Pub Date : 2023-12-04DOI: 10.2174/0122127976268211231110055647
Haonan Li, Xiaolan Wang, Xiao Su, Yansong Wang
Pedestrian trajectory prediction plays a crucial role in ensuring the safe and efficient operation of autonomous vehicles in urban environments. As autonomous driving technology continues to advance, accurate anticipation of pedestrians' motion trajectories has become increasingly important for informing subsequent decision-making processes. Pedestrians are dynamic and unpredictable agents, and their movements can vary greatly depending on factors, such as their intentions, interactions with other pedestrians or vehicles, and the surrounding environment. Therefore, developing effective methods to predict pedestrian trajectories is essential to enable autonomous vehicles to navigate and interact with pedestrians in a safe and socially acceptable manner. Various methods, both patented and non-patented, have been proposed, including physics-based and probability-based models, to capture the regularities in pedestrian motion and make accurate predictions. This paper proposes a pedestrian trajectory prediction method that combines a Gaussian mixture model and an artificial potential field. The study begins with an analysis of pedestrian motion patterns, allowing for the identification of distinct patterns and incorporating speed as an influential factor in pedestrian interactions. Next, a Gaussian mixture model is utilized to model and train the trajectories of pedestrians within each motion pattern cluster, effectively capturing their statistical characteristics. The trained model is then used with a regression algorithm to predict future pedestrian trajectories based on their past positions. To enhance the accuracy and safety of the predicted trajectories, an artificial potential field analysis is employed, considering factors such as collision avoidance and interactions with other entities. By combining the Gaussian mixture model and artificial potential field, this method provides an innovative and patentable approach to pedestrian trajectory prediction. Experimental results on the ETH and UCY datasets demonstrate that the proposed method combining the Gaussian mixture model and artificial potential field outperforms traditional Linear and social force models in terms of prediction accuracy. The method effectively improves accuracy while ensuring collision avoidance. The proposed method combining a Gaussian mixture model and an artificial potential field enhances pedestrian trajectory prediction. It successfully captures the differences between pedestrians and incorporates speed, improving prediction accuracy.
{"title":"Improved Gaussian Mixture Probabilistic Model for Pedestrian Trajectory\u0000Prediction of Autonomous Vehicle","authors":"Haonan Li, Xiaolan Wang, Xiao Su, Yansong Wang","doi":"10.2174/0122127976268211231110055647","DOIUrl":"https://doi.org/10.2174/0122127976268211231110055647","url":null,"abstract":"\u0000\u0000Pedestrian trajectory prediction plays a crucial role in ensuring the safe and\u0000efficient operation of autonomous vehicles in urban environments. As autonomous driving technology\u0000continues to advance, accurate anticipation of pedestrians' motion trajectories has become increasingly\u0000important for informing subsequent decision-making processes. Pedestrians are dynamic and unpredictable\u0000agents, and their movements can vary greatly depending on factors, such as their intentions,\u0000interactions with other pedestrians or vehicles, and the surrounding environment. Therefore, developing\u0000effective methods to predict pedestrian trajectories is essential to enable autonomous vehicles to\u0000navigate and interact with pedestrians in a safe and socially acceptable manner. Various methods, both\u0000patented and non-patented, have been proposed, including physics-based and probability-based models,\u0000to capture the regularities in pedestrian motion and make accurate predictions.\u0000\u0000\u0000\u0000This paper proposes a pedestrian trajectory prediction method that combines a Gaussian\u0000mixture model and an artificial potential field.\u0000\u0000\u0000\u0000The study begins with an analysis of pedestrian motion patterns, allowing for the identification\u0000of distinct patterns and incorporating speed as an influential factor in pedestrian interactions.\u0000Next, a Gaussian mixture model is utilized to model and train the trajectories of pedestrians within\u0000each motion pattern cluster, effectively capturing their statistical characteristics. The trained model is\u0000then used with a regression algorithm to predict future pedestrian trajectories based on their past positions.\u0000To enhance the accuracy and safety of the predicted trajectories, an artificial potential field\u0000analysis is employed, considering factors such as collision avoidance and interactions with other entities.\u0000By combining the Gaussian mixture model and artificial potential field, this method provides an\u0000innovative and patentable approach to pedestrian trajectory prediction.\u0000\u0000\u0000\u0000Experimental results on the ETH and UCY datasets demonstrate that the proposed method\u0000combining the Gaussian mixture model and artificial potential field outperforms traditional Linear and\u0000social force models in terms of prediction accuracy. The method effectively improves accuracy while\u0000ensuring collision avoidance.\u0000\u0000\u0000\u0000The proposed method combining a Gaussian mixture model and an artificial potential\u0000field enhances pedestrian trajectory prediction. It successfully captures the differences between pedestrians\u0000and incorporates speed, improving prediction accuracy.\u0000","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"57 16","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138605116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.2174/0122127976274534231113104337
