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A Study on Giant Magnetostrictive Actuator for Interior Sound Control System of the Ultra-Compact Mobility: Fundamental Consideration on Formation of the Giant Magnetostrictive Phases Depending on Heat Treatment Condition 27

A Study on Giant Magnetostrictive Actuator for Interior Soun...

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27th International Conference on Electrical Machines and Systems, ICEMS 2024

作者： Kato, Taro Naganuma, Ryusei Bando, Koki Sawada, Kentaro Wenbao, Wu Kobayashi, Ikkei Kuroda, Jumpei Uchino, Daigo Ogawa, Kazuki Ikeda, Keigo Endo, Ayato Kato, Hideaki Narita, Takayoshi Furui, Mitusaki Tokyo University of Technology Department of Mechanical Engineering 1404-1 Katakura Hachioji-shi Tokyo192-0982 Japan Sustainable Engineering Program Graduate School of Engineering Tokyo University of Technology 1404-1 Katakura Hachioji-shi Tokyo192-0982 Japan Tokai University Kitakaname 4-1-1 Kanagawa Hiratsuka-shi259-1292 Japan Tokai University Kitakaname 4-1-1 Kanagawa Hiratsuka-shi259-1292 Japan Numazu College Department of Mechanical Engineering Ohoka 3600 Shizuoka Numazu-shi410-0022 Japan Aichi University of Technology Department of Electronic Robotics 50-2 Manori Nishisako-machi Aichi Gamagori-shi443-0047 Japan Hokkaido University of Science Department of Mechanical Engineering 7-Jo 15-4-1 Maeda Teine Hokkaido Sapporo006-8585 Japan Fukuoka Institute of Technology Department of Electrical Engineering Wajiro Higashi 3-30-1 Higashi-ku Fukuoka Fukuoka-shi811-0295 Japan Tokai University Department of Mechanical System Engineering Kitakaname 4-1-1 Kanagawa Hiratsuka-shi259-1292 Japan

ISBN: (纸本)9784886864406

An active noise control system using giant magnetostrictive actuator has been proposed as a countermeasure for interior noise of the ultra-compact mobilities, which is a new transportation tools. In this paper, as basic research toward the development of the proposed giant magnetostrictive actuator for active noise control, we conduct experiments on the material properties when terbium, dysprosium, and iron powder, which make up the giant magnetostrictive material, are mixed and the heat treatment conditions are changed. In this study, the heat treatment temperature was varied from 800°C to 1100°C in 100°C incrementsbased on the equilibrium state temperature of each material, and the heat treatment time was set in 30-minute increments from 1 hour to 3 hours. As a result, TbFe2 was confirmed after heat treatment at an electric furnace temperature of 1000°C for 3 hours, although its strength was insufficient. © 2024 The Institute of Electrical Engineers of Japan.

关键词： Active noise control

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Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts

Region-Based Planning for 3D Within-Hand-Manipulation via Va...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Alp Sahin Adam J. Spiers Berk Calli Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Imperial College London London United Kingdom

Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction robot fingers, which allow a low-complexity approach to within-hand object translation and rotation, though this manipulation was limited to planar actions. In this work we extend the capabilities of this system to 3D manipulation with a novel region-based WIHM planning algorithm and utilizing extrinsic contacts. The ability to modulate finger friction enhances extrinsic dexterity for three-dimensional WIHM, and allows us to operate in the quasi-static level. The region-based planner automatically generates 3D manipulation sequences with a modified A* formulation that navigates the contact regions between the fingers and the object surface to reach desired regions. Central to this method is a set of object-motion primitives (i.e. within-hand sliding, rotation and pivoting), which can easily be achieved via changing contact friction. A wide range of goal regions can be achieved via this approach, which is demonstrated via real robot experiments following a standardized in-hand manipulation benchmarking protocol.

关键词： Three-dimensional displays Protocols Friction Benchmark testing Robot sensing systems Search problems Planning

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A Novel Approach for Estimating Vehicle Speed in Nighttime Traffic Accidents from Daytime Video Information

A Novel Approach for Estimating Vehicle Speed in Nighttime T...

