High Acceleration Performance Research Articles

Structural design and active disturbance rejection control of rigid-flexible coupling motion stage for nanopositioning

Mechanical-bearing-guided motion stage is widely used in electronic manufacturing equipment for its excellent high-acceleration performance and low cost, but its positioning precision is limited by the friction of mechanical bearing. To this end, a rigid-flexible coupling motion stage (RFCMS) with compound flexure hinges (CFHs) and a single drive is designed to simultaneously achieve large stroke and nanoscale precision in this work. The friction dead zone is isolated by utilizing the bending deflection of CFHs. To suppress the resonance of CFHs and deal with nonlinear disturbances and uncertainties, a model-based active disturbance rejection control (model-based ADRC) is adopted based on the bending stiffness modeling of CFHs, which can improve the tracking accuracy for the position profile and reduce the estimating error of the extended state observer for the total disturbance. Despite the uncertain control input gain and the nonlinear coupling of the working stage and the rigid frame, the tracking and estimating errors of closed-loop system are theoretically investigated. Experimental results show that RFCMS with model-based ADRC strategy can achieve positioning accuracy within 100 nm in point-to-point motion and has strong robustness to load mass changes.

Uni-OPU: An FPGA-Based Uniform Accelerator for Convolutional and Transposed Convolutional Networks

In this article, we design the first full software/ hardware stack, called Uni-OPU , for an efficient uniform hardware acceleration of different types of transposed convolutional (TCONV) networks and conventional convolutional (CONV) networks. Specifically, a software compiler is provided to transform the computation of various TCONV, i.e., zero-inserting-based TCONV (zero-TCONV), nearest-neighbor resizing-based TCONV (NN-TCONV), and CONV layers into the same pattern. The compiler conducts the following optimizations: 1) eliminating up to 98.4% of operations in TCONV by making use of the fixed pattern of TCONV upsampling; 2) decomposing and reformulating TCONV and CONV into streaming parallel vector multiplication with a uniform address generation scheme and data flow pattern; and 3) efficient scheduling and instruction compilation to map networks onto a hardware processor. An instruction-based hardware acceleration processor is developed to efficiently speedup our uniform computation pattern with throughput up to 2.35 TOPS for the TCONV layer, consuming only 2.89 W dynamic power. We evaluate Uni-OPU on a benchmark set composed of six TCONV networks from different application fields. Extensive experimental results indicate that Uni-OPU is able to gain $1.45 \times $ to $3.68 \times $ superior power efficiency compared with state-of-the-art zero-TCONV accelerators. High acceleration performance is also achieved on NN-TCONV networks, the acceleration of which have not been explored before. In summary, we observe $1.90 \times $ and $1.63 \times $ latency reduction, as well as $15.04 \times $ and $12.43 \times $ higher power efficiency on zero-TCONV and NN-TCONV networks compared with Titan Xp GPU on average. To the best of our knowledge, ours is the first in-depth study to completely unify the computation process of zero-TCONV, NN-TCONV, and CONV layers.

Forecasting the value of battery electric vehicles compared to internal combustion engine vehicles: The influence of driving range and battery technology

Battery electric vehicles (BEVs) are now clearly a promising candidate in addressing the environmental problems associated with conventional internal combustion engine vehicles (ICEVs). However, BEVs, unlike ICEVs, are still not widely accepted in the automobile market but continuing technological change could overcome this barrier. The aim of this study is to assess and forecast whether and when design changes and technological improvements related to major challenges in driving range and battery cost will make the user value of BEVs greater than the user value of ICEVs. Specifically, we estimate the relative user value of BEVs and ICEVs resulting after design modifications to achieve different driving ranges by considering the engineering trade-offs based on a vehicle simulation. Then, we analyze when the relative user value of BEVs is expected to exceed ICEVs as the energy density and cost of batteries improve because of ongoing technological change. Our analysis demonstrates that the relative value of BEVs is lower than that of ICEVs because BEVs have high battery cost and high cost of time spent recharging despite high torque, high fuel efficiency, and low fuel cost. Moreover, we found the relative value differences between BEVs and ICEVs are found to be less in high performance large cars than in low performance compact cars because BEVs can achieve high acceleration performance more easily than ICEVs. In addition, this study predicts that in approximately 2050, high performance large BEVs could have higher relative value than high performance large ICEVs because of technological improvements in batteries; however low performance compact BEVs are still very likely to have significantly lower user value than comparable ICEVs until well beyond 2050.

