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Mathematical modeling and simulations of stress mitigation by coating polycrystalline particles in lithium-ion batteries

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Applied Mathematics and Mechanics(English Edition) 2024年第6期45卷 947-962页

作者： N.IQBAL J.CHOI S.F.SHAH C.LEE S.LEE department of Mechanical Roboticsand Energy EngineeringDongguk University-SeoulSeoul 04620Republic of Korea

A chemo-mechanical model is developed to investigate the effects on the stress development of the coating of polycrystalline Ni-rich LiNixMnyCo_(z)O_(2)(x≥0.8)(NMC)particles with poly(3,4-ethylenedioxythiophene)(PEDOT).The simulation results show that the coating of primary NMC particles significantly reduces the stress generation by efficiently accommodating the volume change associated with the lithium diffusion,and the coating layer plays roles both as a cushion against the volume change and a channel for the lithium transport,promoting the lithium distribution across the secondary particles more ***,the lower stiffness,higher ionic conductivity,and larger thickness of the coating layer improve the stress *** paper provides a mathematical framework for calculating the chemo-mechanical responses of anisotropic electrode materials and fundamental insights into how the coating of NMC active particles mitigates stress levels.

关键词： lithium-ion battery(LIB) polycrystalline particle coating finite element simulation Ni-rich LiNixMnyCo_(z)O_(2)(x>0.8)(NMC)

Generalized polynomial chaos expansion by reanalysis using static condensation based on substructuring

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Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 819-836页

作者： D.LEE S.CHANG J.LEE department of Automotive engineering Hanyang UniversitySeoul 04763Republic of Korea School of Mechanical engineering Chungnam National UniversityDaejeon 34134Republic of Korea department of Mechanical Robotics and Energy EngineeringDongguk UniversitySeoul 04620Republic of Korea

This paper presents a new computational method for forward uncertainty quantification(UQ)analyses on large-scale structural systems in the presence of arbitrary and dependent random *** method consists of a generalized polynomial chaos expansion(GPCE)for statistical moment and reliability analyses associated with the stochastic output and a static reanalysis method to generate the input-output data *** the reanalysis,we employ substructuring for a structure to isolate its local regions that vary due to random *** allows for avoiding repeated computations of invariant substructures while generating the input-output data *** substructuring with static condensation further improves the computational efficiency of the reanalysis without losing ***,the GPCE with the static reanalysis method can achieve significant computational saving,thus mitigating the curse of dimensionality to some degree for UQ under high-dimensional *** numerical results obtained from a simple structure indicate that the proposed method for UQ produces accurate solutions more efficiently than the GPCE using full finite element analyses(FEAs).We also demonstrate the efficiency and scalability of the proposed method by executing UQ for a large-scale wing-box structure under ten-dimensional(all-dependent)random inputs.

关键词： forward uncertainty quantification(UQ) generalized polynomial chaos expansion(GPCE) static reanalysis method static condensation substructuring

Robust control of isopropyl benzene production process using H_(∞) loop shaping control scheme

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Journal of Control and Decision 2024年第1期11卷 153-163页

作者： Vinila Mundakkal Lakshmanan Aparna Kallingal Sreepriya Sreekumar department of Chemical engineering National Institute of Technology CalicutKozhikodeKeralaIndia department of robotics and Automation Adi Shankara Institute of Engineering and TechnologyKaladyIndia

This paper discusses robust control strategy for isopropyl benzene production process using the method of loop shaping H_(∞) *** cumene production process is a part of phenol plant in HOCL,Kochi.H_(∞) control of the propylene concentration is done *** H_(∞) controller is derived from the linearised model of the *** optimal H_(∞) controller is obtained by simplifying two algebraic Riccati *** proposed PID-like H_(∞) controller provides a single tuning parameter which makes the controller design more *** proposed controller has been compared with other robust controllers like H_(2) and *** H_(∞) controller is found to be superior in a wide frequency range and has a feature of low distortion and good regulating *** reactor model has been developed in COMSOL Multiphysics with the parameters obtained from HOCL plant,*** model extracted is reduced using model order reduction for the controller design.