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International Conference on Intelligent Transportation

作者： Youngsoo Choi Yongmun Yun Woo-Jeong Jeon Seung-Hyun Kong Robotics Program Korea Advanced Institute of Science and Technology Engineering Division Daejeon Institute National Forensic Service Republic of Korea Traffic Accident Analysis Division National Forensic Service Republic of Korea Graduate School of Mobility Korea Advanced Institute of Science and Technology Republic of Korea

In vehicle accident investigations, the pre-accident speed of the vehicle is an important factor that affects the reliability of accident reconstruction results. However, it is difficult to analyze vehicle speed in nighttime videos where the vehicle and its surroundings are not clearly visible. This study proposes a novel approach to estimate the speed of an accident vehicle in nighttime videos using daytime videos. The proposed method first estimates some missing coordinates from the wheel center coordinate data extracted from all daytime video sequences. Then, the vehicle speed in the nighttime video is estimated with a calibration curve that transforms the inter-pixel distance in the 2D video to the distance in the real 3D space using the cross-ratio. Experimental results show that the proposed Kalman filter-based method is effective in estimating the occluded coordinates and is useful in calculating the cross-ratio. Additionally, the vehicle speeds in the nighttime video estimated by the proposed method are similar to the simulated and measured actual vehicle speeds, as well as the real accident analysis case. These results show that the proposed method can be used to complement and effectively cross-validate existing methods to improve reliability in the field of vehicle accident investigations.

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Using range of motion to examine the effects of deep brain stimulation on gait function of Parkinson’s disease patients with freezing of gait: a proof-of-concept study

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Journal of Biomechanical Science and engineering 2021年第2期16卷 1-11页

作者： Nien, Ching Chen, Kai-Hsiang Wu, Yi-Ning Chuang, Shueh-Lin Yang, Bing-Shiang Department of Mechanical Engineering National Chiao Tung University Hsinchu30010 Taiwan Department of Neurology National Taiwan University Hospital Hsinchu Branch Hsinchu30059 Taiwan Department of Physical Therapy and Kinesiology University of Massachusetts Lowell LowellMA018514 United States Institute of Biomedical Engineering National Chiao Tung University Hsinchu30010 Taiwan Graduate Degree Program of Robotics National Chiao Tung University Hsinchu30010 Taiwan Department of Mechanical Engineering National Yang Ming Chiao Tung University Hsinchu30010 Taiwan

The purpose of this study was to develop quantitative parameters using range of motion (ROM) of shanks, thighs and knees to evaluate the effect of deep brain stimulation (DBS) on gait performance and freezing of gait (FOG) of patients with advanced Parkinson’s disease (PD). Three patients with FOG due to advanced Parkinson’s disease who has received DBS were recruited. The recruited subjects were instructed to walk on a 100-meter path in three conditions: 60 Hz DBS (60 Hz), 130 Hz DBS (130 Hz) and no DBS (Off). Five inertial measurement unit sensors were attached to subjects’ sacrum, bilateral shanks and thighs respectively. Quantified parameters included (1) spatial parameters: shanks, thighs and knees ROM;(2) temporal parameters: stride time, stance time duration and double support time percentage;(3) FOG severity: the percentage of FOG duration during path walking. Three subjects’ ROM of right shank significantly increased in 60 Hz,130 Hz and Off order. Compared to 130 Hz, right shank ROM of subjects S1, S2 and S3 significantly increased 13.2%, 99.6% and 6.1% in 60 Hz, respectively. In temporal parameters results, only double support time percentage was significantly different between 60 Hz and 130 Hz in all three subjects. When compared to 130 Hz, the double support time percentage of S1 and S2 significantly decreased 6.3% and 18.4% in 60 Hz, and that of S3 significantly increased 4.4%. ROM of right shank and FOG severity were highly correlated (R2 = 0.71). Shank ROM could represent subjects’ gait performance under different stimulation conditions. Shank ROM could be treated as a reference for clinicians to evaluate gait performance and severity of FOG immediately when DBS frequency is adjusted. This study demonstrated the potential of using objective parameters to optimize the DBS through assessing the gait performance changes in the clinic. © 2021 The Japan Society of Mechanical Engineers

