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Shape estimation for a TPU-based multi-material 3D printed soft pneumatic actuator using deep learning models

Science China(Technological Sciences) 2024年第5期67卷 1470-1481页

作者： HU Yu TANG Wei QU Yang XU HuXiu KRAMARENKO Yu.Elena ZOU Jun State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310058China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China Institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow119991Russia Enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow117393Russia

Real-time proprioception presents a significant challenge for soft robots due to their infinite degrees of freedom and intrinsic *** studies mostly focused on specific sensors and *** is still a lack of generalizable technologies for integrating soft sensing elements into soft actuators and mapping sensor signals to proprioception *** tackle this problem,we employed multi-material 3D printing technology to fabricate sensorized soft-bending actuators(SBAs)using plain and conductive thermoplastic polyurethane(TPU)*** designed various geometric shapes for the sensors and investigated their strain-resistive performance during *** address the nonlinear time-variant behavior of the sensors during dynamic modeling,we adopted a data-driven approach using different deep neural networks to learn the relationship between sensor signals and system states.A series of experiments in various actuation scenarios were conducted,and the results demonstrated the effectiveness of this *** sensing and shape prediction steps can run in real-time at a frequency of50 Hz on a consumer-level ***,a method is proposed to enhance the robustness of the learning models using data augmentation to handle unexpected sensor *** the methods are efficient,not only for in-plane 2D shape estimation but also for out-of-plane 3D shape *** aim of this study is to introduce a methodology for the proprioception of soft pneumatic actuators,including manufacturing and sensing modeling,that can be generalized to other soft robots.

关键词： shape estimation soft sensors and actuators 3D printing deep learning in robotics

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Sustainable and untethered soft robots created using printable and recyclable ferromagnetic fibers

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Bio-Design and Manufacturing 2024年第6期7卷 926-937页

作者： Wei Tang Yidan Gao Zeyu Dong Dong Han Vadim V.Gorodov Elena Y.Kramarenko Jun Zou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China School of Mechanical Engineering Zhejiang UniversityHangzhou 310058China Institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou 310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow 119991Russia Enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow 117393Russia

Integrated printing of magnetic soft robots with complex structures using recyclable materials to achieve sustainability of the soft robots remains a persistent ***,we propose a kind of ferromagnetic fibers that can be used to print soft robots with complex *** ferromagnetic fibers are recyclable and can make soft robots *** ferromagnetic fibers based on thermoplastic polyurethane(TPU)/NdFeB hybrid particles are extruded by an *** use a desktop three-dimensional(3D)printer to demonstrate the feasibility of printing two-dimensional(2D)and complex 3D soft *** printed soft robots can be recycled and reprinted into new robots once their tasks are ***,these robots show almost no difference in actuation capability compared to prior versions and have new *** applications include lifting,grasping,and moving objects,and these functions can be operated untethered *** addition,the locomotion of the magnetic soft robot in a human stomach model shows the prospect of medical ***,these fully recyclable ferromagnetic fibers pave the way for printing and reprinting sustainable soft robots while also effectively reducing e-waste and robotics waste materials,which is important for resource conservation and environmental protection.

关键词： Ferromagnetic fibers Sustainable soft robots Three-dimensional printing Recyclable soft materials Medical applications

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Evaluating the moderated-mediation effects of switchingcosts in the link between social capital and NPD performance

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Journal of Management Science and engineering 2024年第2期9卷 161-176页

作者： Yi Li Nelson Oly Ndubisi Gang Li Jinpeng Xu School of Economics&Management Xidian UniversityXi'anChina College of Business&Economics Qatar UniversityDohaQatar School of Management Xi'an Jiao Tong UniversityXi'anChina The State Key Lab for Manufacturing Systems Engineering Xi'anChina The Key Laboratory of the Ministry of Education for Process Control and Efficiency Projects Xi'anChina

In this study,we explore the causes and performance outcomes of switching costs in the context of new product development(NPD)from both the supplier and customer perspectives,and discuss the role that switching costs play as moderators and mediators in the relationship between social capital and NPD *** on data from 214 Chinese manufacturers,we employ the structural equation model to test our conceptual model and *** results indicate that relationship quality and customer involvement positively and negatively affect switching costs,respectively,and that switching costs negatively affect NPD *** costs mediate and moderate the relationship between social capital and NPD ***,switching costs significantly and positively moderate the relationship between relationship quality and NPD *** the other hand,switching costs insignificantly and negatively moderate the relationship between customer involvement and NPD *** theoretical and managerial implications of the findings are discussed.

关键词： Social capital New product development(NPD) Performance Switching costs Moderated mediation analysis China

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Microinterfacial technology enhancing mass transfer in chemical engineering

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Green Energy & Environment 2021年第4期6卷 453-454页

作者： Suojiang Zhang Beijing Key Laboratory of Ionic Liquids Clean Process State Key Laboratory of Multiphase Complex SystemsInstitute of Process EngineeringChinese Academy of SciencesBeijing 100190China

The microbubble and microinterface play key roles in the development and progress of the technology in the field of chemical engineering,which has attracted broad attention from the scientific and industrial ***,Zhang et *** a book about microinterfacial mass transfer intensification technology,where they systematically introduced scientific essence,reaction mechanism,equipment structure,and influence law of multiphase reaction process strengthened by microinterface.I believe this book can promote the technological innovation of microbubble-related processes,and also the development of the green chemical industry!