Dayong Yu
A large number of on-orbit docking dynamics experiments are conducted in the spacecraft docking motion simulation system with the development of Chinese space science and technology, and therefore, the requirement for high-precision parallel robots has increased. The pose accuracy of parallel robots is one of the most important problems in this application. In order to evaluate the pose accuracy of parallel robots in advance, a comprehensive pose accuracy analysis method considering major error sources is presented in this paper, and the influence of major error sources on the pose accuracy is also investigated to summarize the statistics and propagation characteristics of the pose error. The first-order error model for the parallel robot is established based on a generalized error model for each hydraulic cylinder and a sensitivity analysis method. Using the error model, a statistical approach to the parallel robot pose accuracy analysis is presented, and the influence of different parameter errors and different poses on the pose accuracy of the parallel robot is investigated. Sensitivity analysis is applied to evaluate the contribution of each parameter error to the position and orientation error of the parallel robot. An automated pose accuracy analysis program that computes and graphically displays the position and orientation error distributions and the sensitivity analysis results is developed. The statistical analysis results of the influence of different parameter errors and different poses on pose accuracy are obtained by using the automated pose accuracy analysis program. The means of the position and orientation errors are close to zero. The standard deviations in the x and y directions are larger than those in the z direction, and these standard deviations are amplified with the increase of the parameter errors. For the given elevation, sensitivity analysis to various parameter errors is performed. It is found that the length error sensitivities of the hydraulic cylinders are less than one, and position error sensitivities of the hook joints A4, A5, and A6 are much greater than those of hook joints A1, A2 and A3. The elemental error sources belong to one of two groups, i.e., those affecting the hydraulic cylinder length and those affecting the hook joints. The distributions of the position and orientation errors are consistent with statistics theories. The parallel robot is more sensitive to the errors affecting the hook joints than those affecting the hydraulic cylinder length. These will help the designers and users of the parallel robot understand the statistics and propagation characteristics of the pose error. Some recent patents on error modeling and kinematic calibration of parallel robots are also discussed in this article.
{"title":"Error Modeling and Accuracy Analysis of Parallel Robots for Spacecraft\u0000Docking Motion Simulation System","authors":"Dayong Yu","doi":"10.2174/0122127976274534231113104337","DOIUrl":"https://doi.org/10.2174/0122127976274534231113104337","url":null,"abstract":"\u0000\u0000A large number of on-orbit docking dynamics experiments are conducted in\u0000the spacecraft docking motion simulation system with the development of Chinese space science and\u0000technology, and therefore, the requirement for high-precision parallel robots has increased. The pose\u0000accuracy of parallel robots is one of the most important problems in this application.\u0000\u0000\u0000\u0000In order to evaluate the pose accuracy of parallel robots in advance, a comprehensive pose\u0000accuracy analysis method considering major error sources is presented in this paper, and the influence\u0000of major error sources on the pose accuracy is also investigated to summarize the statistics and propagation\u0000characteristics of the pose error.\u0000\u0000\u0000\u0000The first-order error model for the parallel robot is established based on a generalized error\u0000model for each hydraulic cylinder and a sensitivity analysis method. Using the error model, a statistical\u0000approach to the parallel robot pose accuracy analysis is presented, and the influence of different parameter\u0000errors and different poses on the pose accuracy of the parallel robot is investigated. Sensitivity analysis\u0000is applied to evaluate the contribution of each parameter error to the position and orientation error of\u0000the parallel robot. An automated pose accuracy analysis program that computes and graphically displays\u0000the position and orientation error distributions and the sensitivity analysis results is developed.\u0000\u0000\u0000\u0000The statistical analysis results of the influence of different parameter errors and different\u0000poses on pose accuracy are obtained by using the automated pose accuracy analysis program. The\u0000means of the position and orientation errors are close to zero. The standard deviations in the x and y directions are larger than those in the z direction, and these standard deviations are amplified with the\u0000increase of the parameter errors. For the given elevation, sensitivity analysis to various parameter errors\u0000is performed. It is found that the length error sensitivities of the hydraulic cylinders are less than one, and position error sensitivities of the hook joints A4, A5, and A6 are much greater than those of\u0000hook joints A1, A2 and A3.\u0000\u0000\u0000\u0000The elemental error sources belong to one of two groups, i.e., those affecting the hydraulic\u0000cylinder length and those affecting the hook joints. The distributions of the position and orientation\u0000errors are consistent with statistics theories. The parallel robot is more sensitive to the errors affecting\u0000the hook joints than those affecting the hydraulic cylinder length. These will help the designers and\u0000users of the parallel robot understand the statistics and propagation characteristics of the pose error.\u0000Some recent patents on error modeling and kinematic calibration of parallel robots are also discussed\u0000in this article.\u0000","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"34 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138601257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-04DOI: 10.2174/0122127976270648231113074331