关键词： Freezing

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Dual Quaternion-Based Control for Dynamic Robot Formations

Dual Quaternion-Based Control for Dynamic Robot Formations

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Juan I. Giribet Harrison Neves Marciano Ignacio Mas Alejandro S. Ghersin Daniel Khede Dourado Villa Mário Sarcinelli-Filho Artificial Intelligence and Robotics Lab. (LINAR) Universidad de San Andrés Argentina CONICET - Consejo Nacional de Investigaciones Científicas y Técnicas Argentina Graduate Program on Electrical Engineering Universidade Federal do Espírito Santo Vitória ES Brazil Instituto Tecnológico de Buenos Aires Argentina

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper evaluates a dual quaternion-based control algorithm designed to manage dynamic changes in the number of vehicles in robot formations. By defining a virtual structure, the algorithm coordinates the formation's position, orientation, and shape parameters, ensuring seamless transitions when the number of vehicles changes. The approach enables a low-level controller to calculate commands for individual robots while maintaining the overall formation integrity. The strategy's performance is analyzed through simulations and experimental results, demonstrating its effectiveness in handling variations in the number of vehicles of robotic formations.

关键词： Geometry Analytical models Shape Robot kinematics Heuristic algorithms Quaternions Transportation Autonomous aerial vehicles Stability analysis Vehicle dynamics

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Learning Terminal State of the Trajectory Planner: Application for Collision Scenarios of Autonomous Vehicles

Learning Terminal State of the Trajectory Planner: Applicati...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joonhee Lim Kibeom Lee Jangho Shin Dongsuk Kum Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Department of Mechanical Engineering Gachon University Seongnam Republic of Korea Research & Development Division Hyundai Motor Company Hwaseong Republic of Korea The Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Collision Avoidance/Mitigation System (CAMS) for autonomous vehicles is a crucial technology that ensures the safety and reliability of autonomous driving systems. Conventional collision avoidance approaches struggle in complex and various scenarios by avoiding collisions based on rules for specific collision scenarios. This has led to learning-based methods using neural networks for adaptive collision avoidance. However, the approaches directly outputting control inputs through neural networks have drawbacks in interpretability and stability. To address these limitations, we propose a trajectory planning method for CAMS that combines deep reinforcement learning (DRL) and quintic polynomial (QP) trajectory planning. The proposed method determines the terminal state and confidence of the trajectory using DRL and plans a QP trajectory based on them. By utilizing the terminal state and confidence of the trajectory rather than direct control inputs as the output of the neural network, it generates a more realistic and continuous path. Moreover, this approach considers collision avoidance and mitigation in an integrated manner through the reward function of RL. Our experimental results demonstrate that the proposed method not only improves interpretability and stability compared to existing learning-based methods but also upholds performance in complex and various collision scenarios.

关键词： Learning systems Trajectory planning Neural networks Trajectory Cams Safety Reliability

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The role of input imaging combination and ADC threshold on segmentation of acute ischemic stroke lesion using U-Net

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European Radiology 2023年第9期33卷 6157-6167页

