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- Ji, Qinglei, et al.
(författare)
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Development of a 3D Printed Multi-Axial Force Sensor
- 2022
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Ingår i: Advances in Transdisciplinary Engineering. - : IOS Press.
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- Sensors play a vital role in the industry transformation. Commercialsensors such as force sensors have limited options in shapes, stiffness, measuringranges, etc. Customized force sensors optimized for the production environmentcan greatly increase the integration workflow and avoid the trade-off in design freedomof using commercial sensors. 3D printing, as a rapid prototyping technology,offers great potential in fabricating force sensors customized to a specific application.However, most of the existing 3D printed force sensors are limited to onedirectionalsensing, while most of them use materials developed in-house. In thisstudy, a fully 3D printed force sensor using commercial conductive 3D printing materialsis presented. By utilizing the resistance change when under load, the sensorcan estimate the applied force in multiple directions. The resistive performance ofthe prototype 3D printed force sensor is first characterized and then validated in acase study.
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| 3. |
- Ji, Qinglei, 1993-
(författare)
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Learning-based Control for 4D Printing and Soft Robotics
- 2022
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Exploiting novel sensors and actuators made of flexible and smart materials becomes a new trend in robotics research. The studies on the design, production, and control of the new type of robots motivate the research fields of soft robots and 4D printed robots. 3D Printing (3DP) is an additive manufacturing technology that is widely used in printing flexible materials to fabricate soft robots. 4D Printing (4DP) combines 3DP technologies with smart materials to produce transformable devices. 4DP first prints structures with specifically designed responsive materials. When external stimuli such as temperature, voltage, or magnetic field are applied to the printed structure, it changes shape in a programmable way. The shape morphing property of 4DP makes it a novel approach to the actuators of robots.The employment of these special materials empowers these new robots with better compliance and adaptability to the working environment. However, compared with the rigid counterparts, they also have complex dynamic properties such as substantial non-linearity and time-variance. These factors make the precise modeling and robust control of these new robots challenging and thus hinder their potential applications. Focusing on soft robotic systems enabled by 3DP and 4DP approaches, this dissertation studies both traditional and Machine Learning (ML)-based approaches to the modeling, perception, and control of soft, non-linear, and time-variant robotic systems. The main contributions of this dissertation are:The scheme of Closed-Loop (CL) controlled 4DP (CL4DP) using temperature stimulated Shape Memory Polymer (SMP) is designed and validated numerically and experimentally. The feedback control system increases the precision and robustness of the shape morphing process of 4D printed SMP. Applications of CL4DP are explored.Data-driven model identification methods are applied to learn the dynamic model of the shape morphing process of CL4DP and the learned model has good quality to support model-based control design. Model-free and adaptive Reinforcement Learning (RL) controllers are developed to deal with the non-linearity and time variance of 4D printed actuators. To improve the stability and quick adaptability, a concise basis function set is selected instead of blindly using Deep Neural Networks (DNNs).A quadruped robot enabled by soft actuators and its simulation model are developed. The computation efficiency and model accuracy of the simulator are studied and optimized by comparing different simulation methods such as Finite Element Method (FEM) and lumped parameter method.The optimal walking gait pattern of a soft-legged quadruped robot is found by grid parameter search and RL with a physics based simulation model. To speed up the RL training process, modeling tricks are used to reduce the simulation time of the model and curriculum learning is used to reduce the learning time.A soft sensor made by printable conductive materials and 3DP is designed and optimally calibrated to estimate the shape of a pneumatically driven soft actuator. The geometry of the soft sensor is optimally designed for the best linearity, hysteresis and drift properties. The online estimation is based on a linear regression model learned from experimental data.A pneumatically driven soft gripper is developed by 3DP, the printable soft sensor, and pole-placement control methods. The operation of the gripper does not require an external image feedback system to measure its shape, which is estimated by the integrated soft sensor. The position feedback by the soft sensor and the controller by the pole-placement method enable the soft gripper to perform complex tasks with high precision.
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| 7. |
- Angelopoulus, M., et al.
(författare)
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Physical properties of sea ice cores from site MCS_FYI measured on legs 1 to 3 of the MOSAiC expedition.
- 2022
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Ingår i: PANGAEA.
