A5064813063- Piezoelectric Actuators and Control
- Robotic Mechanisms and Dynamics
- Iterative Learning Control Systems
- Force Microscopy Techniques and Applications
- Soft Robotics and Applications
- Advanced MEMS and NEMS Technologies
- Modular Robots and Swarm Intelligence
- Advanced Materials and Mechanics
- Structural Analysis and Optimization
- Robot Manipulation and Learning
- Innovative Energy Harvesting Technologies
- Advanced Sensor and Energy Harvesting Materials
- Advanced Measurement and Metrology Techniques
- Manufacturing Process and Optimization
- Mechanical Engineering and Vibrations Research
- Advanced Surface Polishing Techniques
- Topology Optimization in Engineering
- Dynamics and Control of Mechanical Systems
- Energy Harvesting in Wireless Networks
- Shape Memory Alloy Transformations
- Additive Manufacturing Materials and Processes
- Nanofabrication and Lithography Techniques
- Micro and Nano Robotics
- Underwater Vehicles and Communication Systems
- High Entropy Alloys Studies
University College Cork
2016-2025
National University of Ireland
2014-2024
Shenyang Institute of Automation
2019-2022
University College Dublin
2020
Chinese Academy of Sciences
2019
Chongqing University
2017
Heriot-Watt University
2009-2011
Universidad del Noreste
2008
Operations and maintenance (O&M) of floating offshore wind turbines (FOWTs) require regular inspection activities to predict, detect, troubleshoot faults at high altitudes in harsh environments such as strong winds, waves, tides. Their costs typically account for more than 30% the lifetime cost due labor long downtime. Different methods, including manual inspection, permanent sensors, climbing robots, remotely operated vehicles (ROVs), unmanned aerial (UAVs), can be employed fulfill...
We introduce our first-generation reasoning models, DeepSeek-R1-Zero and DeepSeek-R1. DeepSeek-R1-Zero, a model trained via large-scale reinforcement learning (RL) without supervised fine-tuning (SFT) as preliminary step, demonstrates remarkable capabilities. Through RL, naturally emerges with numerous powerful intriguing behaviors. However, it encounters challenges such poor readability, language mixing. To address these issues further enhance performance, we DeepSeek-R1, which incorporates...
Understanding and analyzing large nonlinear deflections are the major challenges of designing compliant mechanisms. Initially, curved beams can offer potential advantages to designers mechanisms provide useful alternatives initially straight beams. However, literature on analysis design using such is rather limited. This paper presents a general accurate method for modeling planar uniform cross section, which be easily adapted various shapes. discretizes beam into few elements models each...
Structure design of ultra-low wide bandwidth vibrational energy harvesters remains an open issue. In this research, a statically balanced compliant mechanism (SBCM) is proposed, dynamically modelled, and experimentally demonstrated to address need. This SBCM designed based on the concept stiffness compensation between linear component with positive-stiffness (two double parallelograms in parallel) nonlinear negative-stiffness sets post-buckled fixed-guided beams parallel). A guideline...
The rapid development of open-source large language models (LLMs) has been truly remarkable. However, the scaling law described in previous literature presents varying conclusions, which casts a dark cloud over LLMs. We delve into study laws and present our distinctive findings that facilitate scale two commonly used configurations, 7B 67B. Guided by laws, we introduce DeepSeek LLM, project dedicated to advancing with long-term perspective. To support pre-training phase, have developed...
We present DeepSeek-V3, a strong Mixture-of-Experts (MoE) language model with 671B total parameters 37B activated for each token. To achieve efficient inference and cost-effective training, DeepSeek-V3 adopts Multi-head Latent Attention (MLA) DeepSeekMoE architectures, which were thoroughly validated in DeepSeek-V2. Furthermore, pioneers an auxiliary-loss-free strategy load balancing sets multi-token prediction training objective stronger performance. pre-train on 14.8 trillion diverse...