关键词： microinterface microbubble mass transfer green chemical engineering

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Towards Usability of process Models for Co-Simulation-Based Operability Analysis of Modular Electrolysis Plants

Towards Usability of Process Models for Co-Simulation-Based ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Michael Mock Isabell Viedt Leon Urbas Chair of Process Control Systems TUD Dresden University of Technology Dresden Germany Process to Order Lab TUD Dresden University of Technology Dresden Germany

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

The increasing need for simulation-based analysis along the life-cycle of modern process plants introduces new requirements and limitations in the development of simulation models. In the context of modular plants, according to VDI 2776, the distributed knowledge arises as a challenge in enabling system simulations. Co-simulation can enable a provider-independent simulation of chemical processes, but the co-simulation interfaces need further standardization to be efficiently integrated in the modular plant life-cycle. This paper works toward the usability of process models for co-simulation to support standardization efforts and make simulation models more usable and re-usable. To increase the usability of co-simulation in the process industry by working towards a common standard, two co-simulation standards, namely the Functional Mock-Up Interface and the CAPE-OPEN standard, are semantically linked. A use-case for a co-simulation-based operability analysis of a heterogeneous electrolysis plant is presented and necessary model requirements and interfaces are defined. Criteria to assess the compatibility of the model interfaces as a first step of a usability analysis are collected and presented. With the available requirements and interface specifications Functional Mock-Up Units can be created and the shown use-case can be carried out. Challenges regarding the potential integration of varying thermophysical properties have been pointed out and methods to overcome these challenges in the context of usability have been outlined.

关键词： Industries Analytical models Electric potential process control systems simulation Chemical processes Electrochemical processes Usability Standards Manufacturing automation

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STUDY OF PARTICLE DYNAMICS THROUGH A KAPLAN TURBINE 15

STUDY OF PARTICLE DYNAMICS THROUGH A KAPLAN TURBINE

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15th European Conference on Turbomachinery Fluid Dynamics and Thermodynamics 2023, ETC 2023

作者： Ghenaiet, A. Laboratory of Energy Conversion Systems Faculty of Mechanical Engineering and Process Engineering University of Science and Technology Houari Boumediene BP32 El-Alia Bab-Ezzouar16111 Algeria

Particle-laden flows cause erosion of turbomachinery and the outcome is a gradual damage until the breakdown of blades. This paper investigates the dynamics of erodent particles suspended by water flow and the development of erosion wear through a prototype of a Kaplan turbine. The computation of sand particle trajectory used an in-house particle tracking code which considers the turbulence effect, random particle size and shape and restitution factors which are described statistically. The positions of particles are tracked along each component and transferred locally across the stationary/rotating interface. The particles number and random sizes and their release positions followed the particle concentration and size distribution. The highly twisted rotor blades with a rounded tip resulted in leakage and secondary flows and thus a complex fluid-particle interaction. The particle dynamics, induced impacts and erosion rates and their development is shown to depend upon the flow field, particle size and concentration. The blades are eroded, mainly at the fore part, and the mass rate of erosion reached 3.784×10-3 mg/hr compared with the vanes equals to 1.289×10-4 mg/hr. The revealed regions of marked erosion densities provide the necessary information to limit erosion wear development. Copyright © by the Authors.

关键词： Erosion

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The role of diffusion in the nucleation of calcium carbonate

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Chinese Journal of Chemical engineering 2022年第3期35卷 275-281页

作者： Xiangyu Dou Haoyang Huang Yongsheng Han State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Chemical Engineering University of Chinese Academy of SciencesBeijing 100049China College of Chemistry and Molecular Engineering Peking UniversityBeijing 100871China

Nucleation widely exists in nature,from cloud formation to haze *** classical nucleation theory(CNT)was created to describe the nucleation process,but it fails to predict many experimental phenomena due to the short consideration of nanoscale phenomena and macroscale *** the attachment and detachment of monomers are considered in the developed model of nucleation,the diffusion of chemicals in the bulk is not valued as supersaturation in the nucleation process so *** we employ simulation and experimental approaches to investigate how the diffusion of ions affects the nucleation of calcium *** diffusion of ions is regulated by the viscosity of solvents and the sonication imposed on the *** is found that the nucleation rates increased exponentially with the diffusion coefficient of ions,which is beyond the prediction of *** abnormal finding might be ascribed to the involvement of cluster aggregation in the nucleation of calcium *** study highlights the significance of chemical diffusion in the nucleation process,which may help to revise the nucleation theory and develop solutions for the rational synthesis of materials,as well as for the control of air pollution.