Lin Yang, Heqing Zhang, Minli Zheng, Xiang-sheng Zhang, Jialiang Liu, Yinfeng Liu, Fukang Gong
To describe the complex mechanical behavior of S32760 duplex stain-less steel under high strain rate and high-temperature loading conditions. The constitutive model of S32760 duplex stainless steel suitable for high strain rate was constructed from the micro-scale. The constitutive model of S32760 duplex stainless steel suitable for high strain rate was constructed from the micro scale. Based on the theory of dislocation dynamics, the effects of different strain rates and strains on the plastic deformation of ferrite and austenite were analyzed, and the thermal stress term and non-thermal stress term of ferrite and austenite phases were coupled. The simulation results of the model show that the S32760 dual-phase constitutive model has a high degree of fit with the experimental data at high strain rates. Compared with the classical J-C model, the results show that the constitutive model of this patent has more accurate predictability than the J-C model in describing the mechanical behavior of duplex stainless steel in the high strain range of 5000s-1 to 10000s-1. None.
{"title":"Dynamic Constitutive Model and Numerical Simulation of S32760 Duplex Stainless Steel Based on Dislocation Theory","authors":"Lin Yang, Heqing Zhang, Minli Zheng, Xiang-sheng Zhang, Jialiang Liu, Yinfeng Liu, Fukang Gong","doi":"10.2174/0122127976270648231113074331","DOIUrl":"https://doi.org/10.2174/0122127976270648231113074331","url":null,"abstract":"\u0000\u0000To describe the complex mechanical behavior of S32760 duplex stain-less steel under high strain rate and high-temperature loading conditions.\u0000\u0000\u0000\u0000The constitutive model of S32760 duplex stainless steel suitable for high strain rate was constructed from the micro-scale.\u0000\u0000\u0000\u0000The constitutive model of S32760 duplex stainless steel suitable for high strain rate was constructed from the micro scale.\u0000\u0000\u0000\u0000Based on the theory of dislocation dynamics, the effects of different strain rates and strains on the plastic deformation of ferrite and austenite were analyzed, and the thermal stress term and non-thermal stress term of ferrite and austenite phases were coupled.\u0000\u0000\u0000\u0000The simulation results of the model show that the S32760 dual-phase constitutive model has a high degree of fit with the experimental data at high strain rates.\u0000\u0000\u0000\u0000Compared with the classical J-C model, the results show that the constitutive model of this patent has more accurate predictability than the J-C model in describing the mechanical behavior of duplex stainless steel in the high strain range of 5000s-1 to 10000s-1.\u0000\u0000\u0000\u0000None.\u0000","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"22 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138601756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-24DOI: 10.2174/0122127976274753231108114014
Jiang-ming Kuang, Man Zhang, Y. Qin, Shuang Zhang
This study investigates the damage in human tissue in regions subjected to stress when the human body experiences localized, instantaneous impact loads. Utilizing 727 images spanning from the shoulder to the fingertip of a digital human model based on Chinese demographics, the geometric details of tissue structures were derived via tissue segmentation, 3D modeling, and reverse engineering. A stress-induced damage model for the human forearm was created using the finite element simulation software, commercial software COMSOL Multiphysics 5.5 in the college edition. By applying an impact load of 6 2 6.4 10 N m to the load surface, a response time of 3 1 10 s was determined. Subsequently, the force transmission mechanism was examined when the human forearm was under stress. This approach represents the unique aspect of our patent study The modeling and analysis revealed that skin, fat, and muscle -being viscoelastic tissues -undergo deformation upon experiencing stress impacts. This deformation aids in dissipating energy. In transient states, the body does not sustain severe damage, and the impact-induced damage to these tissues is relatively minimal. However, if the force duration is prolonged or if the impact load is exceedingly high, exceeding the critical limit of adhesive tissue may result in penetration of the tissue at the stress point. Notably, tissues beyond the direct impact area remain largely unharmed. Damage due to localized, instantaneous impact loads is primarily concentrated on the immediate stress surface, while regions beyond this point incur minimal to no damage. Calculations indicate that, while such impacts can cause penetrating injuries, the resulting wounds are typically small. With prompt medical intervention, these injuries are not debilitating to the human body.
{"title":"Finite Element Model for Local Instantaneous Impact Protection Analysis Based on Digital Arm","authors":"Jiang-ming Kuang, Man Zhang, Y. Qin, Shuang Zhang","doi":"10.2174/0122127976274753231108114014","DOIUrl":"https://doi.org/10.2174/0122127976274753231108114014","url":null,"abstract":"This study investigates the damage in human tissue in regions subjected to stress when the human body experiences localized, instantaneous impact loads. Utilizing 727 images spanning from the shoulder to the fingertip of a digital human model based on Chinese demographics, the geometric details of tissue structures were derived via tissue segmentation, 3D modeling, and reverse engineering. A stress-induced damage model for the human forearm was created using the finite element simulation software, commercial software COMSOL Multiphysics 5.5 in the college edition. By applying an impact load of 6 2 6.4 10 N m to the load surface, a response time of 3 1 10 s was determined. Subsequently, the force transmission mechanism was examined when the human forearm was under stress. This approach represents the unique aspect of our patent study The modeling and analysis revealed that skin, fat, and muscle -being viscoelastic tissues -undergo deformation upon experiencing stress impacts. This deformation aids in dissipating energy. In transient states, the body does not sustain severe damage, and the impact-induced damage to these tissues is relatively minimal. However, if the force duration is prolonged or if the impact load is exceedingly high, exceeding the critical limit of adhesive tissue may result in penetration of the tissue at the stress point. Notably, tissues beyond the direct impact area remain largely unharmed. Damage due to localized, instantaneous impact loads is primarily concentrated on the immediate stress surface, while regions beyond this point incur minimal to no damage. Calculations indicate that, while such impacts can cause penetrating injuries, the resulting wounds are typically small. With prompt medical intervention, these injuries are not debilitating to the human body.","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"82 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139238906","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-18DOI: 10.2174/0122127976268634230929182355
Xiao Su, Xiaolan Wang, Haonan Li, Xin Xu, Yansong Wang
Background: Today, self-driving cars are already on the roads. However, driving safety remains a huge challenge. Trajectory prediction of traffic targets is one of the important tasks of an autonomous driving environment perception system, and its output trajectory can provide necessary information for decision control and path planning. Although there are many patents and articles related to trajectory prediction, the accuracy of trajectory prediction still needs to be improved. Objective: This paper aimed to propose a novel scheme that considers multi-feature independent encoding trajectory prediction (MFIE). Methods: MFIE is an independently coded trajectory prediction algorithm that consists of a spacetime interaction module and trajectory prediction module, and considers speed characteristics and road characteristics. In the spatiotemporal interaction module, an undirected and weightless static traffic graph is used to represent the interaction between vehicles, and multiple graph convolution blocks are used to perform data mining on the historical information of target vehicles, capture temporal features, and process spatial interaction features. In the trajectory prediction module, three long short-term memory (LSTM) encoders are used to encode the trajectory feature, motion feature, and road constraint feature independently. The three hidden features are spliced into a tensor, and the LSTM decoder is used to predict the future trajectory. Results: On datasets, such as Apollo and NGSIM, the proposed method has shown lower prediction error than traditional model-driven and data-driven methods, and predicted more target vehicles at the same time. It can provide a basis for vehicle path planning on highways and urban roads, and it is of great significance to the safety of autonomous driving. Conclusion: This paper has proposed a multi-feature independent encoders’ trajectory prediction data-driven algorithm, and the effectiveness of the algorithm is verified with a public dataset. The trajectory prediction algorithm considering multi-feature independent encoders provides some reference value for decision planning.
