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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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A molecular dynamics study on the tribological behavior of molybdenum disulfide with grain boundary defects during scratching processes

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Friction 2021年第5期9卷 1198-1212页

作者： Boyu WEI Ning KONG Jie ZHANG Hongbo LI Zhenjun HONG Hongtao ZHU Yuan ZHUANG Bo WANG School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China School of Mechanical Materials&Mechatronics EngineeringUniversity of WollongongWollongongNSW 2522Australia Beijing Institute of Spacecraft System Engineering Beijing 100094China

The effect of grain boundary(GB)defects on the tribological properties of MoS_(2) has been investigated by molecular dynamics(MD)*** GB defects‐containing MoS_(2) during scratching process shows a lower critical breaking load than that of indentation process,owing to the combined effect of pushing and interlocking actions between the tip and MoS_(2) *** wear resistance of MoS_(2) with GB defects is relevant to the misorientation angle due to the accumulation of long Mo-S bonds around the *** the adhesion strength between the MoS_(2) and substrate is an efficient way to improve the wear resistance of MoS_(2) with low‐angle GBs.

关键词： MoS_(2) grain boundary tribological behavior molecular dynamics misorientation angle

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Evaluation of surface integrity for ultra-precision machined fused silica surface based on atomic point-defect density

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Journal of Manufacturing Processes 2025年 149卷 917-930页

作者： Dinghuai Yang Linjie Zhao Jian Cheng Qi Liu Zixiao Zhang Hongqin Lei Zican Yang Henan Liu Jinghe Wang Yazhou Sun Mingjun Chen State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Centre for Precision Manufacturing DMEM University of Strathclyde Glasgow G1 1XJ UK Center for Precision Engineering School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The degree of plasticity and brittleness (DPB) of the material significantly affects the service performance of fused silica manufacturing surfaces in many frontier fields. However, there is still no effective method to quantitatively and non-destructively characterize their DPB, severely restricting the application of fused silica. Herein, atomic manufacturing-induced point defects on fused silica manufacturing surfaces were determined. Based on this, the evolution laws of various types of point defects with the DPB were discussed. Interestingly, it was found that the DPB is closely related to the densities of specific ODCII point defects, whose proportion ( k ) was chosen as the characteristic parameter to judge surface brittle fractures. Additionally, it was discovered that k sharply increased at the material brittle-plastic transition boundary, which was also verified based on the molecular dynamics simulation. Accordingly, whether k is >15 % was proposed as a criterion to judge whether the material has undergone brittle fractures during manufacturing processes. Furthermore, the significant increment of ODCII point defects was found to be the main cause of the obvious increment of k . Moreover, two causes of the significant increment of ODCII point defects were determined. Finally, the effectiveness of the judge criterion in six specific manufacturing cases was verified. Summarily, the study proposes a powerful nondestructive approach to judge the brittle fractures. It could quantitatively and non-destructively characterize the DPB during manufacturing processes. It is also applicable to the quantitative DPB characterization and the early warning detection of fracture breakdown for other brittle silicate materials.

关键词： Fused silica

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Video2Reward: Generating Reward Function from Videos for Legged Robot Behavior Learning 27

Video2Reward: Generating Reward Function from Videos for Leg...

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27th European Conference on Artificial Intelligence, ECAI 2024

作者： Zeng, Runhao Zhou, Dingjie Liang, Qiwei Liu, Junlin Li, Hui Huang, Changxin Li, Jianqiang Hu, Xiping Sun, Fuchun Artificial Intelligence Research Institute Shenzhen MSU-BIT University China College of Mechatronics and Control Engineering Shenzhen University China College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Department of Computer Science and Technology Tsinghua University China

ISBN: (纸本)9781643685489

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement learning, thereby replacing the need for manually designed rewards by experts. However, this approach, which relies on textual descriptions to define learning objectives, fails to achieve controllable and precise behavior learning with clear directionality. In this paper, we introduce a new video2reward method, which directly generates reward functions from videos depicting the behaviors to be mimicked and learned. Specifically, we first process videos containing the target behaviors, converting the motion information of individuals in the videos into keypoint trajectories represented as coordinates through a video2text transforming module. These trajectories are then fed into an LLM to generate the reward function, which in turn is used to train the policy. To enhance the quality of the reward function, we develop a video-assisted iterative reward refinement scheme that visually assesses the learned behaviors and provides textual feedback to the LLM. This feedback guides the LLM to continually refine the reward function, ultimately facilitating more efficient behavior learning. Experimental results on tasks involving bipedal and quadrupedal robot motion control demonstrate that our method surpasses the performance of state-of-the-art LLM-based reward generation methods by over 37.6% in terms of human normalized score. More importantly, by switching video inputs, we find our method can rapidly learn diverse motion behaviors such as walking and running. © 2024 The Authors.

关键词： Robots

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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Frontiers of Mechanical engineering 2021年第3期16卷 435-450页

作者： Boyu MA Zongwu XIE Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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A Harmonic Suppression Method of H6 Topology Single Phase Inverter 7

A Harmonic Suppression Method of H6 Topology Single Phase In...