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- We present sea ice temperature and salinity data from first-year ice (FYI) and second-year ice (SYI) relevant to the temporal development of sea ice permeability and brine drainage efficiency from the early growth phase in October 2019 to the onset of spring warming in May 2020. Our dataset was collected in the central Arctic Ocean during the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) Expedition in 2019 to 2020. MOSAiC was an international transpolar drift expedition in which the German icebreaker RV Polarstern anchored into an ice floe to gain new insights into Arctic climate over a full annual cycle. In October 2019, RV Polarstern moored to an ice floe in the Siberian sector of the Arctic at 85 degrees north and 137 degrees east to begin the drift towards the North Pole and the Fram Strait via the Transpolar Drift Stream. The data presented here were collected during the first three legs of the expedition, so all the coring activities took place on the same floe. The end dates of legs 1, 2, and 3 were 13 December, 24 February, and 4 June, respectively. The dataset contributed to a baseline study entitled, Deciphering the properties of different Arctic ice types during the growth phase of the MOSAiC floes: Implications for future studies. The study highlights downward directed gas pathways in FYI and SYI by inferring sea ice permeability and potential brine release from several time series of temperature and salinity measurements. The physical properties presented in this paper lay the foundation for subsequent analyses on actual gas contents measured in the ice cores, as well as air-ice and ice-ocean gas fluxes. Sea ice cores were collected with a Kovacs Mark II 9 cm diameter corer. To measure ice temperatures, about 4.5 cm deep holes were drilled into the core (intervals varied by site and leg) . The temperatures were measured by a digital thermometer within minutes after the cores were retrieved. The ice cores were placed into pre-labelled plastic sleeves sealed at the bottom end. The ice cores were transported to RV Polarstern and stored in a -20 degrees Celsius freezer. Each of the cores was sub-sampled, melted at room temperature, and processed for salinity within one or two days. The practical salinity was estimated by measuring the electrical conductivity and temperature of the melted samples using a WTW Cond 3151 salinometer equipped with a Tetra-Con 325 four-electrode conductivity cell. The practical salinity represents the the salinity estimated from the electrical conductivity of the solution. The dataset also contains derived variables, including sea ice density, brine volume fraction, and the Rayleigh number.
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| 8. |
- Angelopoulus, M., et al.
(författare)
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Physical properties of sea ice cores from site MCS-SYI measured on legs 1 to 3 of the MOSAiC expedition
- 2022
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Ingår i: PANGAEA.
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- We present sea ice temperature and salinity data from first-year ice (FYI) and second-year ice (SYI) relevant to the temporal development of sea ice permeability and brine drainage efficiency from the early growth phase in October 2019 to the onset of spring warming in May 2020. Our dataset was collected in the central Arctic Ocean during the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) Expedition in 2019 to 2020. MOSAiC was an international transpolar drift expedition in which the German icebreaker RV Polarstern anchored into an ice floe to gain new insights into Arctic climate over a full annual cycle. In October 2019, RV Polarstern moored to an ice floe in the Siberian sector of the Arctic at 85 degrees north and 137 degrees east to begin the drift towards the North Pole and the Fram Strait via the Transpolar Drift Stream. The data presented here were collected during the first three legs of the expedition, so all the coring activities took place on the same floe. The end dates of legs 1, 2, and 3 were 13 December, 24 February, and 4 June, respectively. The dataset contributed to a baseline study entitled, Deciphering the properties of different Arctic ice types during the growth phase of the MOSAiC floes: Implications for future studies. The study highlights downward directed gas pathways in FYI and SYI by inferring sea ice permeability and potential brine release from several time series of temperature and salinity measurements. The physical properties presented in this paper lay the foundation for subsequent analyses on actual gas contents measured in the ice cores, as well as air-ice and ice-ocean gas fluxes. Sea ice cores were collected with a Kovacs Mark II 9 cm diameter corer. To measure ice temperatures, about 4.5 cm deep holes were drilled into the core (intervals varied by site and leg) . The temperatures were measured by a digital thermometer within minutes after the cores were retrieved. The ice cores were placed into pre-labelled plastic sleeves sealed at the bottom end. The ice cores were transported to RV Polarstern and stored in a -20 degrees Celsius freezer. Each of the cores was sub-sampled, melted at room temperature, and processed for salinity within one or two days. The practical salinity was estimated by measuring the electrical conductivity and temperature of the melted samples using a WTW Cond 3151 salinometer equipped with a Tetra-Con 325 four-electrode conductivity cell. The practical salinity represents the the salinity estimated from the electrical conductivity of the solution. The dataset also contains derived variables, including sea ice density, brine volume fraction, and the Rayleigh number.
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| 9. |
- Guo, Lei, et al.
(författare)
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Necessary and Sufficient Conditions for Stability of LMS
- 1996
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- In a recent work (7), some general results on exponential stability of random linear equations are established which can be applied directly to the performance analysis of a wide class of adaptive algorithms including the basic LMS ones without requiring stationarity independency and boundedness assumptions of the system signals The current paper attempts to give a complete characterization of the exponential stability of the LMS algorithms by providing a necessary and sucient condition for such a stability in the case of possibly unbounded nonstationary and non ?mixing signals The results of this paper can be applied to a very large class of signals including those generated fromeg a Gaussian process via a timevarying linear lter As an application several novel and extended results on convergence and tracking performance of LMS are derived under various assumptions Neither stationarity nor Markov chain assumptions are necessarily required in the paper
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| 10. |
- Guo, Lei, et al.
(författare)
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Necessary and Sufficient Conditions for Stability of LMS
- 1995
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Guo and Ljung (1995) established some general results on exponential stability of random linear equations, which can be applied directly to the performance analysis of a wide class of adaptive algorithms, including the basic LMS ones, without requiring stationarity, independency, and boundedness assumptions of the system signals. The current paper attempts to give a complete characterization of the exponential stability of the LMS algorithms by providing a necessary and sufficient condition for such a stability in the case of possibly unbounded, nonstationary, and non-φ-mixing signals. The results of this paper can be applied to a very large class of signals, including those generated from, e.g., a Gaussian process via a time-varying linear filter. As an application, several novel and extended results on convergence and the tracking performance of LMS are derived under various assumptions. Neither stationarity nor Markov-chain assumptions are necessarily required in the paper.
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