关键词： Cumene reactor H_(∞)loop shaping model order reduction Riccati equation PID control stability robustness

Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

An Optimization Model for Reliability Improvement and Cost Reduction Through EV Smart Charging

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 608-620页

作者： Jinping Zhao Ali Arefi Alberto Borghetti Gerard Ledwich School of engineering and Energy Murdoch UniversityPerthAustralia department of Electrical Electronicand Information EngineeringUniversity of BolognaBologna40126Italy School of Electrical engineering and robotics Queensland University of TechnologyBrisbaneQLD 4000Australia

There is a general concern that the increasing penetration of electric vehicles(EVs)will result in higher aging failure probability of equipment and reduced network *** electricity costs may also increase,due to the exacerbation of peak load led by uncontrolled EV *** paper proposes a linear optimization model for the assessment of the benefits of EV smart charging on both network reliability improvement and electricity cost *** objective of the proposed model is the cost minimization,including the loss of load,repair costs due to aging failures,and EV charging *** proposed model incorporates a piecewise linear model representation for the failure probability distributions and utilizes a machine learning approach to represent the EV charging *** two different test systems(a 5-bus network and the IEEE 33-bus network),this paper compares aging failure probabilities,service unavailability,expected energy not supplied,and total costs in various scenarios with and without the implementation of EV smart charging.

关键词： Aging failure electric vehicle(EV) EV charging power system reliability expected energy not supplied distribution network.

Underwater RGB-D imaging system with millimetric precision

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Science China(Information Sciences) 2024年第10期67卷 383-385页

作者： Yajun GAO Yang CONG Xu TANG Mingxue LI State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences College of Automation Science and engineering South China University of Technology

In recent years, underwater fine three-dimensional reconstruction technology has emerged as a focal point in research, exhibiting extensive potential applications, particularly in underwater archaeology and resource e... 详细信息

关键词： SINGLE CAMERA

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Graph neural network based method for robot path planning

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Biomimetic Intelligence & robotics 2024年第1期4卷 80-87页

作者： Xingrong Diao Wenzheng Chi Jiankun Wang Shenzhen Key Laboratory of robotics Perception and Intelligence Department of Electronic and Electrical EngineeringSouthern University of Science and TechnologyShenzhen 518055China robotics and Microsystems Center School of Mechanical and Electric EngineeringSoochow UniversitySuzhou 215021China Jiaxing Research Institute Southern University of Science and TechnologyJiaxing 314000China

Sampling-based path planning is widely used in robotics,particularly in high-dimensional state *** the path planning process,collision detection is the most time-consuming ***,we propose a learning-based path planning method that reduces the number of collision *** develop an efficient neural network model based on graph neural *** model outputs weights for each neighbor based on the obstacle,searched path,and random geometric graph,which are used to guide the planner in avoiding *** evaluate the efficiency of the proposed path planning method through simulated random worlds and real-world *** results demonstrate that the proposed method significantly reduces the number of collision checks and improves the path planning speed in high-dimensional environments.

关键词： Graph Neural Network(GNN) Collision detection Sampling-based path planning

Micro/nanosystems for controllable drug delivery to the brain

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The Innovation 2024年第1期5卷 139-157页

作者： Mingzhen Tian Zhichao Ma Guang-Zhong Yang Institute of Medical robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

Drug delivery to the brain is crucial in the treatment for central nervous system *** significant progress has been made in recent years,there are still major challenges in achieving controllable drug delivery to the *** clinical needs arise from various factors,including controlled drug transport,handling large drug doses,methods for crossing biological barriers,the use of imaging guidance,and effective models for analyzing drug *** advances in micro/nanosystems have shown promise in addressing some of these *** include the utilization of microfluidic platforms to test and validate the drug delivery process in a controlled and biomimetic setting,the development of novel micro/nanocarriers for large drug loads across the blood-brain barrier,and the implementation of micro-intervention systems for delivering drugs through intraparenchymal or peripheral *** this article,we present a review of the latest developments in micro/nanosystems for controllable drug delivery to the *** also delve into the relevant diseases,biological barriers,and conventional *** addition,we discuss future prospects and the development of emerging robotic micro/nanosystems equipped with directed transportation,real-time image guidance,and closed-loop control.

关键词： equipped doses barriers

Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots