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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Parmida Jabari Zeynab Ezzati Babi Hamed Ghasemi Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This study investigates the integration of artificial intelligence in robotics assembly systems, focusing on enhancing flexibility and adaptability in dynamic environments where the robot might not be given the precise objects of the intended construction. To this end, a developed approach is presented which is based on object detection, similarity assessment, and sequence planning for autonomous construction tasks. The system utilizes a YOLOv8 model for object detection and a Siamese network architecture, which facilitates object replacement. It processes two input images, one representing the target structure and another showing the available objects, extracting attributes such as bounding boxes, centers, and orientations. An exact object-matching step is performed before a two-stage similarity assessment. The two-stage similarity assessment prioritizes single-object matches and employs a multi-object similarity network only when necessary. This multi-stage approach is designed to maintain high similarity to the intended design while minimizing possible object shortcomings. During the construction phase, motion planning is performed using a 3-degrees-of-freedom Delta parallel robot, and a 2-finger gripper is utilized for robotics grasping. The results of this study, conducted on wooden bricks of varying shapes and sizes, demonstrate the effectiveness of the YOLOv8 model for object detection, achieving over 80% accuracy across 18 classes with a classification loss of approximately 0.25. Additionally, the Siamese network performed robustly, with a loss of less than 0.01 for both single and multiple object comparisons.

关键词： Robotic assembly Parallel robots Automation Autonomous systems Robot vision systems Warehousing Object detection Cameras Planning Grippers

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Design of a Mechatronic Endoskeleton Robot for Inspection Tasks: Model Reference Adaptive Control (MRAC) for Serpentine Locomotion with Stability Analysis 17

Design of a Mechatronic Endoskeleton Robot for Inspection Ta...

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17th International Conference on Developments in esystems engineering, DeSE 2024

作者： Al Mhdawi, Ammar K. Wright, Nick Younis, Mohammed I. Humaidi, Amjad J. School of Engineering and Sustainable Development De Montfort University LeicesterLE19BH United Kingdom Department of Electrical and Electronic Engineering Newcastle University Newcastle United Kingdom Department of Computer Engineering University of Baghdad Iraq Department of Control and Systems Engineering University of Technology Baghdad Iraq

ISBN: (纸本)9798350368697

An advantage of bio-inspired robots is the versatility of their locomotion on a wide range of terrains that conventional robots are not able to traverse. The snake-like robot, which is a mechanism designed to move in the manner of a biological snake, is an example of a bio-inspired platform. This paper aims to implement and validate, using real and simulation tests on flat terrain, a snake-like endoskeleton robot that permits serpentine movement with adaptive control capabilities. The prototype mechatronic robot was comprised of eleven segments that were 3D printed sequentially. A simulation using Matlab’s Multibody Mechanics tool determines the necessary torques for each motor. In this simulation, a parameterized virtual model of the robot is created, where rectilinear gaits are programmed. In accordance with simulation and experimental results, the robot undertakes different times to reach the goal trajectory or end points depending on the frequency, angular position, and wave length (duty cycle). As a result, there is a high degree of similarity between the simulation tests and those conducted with the prototype endoskeleton. Furthermore, the robot is equipped with machine vision capabilities that allow it to detect faults within oil and gas pipes for the purpose of inspection and maintenance. Furthermore, a Model Reference Adaptive Control (MRAC) method based on Lyapunov stability analysis and MIT rules is proposed. The theoretical analysis and numerical simulation show that the designed trajectory tracking control law can make the multi-joint snake-like robot track the trajectory of the front joint when the robot encounters disturbances and stabilize the angular position and velocity of the first two head joints when disturbances occur. © 2024 IEEE.

关键词： Model reference adaptive control

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Application of Non-Gapped Line Arresters to 150 kV and 400 kV Overhead Lines: Effects of AC Voltage at the Instant of Direct Lightning Strike

Application of Non-Gapped Line Arresters to 150 kV and 400 k...

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International Conference on Environment and electrical engineering (EEEIC)

作者： Zacharias G. Datsios Diamantis G. Patsalis Pantelis N. Mikropoulos Thomas E. Tsovilis High Voltage Laboratory School of Electrical & Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece

ISBN: (数字)9798350355185

ISBN: (纸本)9798350355192

This study investigates the effects of the AC power-frequency operating voltage instantaneous value when lightning strikes to an overhead transmission line (OHTL) on the computed fast-front overvoltages across insulation, the current flowing through line surge arresters (LSAs), and the energy absorbed by LSAs. The investigation is performed via ATP-EMTP simulations of two typical 150 kV and 400 kV OHTLs with two circuits per tower, equipped with non-gapped line surge arresters (NGLAs). Two NGLA configurations are studied: 3 and 6 NGLAs installed at all towers. Simulation of lightning strikes to phase conductors (shielding failure) and to towers are carried out for negative first return strokes. The tower ground resistance at low current and low frequency is a parameter in simulations; ground resistance values are selected among those commonly encountered in practice. It is found that there is a significant variation of NGLA absorbed energy depending on the power-frequency voltage value at lightning strike time instant. An enhanced variation is observed for the 400 kV OHTL. Hence, the worst-case conditions in terms of power-frequency voltage should be considered for NGLA energy withstand capability selection.

