enhanced MPC is particularly beneficial in applications where transparency is crucial, offering a promising avenue for the broader adoption of MPC in complex, real-world systems. Future work will focus on real-time implementation and further optimization of the computational efficiency of the proposed framework.

关键词： Explainable AI Closed box Predictive models Control systems Robustness Real-time systems Computational efficiency Complexity theory systems simulation Predictive control

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