Computational and experimental study on dynamics behavior of a bionic underwater robot with multi-flexible caudal fins

PurposeThis paper aims to develop a novel type of bionic underwater robot (BUR) with multi-flexible caudal fins. With the coordinate movement of multi-caudal fins, BUR will combine the undulation propulsion mode of carangiform fish and jet propulsion mode of jellyfish together organically. The use of Computational Fluid Dynamics (CFD) and experimental method helps to reveal the effect of caudal fin stiffness and motion parameters on its hydrodynamic forces.Design/methodology/approachFirst, the prototype of BUR was given by mimicking the shape and propulsion mechanism of both carangiform fish and jellyfish. Besides, the kinematics models in both undulation and jet propulsion modes were established. Then, the effects of caudal fin stiffness on its hydrodynamic forces were investigated based on the CFD method. Finally, an experimental set-up was developed to test and verify the effects of the caudal fin stiffness on its hydrodynamic forces under different caudal fin actuation frequency and amplitude.FindingsThe results of this paper demonstrate that BUR with multi-flexible caudal fins combines the hydrodynamic characteristics of undulation and jet propulsion modes. In addition, the caudal fin with medium stiffness can generate larger thrust force and reduce the reactive power.Practical implicationsThis paper implies that robotic fish can be equipped with both undulation and jet propulsion modes to optimize the swimming performance in the future.Originality/valueThis paper provides a BUR with multi-propulsion modes, which has the merits of high propulsion efficiency, high acceleration performance and overcome the head shaken problem effectively.

The invisible fish: hydrodynamic constraints for predator-prey interaction in fossil fish Saurichthys compared to recent actinopterygians.

ABSTRACTRecent pike-like predatory fishes attack prey animals by a quick strike out of rest or slow movement. This fast-start behaviour includes a preparatory, a propulsive and a final phase, and the latter is crucial for the success of the attack. To prevent prey from escape, predators tend to minimise the duration of the interaction and the disturbance caused to surrounding water in order to not be detected by the prey's lateral line sensory system. We compared the hydrodynamic properties of the earliest fossil representative of the pike-like morphotype, the Triassic actinopterygian Saurichthys, with several recent pike-like predators by means of computational fluid dynamics (CFD). Rainbow trout has been used as a control example of a fish with a generalist body shape. Our results show that flow disturbance produced by Saurichthys was low and similar to that of the recent forms Belone and Lepisosteus, thus indicative of an effective ambush predator. Drag coefficients are low for all these fishes, but also for trout, which is a good swimmer over longer distances but generates considerable disturbance of flow. Second-highest flow disturbance values are calculated for Esox, which compensates the large disturbance with its extremely high acceleration performance (i.e. attacks at high speeds) and the derived teleostean protrusible mouth that allows prey catching from longer distances compared to the other fishes. We show CFD modelling to be a useful tool for palaeobiological reconstruction of fossil fishes, as it allows quantification of impacts of body morphology on a hypothesised lifestyle.

Arquitectura heterogénea para el procesamiento de los algoritmos de enjambres

Desde años recientes, el paralelismo hace parte de la arquitectura de las computadoras personales al incluir unidades de co-procesamiento como las unidades de procesamiento gráfico, para conformar así una arquitectura heterogénea. Este artículo presenta la implementación de algoritmos de enjambres sobre esta arquitectura para resolver problemas de optimización de funciones, destacando su estructura inherentemente paralela y sus propiedades de control distribuido. En estos algoritmos se paralelizan los individuos de la población y las dimensiones del problema gracias a la granuralidad del sistema de procesamiento, que además proporciona una baja latencia de comunicaciones entre los individuos debido al procesamiento embebido. Para evaluar las potencialidades de los algoritmos de enjambres sobre la plataforma heterogénea, son implementados dos de ellos: el algoritmo de enjambre de partículas y el algoritmo de enjambre de bacterias. Se utiliza la aceleración como métrica para contrastar los algoritmos en la arquitectura heterogénea compuesta por una GPU NVIDIA GTX480 y una unidad de procesamiento secuencial, donde el algoritmo de enjambre de partículas obtiene una aceleración de hasta 36,82x y el algoritmo de enjambre de bacterias logra una aceleración de hasta 9,26x. Además, se evalúa el efecto al incrementar el tamaño en las poblaciones donde la aceleración es significativamente diferenciable pero con riesgos en la calidad de las soluciones.

능동 분할 오프셋 캐스터 기반 전방향 차량의 설계 및 제어

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels' contact to the ground during high acceleration, and localization for the real time position control.