关键词： Resistance Arresters Computational modeling Poles and towers Lightning Voltage Conductors Surges Integrated circuit modeling Stress

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Model-Free Dynamic Control of Five-bar Mechanism via Subchain Assembly and Reinforcement Learning

Model-Free Dynamic Control of Five-bar Mechanism via Subchai...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Soheil Sedghi Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Parallel robots are versatile but challenging to control due to their complex dynamics and the need for precise modeling. This research presents a novel approach to modular control of parallel robots, utilizing reinforcement learning to dynamically assemble and control complex arbitrary systems. By treating each sub chain of a parallel robot as an individual agent, the proposed method offers a flexible and adaptable framework for various control tasks. The study compares the learning performance of different RL algorithms and proposed decision modeling on the tracking control of a five-bar robot with a 55 cm link length, aiming to achieve an error of less than 5 cm in the PyBullet simulator. In single-agent reinforcement learning, three algorithms (DDPG, PPO, and SAC) were employed, with PPO and SAC effectively solving the problem. In multi-agent reinforcement learning, two algorithms (FACMAC and MAPPO) were utilized. While MAPPO successfully learned the problem, FACMAC exhibited difficulties in grasping the problem. The results obtained from comparing the proposed RL algorithms indicated that single-agent RL learns the control problem better and faster than multi-agent reinforcement learning. In short, the paper focuses on formulating an RL solution which can effectively control parallel robots and can potentially be used for pre-training subchains.

关键词： Training Parallel robots Adaptation models Sensitivity Mechatronics Heuristic algorithms Transfer learning Neural networks Training data Reinforcement learning

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KILOVOLT PYROELECTRIC VOLTAGE GENERATION AND ELECTROSTATIC ACTUATION WITH FLUIDIC HEATING

arXiv

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arXiv 2024年

作者： Ni, Di Gund, Ved Ivy, Landon Lal, Amit SonicMEMS Laboratory School of Electrical and Computer Engineering Cornell University IthacaNY United States

Integrated micro power generators are crucial components for micro robotic platforms to demonstrate untethered operation and to achieve autonomy. Current micro robotic electrostatic actuators typically require hundreds to thousands of voltages to output sufficient work. Pyroelectricity is one such source of high voltages that can be scaled to small form factors. This paper demonstrates a distributed pyroelectric high voltage generation mechanism to power kV actuators using alternating exposure of crystals to hot and cold water (300C to 900C water temperature). Using this fluidic temperature control, a pyroelectrically generated voltage of 2470 V was delivered to a 2 pF storage capacitor yielding a 6.10 μJ stored energy. A maximum energy of 17.46 μJ was delivered to a 47 pF capacitor at 861 V. The recirculating water can be used to heat a distributed array of converters to generate electricity in distant robotic actuator sections. The development of this distributed system would enable untethered micro-robot to be operated with a flexible body and free of battery recharging, which advances its applications in the real world. © 2024, CC BY.

关键词： Microrobots

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From Bricks to Bots: Automated Collision-Aware Sequence Planning for LEGO Reconstruction with a Two-Finger Gripper

From Bricks to Bots: Automated Collision-Aware Sequence Plan...

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International Conference on Control, Instrumentation, and Automation

作者： Arman Barghi Navid Pasiar Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331509972

ISBN: (纸本)9798331509989

An automated, vision-guided assembly method is proposed for reconstructing LEGO arrangements using a 3 DOF Delta Parallel Robot with a two-finger gripper. Assembly sequence planning, an NP-complete problem, focuses on determining the optimal sequence of bricks for constructing a target structure. The complexity increases when robotic con-straints-such as avoiding collisions between the gripper and the partially constructed structure-are integrated into the planning. To address this, the Arrangement Planning Process is introduced, combining target arrangement identification with collision-aware sequence planning. This process includes precise detection techniques that merge instance segmentation with stud detection. Notable innovations include an assembly-by-disassembly algorithm for efficient planning and experimental techniques such as the Safe Approach and the Wiggling Technique for accurate brick placement. By implementing a homing method, positioning accuracy improved approximately twofold compared to previous work. The results demonstrate the feasibility and precision of the proposed method in automated LEGO reconstruction.