{"title":"Vehicle Trajectory Prediction Considering Multi-feature Independent Encoding Based on Graph Neural Network","authors":"Xiao Su, Xiaolan Wang, Haonan Li, Xin Xu, Yansong Wang","doi":"10.2174/0122127976268634230929182355","DOIUrl":"https://doi.org/10.2174/0122127976268634230929182355","url":null,"abstract":"Background: Today, self-driving cars are already on the roads. However, driving safety remains a huge challenge. Trajectory prediction of traffic targets is one of the important tasks of an autonomous driving environment perception system, and its output trajectory can provide necessary information for decision control and path planning. Although there are many patents and articles related to trajectory prediction, the accuracy of trajectory prediction still needs to be improved. Objective: This paper aimed to propose a novel scheme that considers multi-feature independent encoding trajectory prediction (MFIE). Methods: MFIE is an independently coded trajectory prediction algorithm that consists of a spacetime interaction module and trajectory prediction module, and considers speed characteristics and road characteristics. In the spatiotemporal interaction module, an undirected and weightless static traffic graph is used to represent the interaction between vehicles, and multiple graph convolution blocks are used to perform data mining on the historical information of target vehicles, capture temporal features, and process spatial interaction features. In the trajectory prediction module, three long short-term memory (LSTM) encoders are used to encode the trajectory feature, motion feature, and road constraint feature independently. The three hidden features are spliced into a tensor, and the LSTM decoder is used to predict the future trajectory. Results: On datasets, such as Apollo and NGSIM, the proposed method has shown lower prediction error than traditional model-driven and data-driven methods, and predicted more target vehicles at the same time. It can provide a basis for vehicle path planning on highways and urban roads, and it is of great significance to the safety of autonomous driving. Conclusion: This paper has proposed a multi-feature independent encoders’ trajectory prediction data-driven algorithm, and the effectiveness of the algorithm is verified with a public dataset. The trajectory prediction algorithm considering multi-feature independent encoders provides some reference value for decision planning.","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135889173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-10DOI: 10.2174/0122127976262157230925065236
Ali Abdi
Background: Stick-slip actuators are commonly used in Nano/Micro precision positioning systems, but their control is challenging due to factors like nonlinear friction, PEA hysteresis, and uncertainty. Researchers have made efforts to address these challenges and documented their findings in articles and patents. Methods: This study introduces a novel vertical stick-slip actuator and proposes two different methods for overcoming the challenges associated with controlling it. The first method involves training an inverse model of the actuator using a supervised machine-learning algorithm to determine the optimal number of signals and peak voltage required for the saw-tooth signals in an open-loop controller. The second method is a closed-loop controller that utilizes the maximum allowable peak voltage unless the positioning error is smaller than the maximum step size. At this point, the neural network-based controller adjusts the peak voltage to a lower value, ensuring that the actuator reaches the desired position at the end of the final signal. objective: . Results: According to the results, both controllers perform effectively. The open-loop and closed-loop controllers exhibit a relative error of 1.59% and 0.4%, respectively, for an arbitrary desired position in the final position. Conclusion: In conclusion, the suggested controllers offer a practical solution to the controlling challenges faced by stick-slip positioners, which are essential in the advancement of Nano/Micro sciences.
{"title":"AI-based Controllers for a Z-Axis Micro Precision Positioning System","authors":"Ali Abdi","doi":"10.2174/0122127976262157230925065236","DOIUrl":"https://doi.org/10.2174/0122127976262157230925065236","url":null,"abstract":"Background: Stick-slip actuators are commonly used in Nano/Micro precision positioning systems, but their control is challenging due to factors like nonlinear friction, PEA hysteresis, and uncertainty. Researchers have made efforts to address these challenges and documented their findings in articles and patents. Methods: This study introduces a novel vertical stick-slip actuator and proposes two different methods for overcoming the challenges associated with controlling it. The first method involves training an inverse model of the actuator using a supervised machine-learning algorithm to determine the optimal number of signals and peak voltage required for the saw-tooth signals in an open-loop controller. The second method is a closed-loop controller that utilizes the maximum allowable peak voltage unless the positioning error is smaller than the maximum step size. At this point, the neural network-based controller adjusts the peak voltage to a lower value, ensuring that the actuator reaches the desired position at the end of the final signal. objective: . Results: According to the results, both controllers perform effectively. The open-loop and closed-loop controllers exhibit a relative error of 1.59% and 0.4%, respectively, for an arbitrary desired position in the final position. Conclusion: In conclusion, the suggested controllers offer a practical solution to the controlling challenges faced by stick-slip positioners, which are essential in the advancement of Nano/Micro sciences.","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"261 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136361004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-10DOI: 10.2174/0122127976257342230927055915
Xunyi Zhu, Bing Zhang, Junsen Rao
background: The optimal control strategy has been widely used in electro-hydraulic position servo systems to achieve high-precision position tracking. However, the difficulty of selecting the weighted matrices in optimal control often leads to poor tracking accuracy. objective: This patent proposes an optimal control strategy using a genetic algorithm to improve the tracking accuracy of the electro-hydraulic servo system. methods: The patent first established the system state equation of the valve-controlled asymmetric cylinder. Secondly, based on linear quadratic optimal control theory and genetic algorithm, an optimal control strategy using a genetic algorithm was proposed. Finally, the simulation and experimental results showed that the designed controller has high position tracking accuracy. results: The optimal controller using a genetic algorithm was designed using Matlab/Simulink, and the effectiveness of the controller was verified through simulation. Additionally, experimental results showed that the proposed optimal control controller using a genetic algorithm had higher tracking accuracy than the proportional-integral-derivative controller and traditional backstepping controller for a given reference signal. conclusion: The control technology of the optimal controller using a genetic algorithm was found to be superior to proportional-integral-derivative and traditional backstepping controllers, and the tracking error of the linear quadratic regulator controller was reported to be relatively small. This demonstrated the effectiveness of the optimal control strategy using a genetic algorithm in this patent.