作者： Li, Ya-Hui Lin, Shao-Chieh Chung, Hsiao-Wen Chang, Chia-Ching Peng, Hsu-Hsia Huang, Teng-Yi Shen, Wu-Chung Tsai, Chon-Haw Lo, Yu-Chien Lee, Tung-Yang Juan, Cheng-Hsuan Juan, Cheng-En Chang, Hing-Chiu Liu, Yi-Jui Juan, Chun-Jung Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei Taiwan Department of Medical Imaging China Medical University Hsinchu Hospital No. 199 Sec. 1 Xinglong Rd. Zhubei City Hsinchu County 302 Hsinchu Taiwan Ph.D. Program in Electrical and Communication Engineering Feng Chia University Taichung Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Department of Management Science National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Biomedical Engineering and Environmental Sciences National Tsing Hua University Hsinchu Taiwan Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan Department of Radiology School of Medicine College of Medicine China Medical University Taichung Taiwan Department of Medical Imaging Medical University Hospital Taichung Taiwan Department of Neurology China Medical University Hospital Taichung Taiwan Cheng Ching Hospital Taichung Taiwan Master’s Program of Biomedical Informatics and Biomedical Engineering Feng Chia University Taichung Taiwan Department of Automatic Control Engineering Feng Chia University No. 100 Wenhwa Rd. Seatwen Taichung 40724 Taiwan Department of Biomedical Engineering The Chinese University of Hong Kong ERB1112 11/F William M.W. Mong Engineering Building N.T Shatin Hong Kong Multi-Scale Medical Robotics Center The Chinese University of Hong Kong N.T Shatin Hong Kong Department of Biomedical Engineering National Defense Medical Center Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

Background: To evaluate the effect of the weighting of input imaging combo and ADC threshold on the performance of the U-Net and to find an optimized input imaging combo and ADC threshold in segmenting acute ischemic stroke (AIS) lesion. Methods: This study retrospectively enrolled a total of 212 patients having AIS. Four combos, including ADC-ADC-ADC (AAA), DWI-ADC-ADC (DAA), DWI-DWI-ADC (DDA), and DWI-DWI-DWI (DDD), were used as input images, respectively. Three ADC thresholds including 0.6, 0.8 and 1.8 × 10^–3 mm²/s were applied. Dice similarity coefficient (DSC) was used to evaluate the segmentation performance of U-Nets. Nonparametric Kruskal–Wallis test with Tukey–Kramer post-hoc tests were used for comparison. A p <.05 was considered statistically significant. Results: The DSC significantly varied among different combos of images and different ADC thresholds. Hybrid U-Nets outperformed uniform U-Nets at ADC thresholds of 0.6 × 10^–3 mm²/s and 0.8 × 10^–3 mm²/s (p <.001). The U-Net with imaging combo of DDD had segmentation performance similar to hybrid U-Nets at an ADC threshold of 1.8 × 10^–3 mm²/s (p =.062 to 1). The U-Net using the imaging combo of DAA at the ADC threshold of 0.6 × 10^–3 mm²/s achieved the highest DSC in the segmentation of AIS lesion. Conclusions: The segmentation performance of U-Net for AIS varies among the input imaging combos and ADC thresholds. The U-Net is optimized by choosing the imaging combo of DAA at an ADC threshold of 0.6 × 10^–3 mm²/s in segmentating AIS lesion with highest DSC. Key Points: • Segmentation performance of U-Net for AIS differs among input imaging combos. • Segmentation performance of U-Net for AIS differs among ADC thresholds. • U-Net is optimized using DAA with ADC = 0.6 × 10^–3mm²/s. © 2023, The Author(s), under exclusive licence to European Society of Radiology.

关键词： Deep Learning Diffusion Magnetic Resonance Imaging Ischemic Stroke Neural Networks, Computer Retrospective Study

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Learning to Locomote with Deep Neural-Network and CPG-based Control in a Soft Snake Robot

arXiv

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arXiv 2020年

作者： Liu, Xuan Gasoto, Renato Jiang, Ziyi Onal, Cagdas Fu, Jie Robotics Engineering program at Worcester Polytechnic Institute RNVIDIA Electronic Engineering program Xidian University

In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A deep reinforcement learning (RL) module for achieving adaptive goal-tracking behaviors with changing goals, and a central pattern generator (CPG) system with Matsuoka oscillators for generating stable and diverse locomotion patterns. The two modules are interconnected into a closed-loop system: The RL module, analogizing the locomotion region located in the midbrain of vertebrate animals, regulates the input to the CPG system given state feedback from the robot. The output of the CPG system is then translated into pressure inputs to pneumatic actuators of the soft snake robot. Based on the fact that the oscillation frequency and wave amplitude of the Matsuoka oscillator can be independently controlled under different time scales, we further adapt the option-critic framework to improve the learning performance measured by optimality and data efficiency. The performance of the proposed controller is experimentally validated with both simulated and real soft snake robots. Copyright © 2020, The Authors. All rights reserved.