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7th Asia Conference on Power and Electrical engineering, ACPEE 2022

作者： Liu, Cong Wang, Yun Shanghai Aircraft Design and Research Institute Electrical System Dept. Shanghai China Shenzhen University College of Mechatronics and Control Engineering Shenzhen China

ISBN: (纸本)9781665418195

The single phase H6 topology inverter has the advantages of simple structure, small common-mode leakage current, low current distortion rate and high security, which is very suitable for small distributed photovoltaic power generation system. In terms of suppressing the power grid harmonics of H6 topology photovoltaic inverter, there have been many studies both at home and abroad. For example, traditional PI control has simple algorithm and fast tracking speed, but poor steady-state performance. Repetitive control has good steady-state performance, but the tracking has one cycle lag. In this paper, the harmonic suppression design of voltage controller with notch filter is introduced. Moreover, the simulation and experimental test of designed controller is provided to validate the voltage controller with notch filter for H6 topology inverter has obvious effect on harmonic suppression. © 2022 IEEE.

关键词： Topology

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Modelling Potential Vegetation Index for Paddy Field Mapping in Malaysia Using Satellite Imagery

Modelling Potential Vegetation Index for Paddy Field Mapping...

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International Conference on mechatronics (ICOM)

作者： Ahmad Bashir Ahmad Fauzi Azhar Mohd Ibrahim Mazbahur Rahman Khan Muhammad Imran Mardzuki Department of Mechatronics Engineering Advanced Multi Agent System Lab International Islamic University Malaysia Kuala Lampur Malaysia

ISBN: (数字)9798350349788

ISBN: (纸本)9798350349795

Agriculture is one of the most important sectors to humanity that provides many materials such as food, fibers, fuel and raw materials. Nowadays, this sector needs to consider many aspects like, the expanding of human population that will never end and must be fulfilled in the context of environmental sustain ability and climate change, while maintaining the viability of agricultural activities to ensure both livelihoods and subsistence. Therefore, this study proposes the application of remote sensing which can advance agricultural practices by delivering valuable information for managing paddy rice plantations. It focuses on essential pre-processing steps, including atmospheric correction and noise reduction. It concentrated on the fundamental pre-processing stages, such as atmospheric correction and noise reduction. To minimize the quantity of the image data and enable it to concentrate more on the area of interest, the image also must go through a subset process. Processing would become smoother after the subset or smaller image than it would have been before the image was filtered to provide data with less noise. Subsequently, the image underwent the crucial band math step for this investigation. The proposed study showed that the reference image has a kappa coefficient of 0.8764 and an overall accuracy of 90.6250% when compared to the NDVI image. The reference image's kappa coefficient is 0.9502 and its overall accuracy is 96.2500% when compared to the kNDVI. The overall accuracy and kappa coefficient for the band ratio combo image are 95.2350% and 0.9112, respectively. With the use of an aspect ratio-based vegetation index and a quick study of the paddy plantation, it is feasible to derive valuable information from the optimal ratio vegetation index for paddy plants. Furthermore, this research identified the best possible ratio for the vegetation index to represent the paddy plants compared to other plants.

关键词： Accuracy Normalized difference vegetation index Atmospheric modeling Noise reduction Vegetation mapping Plantations Raw materials

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MPPT Algorithms for Wind Turbines: Review and Comparison 29

MPPT Algorithms for Wind Turbines: Review and Comparison

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29th International Workshop on Electric Drives: Advances in Power Electronics for Electric Drives, IWED 2022

作者： Aleksandr, Lukin Demidova, Galina Alassaf, Omar Lukichev, Dmitry Rassolkin, Anton Vaimann, Toomas ITMO University Faculty of Control System and Robotics Saint-Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia

ISBN: (纸本)9781665467865

Wind turbines play an important role in energy generation using renewable sources. The wind is very changeable, and such turbines require techniques for finding and tracking maximum power density. The presented work includes an overview of maximum power point tracking techniques applicable to small-size wind turbines based on the Magnus effect. An overview of existing algorithms is presented. Overviewed algorithms are assessed using a simulation in MATLAB with a model of the experimental Magnus effect wind turbine. © 2022 IEEE.

关键词： Wind power

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Modeling and Simulation of Human Behaviors During Vertical Emergency Evacuation via Intelligent Fuzzy Agents

Modeling and Simulation of Human Behaviors During Vertical E...

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International Conference on mechatronics (ICOM)

作者： Sami Hadj Sahraoui Azhar Mohd Ibrahim Odai Saeed Baqalaql Suaib Al Mahmud Department of Mechatronics Engineering Advanced Multi Agent System Lab International Islamic University Malaysia Kuala Lampur Malaysia

ISBN: (数字)9798350349788

ISBN: (纸本)9798350349795

Effective emergency evacuation planning is crucial for minimizing the impact of disasters on individuals and communities. To improve the efficiency and safety of vertical emergency evacuations, such as those from high-rise buildings or offshore platforms, it is important to understand and model the key behaviors that affect the vertical evacuation process. This research aims to use fuzzy logic and Unity to model and simulate human behaviors during vertical emergency evacuations. For the evacuation modeling two approaches such as with fuzzy logic and without fuzzy logic have been tested. The results show that the intelligent fuzzy agents have greater tendency to choose elevators as exits than stairs. It was also depicted that integration of fuzzy logic in agents augmented the evacuation performance by improving the evacuation time by 17.59%.

关键词： Fuzzy logic mechatronics Offshore installations Disasters Buildings Stairs Elevators

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