关键词： Calcium carbonate Nucleation Simulation Diffusion Dynamics

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E-Nose-Based Domain-Generalization Recognition of Ignitable Liquids

E-Nose-Based Domain-Generalization Recognition of Ignitable ...

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第43届中国控制会议

作者： Tian-Shu Song Zhen-Peng Chen Hui-Rang Hou Hong-Yue Li Qing-Hao Meng Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Detecting ignitable liquids(ILs) at the scene of a fire is crucial for fire investigation. The electronic nose(e-nose) is crucial for detecting ILs due to its affordability and rapid response time. process limitations and changes in environmental conditions can cause variations in the reactions of multiple e-noses with the same sensor array to the same input gas. This can significantly reduce the accuracy of identifying ILs when deploying a model trained on one e-nose to other e-noses. In order to tackle the issue of cross-platform identification of ILs using e-noses, we developed a feature mute gated network(FMG-Net).This network is capable of maintaining consistency in the shared components of different e-noses at the low-level feature level while effectively muting the distinct low-level features. FMG-Net is comprised of a main network and multiple branch networks that are specific to different domains. Initially, a subsidiary domain-specific convolutional neural network(SDS-CNN) is trained to learn the network parameters on various e-nose platforms with known labels. Additionally, the backbone network generates low-level features of the e-nose responses. Furthermore, the SDS-CNN incorporates random input of low-level features and generates a mask using the gradient. This mask is then used to explicitly remove the non-overlapping parts of the low-level features. At last, the low-level features are sent back to the backbone network for further training once the non-overlapping parts have been removed. Experiments were conducted to identify four types of ILs(diesel, gasoline, ethanol, and thinner) using five self-made e-nose platforms with identical sensor arrays. The results indicated that the proposed FMG-Net consistently outperforms other domain-generalization algorithms in terms of recognition accuracy and parameter sizes. FMG-Net has the ability to detect volatile gases in ILs using an e-nose, even without the need for a dataset.

关键词： Electronic Nose Fire Investigation Ignitable Liquids Convolutional Neural Network Cross Platform

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AMG: A Depression Detection Model with Autoencoder and Multi-Head Graph Convolutional Network 42

AMG: A Depression Detection Model with Autoencoder and Multi...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Han-Guang Meng, Qing-Hao Jin, Li-Cheng Wang, Jian-Bang Hou, Hui-Rang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Process Measurement and Control Tianjin300072 China China Southern Power Grid Company Limited Guangzhou510623 China

ISBN: (纸本)9789887581543

Depression is a common chronic mental disorder characterized by high prevalence, recurrence, suicide rate, disability rate and heavy disease burden. Depression assessment based on questionnaires is subjective, therefore, a novel framework to is hereby designed to detect depression automatically and obj ectively. The framework first utilizes a two-way autoencoder to extract the hidden features from the original differential entropy features. The new features are used to generate the channel connectivity graph, using the multi-head attention mechanism. Next, the new features and graphs are input into the graph convolutional network (GCN) to aggregate spatial information. Finally, the output from GCN is passed to a fully connected layer and a soft layer to obtain the predicted label. Experiments are performed on Multimodal Open Dataset for Mental-disorder Analysis dataset. A final accuracy of 88.68% and a cross entropy loss of 2.4532 are obtained, when using ten-fold cross validation, outperforming other traditional machine learning methods including SVM, KNN, decision tree. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Decision trees

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Lessons learned, best practices, and potential next steps (workshop insights)

Lessons learned, best practices, and potential next steps (w...

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作者： Langer, Lissy Weibezahn, Jens Giehl, Johannes Felipe Neumann, Fabian Göke, Leonard Kountouris, Ioannis Münster, Marie Thorendahl, Asger Vestergaard Hartvig, Martin Eleftheriou, Dimitrios Bramstoft, Rasmus Technical University of Denmark Energy Economics and Modeling Section Denmark Denmark Technische Universität Berlin Department of Digital Transformation in Energy Systems Germany ETH Zürich Department of Energy & Process Systems Engineering Switzerland Energinet Denmark Ea Energy Analyses Denmark

This short communication is based on a workshop on hydrogen network modeling in macro-energy system models discussing the whole hydrogen value chain: production, transmission, storage, and use, as well as the related issues of demand flexibility, alternative fuels of biological origin, and the integration with district heating. It was organized by the Danish research network ENERforsk with leading modelers from academia, industry, and transmission system operators. The workshop collected (1) lessons learned, (2) best practices, and (3) potential next steps. We conclude that no-regret pathways need to consider evolving hydrogen regulation while balancing social aspects with interests driven by green industrial policy. Important and uncertain issues include the repurposing of natural gas networks, considering hydrogen pipeline standards and existing contracts, or the disposal of brine water. As more demand sectors and carbonaceous fuels are included in the models, carbon management, sustainable biomass, and carbon networks become more important. Collecting and incorporating lessons learned, best practices, and potential next steps will help the modeling community and policymakers to develop sound policies. © 2024 The Authors

关键词： Carbon

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