{"title":"Optimal Control Strategy of Electro-hydraulic Position Servo System Using Genetic Algorithm","authors":"Xunyi Zhu, Bing Zhang, Junsen Rao","doi":"10.2174/0122127976257342230927055915","DOIUrl":"https://doi.org/10.2174/0122127976257342230927055915","url":null,"abstract":"background: The optimal control strategy has been widely used in electro-hydraulic position servo systems to achieve high-precision position tracking. However, the difficulty of selecting the weighted matrices in optimal control often leads to poor tracking accuracy. objective: This patent proposes an optimal control strategy using a genetic algorithm to improve the tracking accuracy of the electro-hydraulic servo system. methods: The patent first established the system state equation of the valve-controlled asymmetric cylinder. Secondly, based on linear quadratic optimal control theory and genetic algorithm, an optimal control strategy using a genetic algorithm was proposed. Finally, the simulation and experimental results showed that the designed controller has high position tracking accuracy. results: The optimal controller using a genetic algorithm was designed using Matlab/Simulink, and the effectiveness of the controller was verified through simulation. Additionally, experimental results showed that the proposed optimal control controller using a genetic algorithm had higher tracking accuracy than the proportional-integral-derivative controller and traditional backstepping controller for a given reference signal. conclusion: The control technology of the optimal controller using a genetic algorithm was found to be superior to proportional-integral-derivative and traditional backstepping controllers, and the tracking error of the linear quadratic regulator controller was reported to be relatively small. This demonstrated the effectiveness of the optimal control strategy using a genetic algorithm in this patent.","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136357991","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-06DOI: 10.2174/0122127976252847230925104722
Xiulian Liu, Peng Wang, Renquan Dong
Background:: Quadruped crawling robots will be faced with stability problems when walking on a raised slope. The stability of robot is affected by gait planning and selection of its foothold in this terrain. The slope reaction force on anterior and posterior legs is uneven. The selection strategy of its foothold should achieve good performance for the stability of the quadruped crawling robot. background: Quadruped crawling robots will be faced with stability problems when walking on the raised slope. The stability of robot is affected by gait planning and selection of its foothold in this terrain. The slope reaction force on anterior and posterior legs is uneven. The selection strategy of its foothold should achieve good performance for the stability of quadruped crawling robot. Objective:: Aimed at the uneven problem of slope reaction force on the anterior and posterior legs of the quadruped crawling robot when walking on the raised slope, a patent method for foothold optimization using reinforcement learning based on strategy search is proposed. objective: Aimed at the uneven problem of slope reaction force on anterior and posterior legs of the quadruped crawling robot when walking on the raised slope, a reinforcement learning method based on strategy search is adopted to select its foothold for quadruped crawling robot. Methods:: The kinematic model of the quadruped crawling robot is created in D-H coordinate method. According to the gait timing sequence method, the frame description of the quadruped crawling robot's gait on the slope is proposed. The fitting polynomial coefficients and fitting curves of all joints of the leg can be obtained by using the polynomial fitting calculation method. The reinforcement learning method based on Q-learning algorithm is proposed to find the optimal foothold by interacting with the slope environment. Comparative simulation and test of other gait and climbing slope gait, the climbing slope gait with and without the Q-learning algorithm is carried out by MATLAB platform. Results:: When the quadruped crawling robot adopts the reinforcement learning method based on Qlearning algorithm to select foothold, the robot posture curves are compared without optimization strategy. The result proves that the selection strategy of its foothold is valid. Conclusion:: The selection strategy of its foothold with reinforcement learning based on Q-learning algorithm can improve the stability of the quadruped crawling robot on the raised sloped. other: not have