关键词： Instance segmentation Parallel robots Technological innovation Accuracy Three-dimensional displays Service robots Robustness Planning Grippers Assembly

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RTV Silicone Rubber Coatings for Outdoor Insulators: A Concise Review of Some Factors Affecting their Behavior and Some Comments

引用

Journal of engineering Science and Technology Review 2021年第1期14卷 163-169页

作者： Sarathi, R. Danikas, M.G. Indian Institute of Technology Madras Department of Electrical Engineering High Voltage Laboratory Chennai India Democritus University of Thrace Department of Electrical and Computer Engineering Power Systems Laboratory Xanthi67100 Greece

Traditional outdoor insulators are made of glass and porcelain. However, although such insulators have been used for many decades, they present some drawbacks. Glass and porcelain insulators seem to be more prone to surface discharges and flashover when they age and water droplets are more likely to spread on their surface, causing thus dry zones and consequently conditions for surface discharging and flashover. Room Temperature Vulcanized (RTV) coatings spayed on the aforementioned traditional insulators seem to remedy such problems because such coatings increase the hydrophobicity. In this paper, a short review on RTV coatings is given together with some thoughts and comments regarding the so-called early stage of aging. © 2021 school of Science, IHU. All rights reserved.

关键词： Contact angle

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Planarizing Spalled GaAs(100) Surfaces by MOVPE Growth 52

Planarizing Spalled GaAs(100) Surfaces by MOVPE Growth

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52nd IEEE Photovoltaic Specialist Conference, PVSC 2024

作者： Forcade, Gavin P. McMahon, William E. Yoo, Nicholas Neumann, Anica N. Young, Michelle Goldsmith, John Hinzer, Karin Packard, Corinne E. Steiner, Myles A. University of Ottawa Department of Physics OttawaON Canada National Renewable Energy Laboratory GoldenCO United States Colorado School of Mines GoldenCO United States School of Electrical Engineering and Computer Sciences University of Ottawa Sunlab OttawaON Canada

ISBN: (纸本)9781665464260

III-V photovoltaic devices have demonstrated remarkable performance in many applications, and spalling is a promising technique for reducing device costs by recovering the substrate for reuse. In this study, we investigate the in situ planarization of A-directionally spalled GaAs(100) substrates using metal-organic vapor phase epitaxy (MOVPE) grown C:GaAs with CCl4 as the carbon source. We have characterized the (100)-oriented growth for various CCl4 flow rates and observed that the CCl4 or its by-products promote material diffusion from the facet tops to the underlying valleys. For facets with a height of 5 μm on a substrate with an A-spall and 6°B-offcut, it took 7 μm of C:GaAs to planarize the substrate. For a similar sample, with a 6°A-offcut, it required 2 μm of growth to fill the valleys but there were remnant facets. © 2024 IEEE.

关键词： III-V semiconductors

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Developing a Reinforcement Learning-Based Actor-Critic Neural Network Controller for General Form of Serial Chain Robots with Torque Constraints

SSRN

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SSRN 2024年

作者： Bahrami, Vahid Masouleh, Mehdi Tale Kalhor, Ahmad Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

This paper uses reinforcement learning techniques to introduce a novel approach to the controller design for a wide range of serial chain robots and cable-driven serial chain robots. The method addresses the regulation problem by designing a regulator and steady-state torques without requiring knowledge of the Coriolis vector, a complex part of the robot's dynamic model. The approach relies on Denavit-Hartenberg parameters to determine regulator and desired steady-state torques, using an actor-critic neural network for adaptation and a multi-layer perceptron neural network for desired steady-state torque. Stability is ensured through Lyapunov functions, with only the mass matrix and gravity vector required. The proposed control scheme offers adaptability, robustness, scalability, and optimization features compared to traditional controllers. Simulations on a 4-degrees-of-freedom cable-driven serial chain robot validate the proposed control method's effectiveness. A comparative benchmark is performed, demonstrating that the reinforcement learning controller outperforms other controllers in terms of regulation error, reducing it by at least 17.14\% compared to deep deterministic policy gradient and robust integral of the sign of the error methods. © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Investigating the Effect of Demand Response on the Market Power of a Strategic Wind Power Producer

Investigating the Effect of Demand Response on the Market Po...

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2023 International Conference on Future Energy Solutions, FES 2023

作者： Rashidizadeh-Kermani, Homa Vahedipour-Dahraie, Mostafa Shafie-Khah, Miadreza Siano, Pierluigi University of Birjand Department of Electrical and Computer Engineering Birjand Iran University of Vaasa School of Technology and Innovations Vaasa65200 Finland University of Salerno Department of Management & Innovation Systems Salerno Italy

ISBN: (纸本)9798350332308

Recent restructure and expansion of electric network enabled the end-use customers to participate in local energy markets by managing their consumption/production. In this context, this paper proposes a mathematical approach for price maker WPP offering strategy with considering risk criteria. In fact, to assess risk aversion behavior of the WPP, CVaR as a measurement tool is implemented in the problem considering transactions and expected profit. Finally, an assessment framework is established to evaluate the benefits of implementing DR programs on the energy costs and the individual profit of the WPP. Also, effective metrics are implemented to the problem to evaluate the effect of implementing DR programs on the market power of the WPP. The results show that with implementing DR actions, the electricity price in most hours remained the same which implies the reduction in market power of the WPP. © 2023 IEEE.

关键词： Wind power

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