This work addresses the problem of automatic tunnel surface defect inspection using unmanned aerial vehicles (UAVs). The research aims at proposing a robust and efficient monitoring method for image data acquisition processing in complex dark environments. A method, called Proximity Move-Pause-Photo Surface Defect Inspection (PMPP-SDI), is proposed by combining reactive flying control strategies with grid scanning pattern to capture high-quality from multiple views angles. then used generate...
There is an increasing need for compact large-range XY compliant parallel manipulators (CPMs). This paper deals with a novel CPM enhanced out-of-plane stiffness (LRXYCPMEOS). Unlike most of CPMs based on the 4-PP (P: prismatic) decoupled mechanism, LRXYCPMEOS obtained from 4-PP-E (E: planar) mechanism by replacing each P joint planar double multibeam parallelogram module (DMBPM) and E spatial module. Normalized analytical models are then presented. As case study, motion range 10 mm × in both...
This article presents a comprehensive survey of reconfigurable modular robots, which covers the origin, history, state art, key technologies, challenges, and applications robots. An elaborative classification typical robots is proposed based on characteristics modules reconfiguration mechanism. As system are mainly dependent functions modules, mechanical electrical design features discussed in detail. Furthermore, an in-depth comparison analysis conducted, encompasses discussions module...
Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a traditional serial robot, they more degrees of freedom can deform their flexible bodies to go through constrained environment. In this paper, we classify CCRs according basic transmission units. The merits, materials potential drawbacks each type CCR are described. Drive systems depend on the units significantly, advantages disadvantages reviewed summarized. Variable stiffness intrinsic sensing desired...
Understanding and analyzing large nonlinear deflections is one of the major challenges designing compliant mechanisms. Initially curved beams can offer potential advantages to designers mechanisms provide useful alternatives initially straight beams. However, literature on analysis design using such rather limited. This paper presents a general accurate method for modeling planar uniform cross-sections, which be easily adapted various shapes. discretizes beam into few elements models each...
This paper deals with nonlinear analytical models of a class compound multibeam parallelogram mechanisms (CMPMs) along the static characteristic analysis. The CMPM is composed multiple basic (CBPMs) in an embedded parallel arrangement. First, for CBPM are derived using free-body diagram method through appropriate approximation strategies. then based on modeling results CBPM. Nonlinear finite element analysis (FEA) comparisons, experimental testing, and detailed stiffness finally carried out....
Extended nonlinear analytical modeling and analysis of compound parallelogram mechanisms are conducted in this paper to consider the effect initial internal axial force. The model a basic mechanism (CBPM) is first derived incorporating stiffness equations multibeam (CMPMs) then followed. maximal stress under primary actuation force only also determine motion (motion range). influence forces on motion/stiffness further quantitatively analyzed by considering different slenderness ratios, which...
Membranes have been widely applied in spacecrafts, such as solar sails and deployable antenna structures, due to their light weight high compact ratio. The geometric profile of deployed membranes has an important impact on the performance a membrane-based spacecraft, which should be accurately predicted during deployment process. However, some observable dynamic characteristics are difficult simulated accurately. In this paper, equivalent torsion spring model for membrane crease is proposed...
There is an increasing need for XY compliant parallel micromanipulators (CPMs) providing good performance characteristics such as large motion range, well-constrained cross-axis coupling, and parasitic rotation. Decoupled topology design of the CPMs can easily realize these merits without difficulty controlling. This paper proposes improved 4-PP model on basis a classical both them are selected manufacturing testing to verify effectiveness improvement. It has shown from experimental results...
SUMMARY This paper presents a novel one-degree-of-freedom (1-DOF) single-loop reconfigurable 7R mechanism with multiple operation modes (SLR7RMMOM), composed of seven revolute (R) joints, via adding joint to the overconstrained Sarrus linkage. The SLR7RMMOM can switch from one mode another without disconnection and reassembly, is non-overconstrained mechanism. algorithm for inverse kinematics serial 6R using kinematic mapping adopted deal analysis SLR7RMMOM. First, numerical method applied...