{"title":"Research on Foothold Optimization of the Quadruped Crawling Robot based on Reinforcement Learning","authors":"Xiulian Liu, Peng Wang, Renquan Dong","doi":"10.2174/0122127976252847230925104722","DOIUrl":"https://doi.org/10.2174/0122127976252847230925104722","url":null,"abstract":"Background:: Quadruped crawling robots will be faced with stability problems when walking on a raised slope. The stability of robot is affected by gait planning and selection of its foothold in this terrain. The slope reaction force on anterior and posterior legs is uneven. The selection strategy of its foothold should achieve good performance for the stability of the quadruped crawling robot. background: Quadruped crawling robots will be faced with stability problems when walking on the raised slope. The stability of robot is affected by gait planning and selection of its foothold in this terrain. The slope reaction force on anterior and posterior legs is uneven. The selection strategy of its foothold should achieve good performance for the stability of quadruped crawling robot. Objective:: Aimed at the uneven problem of slope reaction force on the anterior and posterior legs of the quadruped crawling robot when walking on the raised slope, a patent method for foothold optimization using reinforcement learning based on strategy search is proposed. objective: Aimed at the uneven problem of slope reaction force on anterior and posterior legs of the quadruped crawling robot when walking on the raised slope, a reinforcement learning method based on strategy search is adopted to select its foothold for quadruped crawling robot. Methods:: The kinematic model of the quadruped crawling robot is created in D-H coordinate method. According to the gait timing sequence method, the frame description of the quadruped crawling robot's gait on the slope is proposed. The fitting polynomial coefficients and fitting curves of all joints of the leg can be obtained by using the polynomial fitting calculation method. The reinforcement learning method based on Q-learning algorithm is proposed to find the optimal foothold by interacting with the slope environment. Comparative simulation and test of other gait and climbing slope gait, the climbing slope gait with and without the Q-learning algorithm is carried out by MATLAB platform. Results:: When the quadruped crawling robot adopts the reinforcement learning method based on Qlearning algorithm to select foothold, the robot posture curves are compared without optimization strategy. The result proves that the selection strategy of its foothold is valid. Conclusion:: The selection strategy of its foothold with reinforcement learning based on Q-learning algorithm can improve the stability of the quadruped crawling robot on the raised sloped. other: not have","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134944843","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-05DOI: 10.2174/0122127976270472230919064403
N. Murugu Nachippan, S. Padmanabhan, M. Parthasarathy
Aims: To assess the performance and emission parameters of graphite-included mahua biodiesel at various proportions such as 10 ppm, 40 ppm, and 70 ppm. Background: The fuels derived from petroleum are harmful to the environment and deplete traditional energy sources. The discovery of alternative fuels has paved the way for various options. Studies suggest replacing diesel with vegetable oils. Neat vegetable oil has a high viscosity and low volatility characteristics, making it unsuitable for diesel engines. Methods: Transesterification of mahua seed oil produces biodiesel with graphite distributed in varying concentrations by ultra sonification. Mahua biodiesel shows reduced viscosity compared to neat vegetable oil, and it will be used as diesel in diesel engines. Graphite nanoparticles contained in mahua biodiesel mix (B30) indicate improved brake thermal efficiency, reduced brake-specific fuel consumption, and reduced carbon monoxide, unburned hydrocarbon, nitrogen oxide, and smoke density. Conclusion: The results of this investigation showed that multi-cylinder diesel engines with direct injection can use optimal blend B30, which incorporates graphite nanoparticles, without requiring any modifications to the engine.