关键词： Adaptive control systems

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Is a Simulation better than Teleoperation for Acquiring Human Manipulation Skill Data?

Is a Simulation better than Teleoperation for Acquiring Huma...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Donghyeon Kim Seong-Su Park Kwang-Hyun Lee Dongheui Lee Jee-Hwan Ryu Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Civil and Environmental Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Applied Science Research Institute Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Autonomous Systems Technische Universitat Wien (TU Wien) Vienna Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This study explores the feasibility of using simulations as a better interface to collect human object manipulation skills for learning from demonstrations (LfD). Recently, numerous researchers have started introducing teleoperation systems to acquire human manipulation skills. However, capturing the subtle, force-involved interaction skills of humans in teleoperation is still challenging due to its inherent dynamic delays and feedback transparency. This research evaluates the effectiveness of demonstration data obtained through simulation versus teleoperation. To evaluate the efficacy of this approach, tasks such as plane cutting, tight peg-in-hole, and deformable pipe plugging were performed to assess the quality of demonstrations acquired. The experimental results highlight the effectiveness of demonstration through simulation in capturing the operator’s force-involved interaction skills. Simulation creates an environment similar to performing tasks with bare hands by minimising dynamic delays due to the exclusion of physical robots and effectively rendering high stiffness. As a result, the demonstration through simulation method has proven effective in extracting interaction data and capturing physical task performance skills.

关键词： Hands Dynamics Rendering (computer graphics) Data models Delays Data mining Intelligent robots

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A Study on Giant Magnetostrictive Actuator for Interior Soun...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Taro Kato Ryusei Naganuma Koki Bando Kentaro Sawada Wu Wenbao Ikkei Kobayashi Jumpei Kuroda Daigo Uchino Kazuki Ogawa Keigo Ikeda Ayato Endo Hideaki Kato Takayoshi Narita Mitusaki Furui Department of Mechanical Engineering Tokyo University of Technology Hachioji-shi Tokyo Japan Sustainable Engineering Program Graduate School of Engineering Tokyo University of Technology Hachioji-shi Tokyo Japan Course of Mechanical Engineering Tokai University Hiratsuka-shi Kanagawa Japan Course of Science and Technology Tokai University Hiratsuka-shi Kanagawa Japan Department of Mechanical Engineering National Institute of Technology (KOSEN) Numazu College Numazu-shi Shizuoka Japan Department of Electronic Robotics Aichi University of Technology Gamagori-shi Aichi Japan Department of Mechanical Engineering Hokkaido University of Science Sapporo Hokkaido Japan Department of Electrical Engineering Fukuoka Institute of Technology Fukuoka-shi Fukuoka Japan Department of Mechanical System Engineering Tokai University Hiratsuka-shi Kanagawa Japan

ISBN: (数字)9784886864406

ISBN: (纸本)9798350379105

An active noise control system using giant magnetostrictive actuator has been proposed as a countermeasure for interior noise of the ultra-compact mobilities, which is a new transportation tools. In this paper, as basic research toward the development of the proposed giant magnetostrictive actuator for active noise control, we conduct experiments on the material properties when terbium, dysprosium, and iron powder, which make up the giant magnetostrictive material, are mixed and the heat treatment conditions are changed. In this study, the heat treatment temperature was varied from $800^{\circ}\mathrm{C}$ to $1100^{\circ}\mathrm{C}$ in $100^{\circ}\mathrm{C}$ incrementsbased on the equilibrium state temperature of each material, and the heat treatment time was set in 30-minute increments from 1 hour to 3 hours. As a result, TbFe2 was confirmed after heat treatment at an electric furnace temperature of $1000^{\circ}\mathrm{C}$ for 3 hours, although its strength was insufficient.

关键词： Actuators Heat treatment Powders Temperature Magnetostriction Noise Terbium Iron Resistance heating Material properties

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