{"title":"Environmental Sustainability Achievement on Diesel Engine Emissions Using Mahua Biodiesel Influenced by Graphite","authors":"N. Murugu Nachippan, S. Padmanabhan, M. Parthasarathy","doi":"10.2174/0122127976270472230919064403","DOIUrl":"https://doi.org/10.2174/0122127976270472230919064403","url":null,"abstract":"Aims: To assess the performance and emission parameters of graphite-included mahua biodiesel at various proportions such as 10 ppm, 40 ppm, and 70 ppm. Background: The fuels derived from petroleum are harmful to the environment and deplete traditional energy sources. The discovery of alternative fuels has paved the way for various options. Studies suggest replacing diesel with vegetable oils. Neat vegetable oil has a high viscosity and low volatility characteristics, making it unsuitable for diesel engines. Methods: Transesterification of mahua seed oil produces biodiesel with graphite distributed in varying concentrations by ultra sonification. Mahua biodiesel shows reduced viscosity compared to neat vegetable oil, and it will be used as diesel in diesel engines. Graphite nanoparticles contained in mahua biodiesel mix (B30) indicate improved brake thermal efficiency, reduced brake-specific fuel consumption, and reduced carbon monoxide, unburned hydrocarbon, nitrogen oxide, and smoke density. Conclusion: The results of this investigation showed that multi-cylinder diesel engines with direct injection can use optimal blend B30, which incorporates graphite nanoparticles, without requiring any modifications to the engine.","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"372 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135546585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-09-05DOI: 10.2174/2212797616666230905161308
Saiaf Bin Rayhan, Yu Chunjin, Md. Mazedur Rahman, Xue Pu
Background: Crashworthiness studies the safety qualification of a vehicle (both airborne and road transports) to protect its occupants during an impact. Before an aircraft can receive transport certification, it must meet a number of crashworthiness requirements, such as the structure's deformation pattern, absorbed kinetic energy profile, and acceleration responses experienced by the components and human body models. Therefore, in recent times, crashworthiness has emerged as a crucial field of study during the early design stages of aircraft, along with other key parameters like weight reduction, load factor, fatigue life estimation, etc. Objective: The main objective of the present article is to undertake an in-depth analysis of the developments in crashworthiness related to the civil aircraft fuselage section. Furthermore, it aims to identify and address the future challenges that must be overcome to ensure the utmost safety of the occupants. Method: Based on the research objectives, the available literature is categorized into three major groups: (i) finite element code validation; (ii) improvement of the crashworthiness criteria; and (iii) impact on different surface models. A methodology to solve fuselage section crashworthiness is briefly described. A review of the research articles discussing general purpose energy absorbers for crashworthy design without any implementation to the fuselage structure is out of the scope of this article. Results: Experimental testing of fuselage section crashworthiness is expensive and non-repeatable. Furthermore, the intricate structure of the fuselage, with its numerous components, makes it nearly impossible to devise crashworthy design solutions through classical hand calculations alone. As a result, commercial software codes play a crucial role in the development of fuselage section crashworthiness, offering valuable assistance in overcoming these limitations. Conclusion: Future challenges of crashworthy design involve exploring novel materials and devices to mitigate injury during controlled crash conditions. An intriguing area of study would be the analysis of lattice components, as they have the potential to enhance crashworthiness. Furthermore, as newly designed fuselage sections emerge, it will be crucial to investigate and establish the necessary requirements to ensure compliance with crashworthiness certification standards.
{"title":"Advances and Future Challenges in Aircraft Fuselage Section Crashworthiness: A Critical Review","authors":"Saiaf Bin Rayhan, Yu Chunjin, Md. Mazedur Rahman, Xue Pu","doi":"10.2174/2212797616666230905161308","DOIUrl":"https://doi.org/10.2174/2212797616666230905161308","url":null,"abstract":"Background: Crashworthiness studies the safety qualification of a vehicle (both airborne and road transports) to protect its occupants during an impact. Before an aircraft can receive transport certification, it must meet a number of crashworthiness requirements, such as the structure's deformation pattern, absorbed kinetic energy profile, and acceleration responses experienced by the components and human body models. Therefore, in recent times, crashworthiness has emerged as a crucial field of study during the early design stages of aircraft, along with other key parameters like weight reduction, load factor, fatigue life estimation, etc. Objective: The main objective of the present article is to undertake an in-depth analysis of the developments in crashworthiness related to the civil aircraft fuselage section. Furthermore, it aims to identify and address the future challenges that must be overcome to ensure the utmost safety of the occupants. Method: Based on the research objectives, the available literature is categorized into three major groups: (i) finite element code validation; (ii) improvement of the crashworthiness criteria; and (iii) impact on different surface models. A methodology to solve fuselage section crashworthiness is briefly described. A review of the research articles discussing general purpose energy absorbers for crashworthy design without any implementation to the fuselage structure is out of the scope of this article. Results: Experimental testing of fuselage section crashworthiness is expensive and non-repeatable. Furthermore, the intricate structure of the fuselage, with its numerous components, makes it nearly impossible to devise crashworthy design solutions through classical hand calculations alone. As a result, commercial software codes play a crucial role in the development of fuselage section crashworthiness, offering valuable assistance in overcoming these limitations. Conclusion: Future challenges of crashworthy design involve exploring novel materials and devices to mitigate injury during controlled crash conditions. An intriguing area of study would be the analysis of lattice components, as they have the potential to enhance crashworthiness. Furthermore, as newly designed fuselage sections emerge, it will be crucial to investigate and establish the necessary requirements to ensure compliance with crashworthiness certification standards.","PeriodicalId":39169,"journal":{"name":"Recent Patents on Mechanical Engineering","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135362418","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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