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检索条件"丛书名=Mechanisms and Machine Science"

共 3195 条记录，以下是261-270 订阅

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A Gripper with Wave Joint Fingers for Precision Grasping 5th

A Gripper with Wave Joint Fingers for Precision Grasping

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science Italy (IFToMM Italy)

作者： Logozzo, Silvia Valigi, Maria Cristina Univ Perugia Via G Duranti Perugia Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Advances in robotic manipulation are increasingly expected and requested in the scientific field. In fact, robotic manipulators and grippers allow to enhance many industrial, medical, and everyday activities especially if they can mimic the precision and dexterity of the human hand. From this perspective, different kinds of grippers can be developed in terms of number of fingers, actuation, and design characteristics, based on the specific task they have to accomplish and on the kind of grasping they have to perform: power or precision grasping. In this paper, a new three-finger gripper is proposed to perform precision grasping. For this purpose, the gripper is provided with a new version of monolithic wave-joint fingers in which the position of the joints is not aligned, and the last joint and phalanx are not actuated. The gripper is an underactuated, tendon-driven device where a new differential system allows the actuation of all the fingers ensuring the compliance of grasping. The paper describes and discusses the design of the gripper, and a sample experiment is performed to assess the precision grasping abilities of the new robotic device.

关键词： Soft-rigid gripper Precision grasping Underactuated gripper Tendon-driven actuation

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Robot-Assisted Rehabilitation: Mechatronic Redesign of a Finger Exoskeleton to Improve Its Motion Tracking Capabilities 5th

Robot-Assisted Rehabilitation: Mechatronic Redesign of a Fin...

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science Italy (IFToMM Italy)

作者： Di Natale, Alessia Bartalucci, Lorenzo Secciani, Nicola Liverani, Gherardo Ridolfi, Alessandro Allotta, Benedetto Univ Florence Dept Ind Engn Florence Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Understanding human hand movement functionality is fundamental in neuroscience, robotics, and rehabilitation. Indeed, accurate finger motion tracking in hand exoskeleton systems is essential for effective robot-assisted rehabilitation through engaging serious games in virtual reality or via a computer's display. This approach aims to make the rehabilitation process less tedious and, hence, potentially more effective for improved outcomes in therapy. In this paper, we provide a tracking solution for rehabilitation purposes. Specifically, after analysing the methods adopted for hand motion tracking, the work focused on the mechanical redesign of FLEXO, the rehabilitative hand exoskeleton developed by the Department of Industrial Engineering at the University of Florence. A non-visual approach was adopted to overcome the limitations of vision-based tracking. The redesign centred on the FLEXO's Finger Mechanism, utilising two new rotary encoders for the patient's finger's MetaCarpoPhalangeal (MCP) and Proximal InterPhalangeal joint rotations. A novel temporary module was introduced for the MCP rotation measurement. Afterwards, structural finite element analyses ensured the components' reliability. Finally, data acquisition was performed and evaluated to correlate the finger and device kinematics and update the representation of the finger's motion in the serious game previously developed in the Unity Game environment.

关键词： Hand Motion Tracking Hand Exoskeleton Robot-Assisted Rehabilitation Serious Games

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Experimental Techniques for Flywheel Energy Storage System Self-discharge Characterisation 5th

Experimental Techniques for Flywheel Energy Storage System S...

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science Italy (IFToMM Italy)

作者： Venturini, Simone Cavallaro, Salvatore Paolo Vigliani, Alessandro Politecn Torino Dept Mech & Aerosp Engn Turin Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

In this paper, an experimental characterisation technique for Flywheel Energy Storage Systems (FESS) behaviour in self-discharge phase is presented. The self-discharge phase characterisation is crucial in order to design performing and sustainable FESS. Unlike other energy storage systems, FESS presents several peculiar characteristics as strict high vacuum environment, high angular speed and the presence of low friction rotor supports such as active bearings. The experimental measurement of rotor characteristics as angular speed is not feasible with traditional techniques as encoders or contact tachometers. Therefore, two different techniques to measure angular speed are proposed and compared. The first one, more traditional, is based on the usage of a laser tachometer, not applicable in vacuum environment. The second one, compliant with high vacuum, adopts a single high speed laser displacement sensor to indirectly measure the rotor angular speed. The proposed technique is validated on a dedicated experimental test-rig with different power loss conditions and used at different vacuum levels.

关键词： Laser displacement sensor time-frequency analysis rotordynamics frequency tracking

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Autonomous Piloting Algorithms for Drones in Underground Space with No GPS Navigation 30th

Autonomous Piloting Algorithms for Drones in Underground Spa...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Zhong, Zicheng Lin, Zhiyan Jiang, Xiangzhou Wang, Chenhao Zhang, Chao Li, Zichang Tsinghua Univ Sichuan Energy Internet Res Inst Chengdu 610213 Peoples R China Beijing Univ Chem Technol Int Educ Coll Beijing 100013 Peoples R China Tsinghua Univ Dept Hydraul Engn Beijing 100084 Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

Developing intelligent robotic helpers for underground engineering presents significant hurdles, particularly with regard to autonomous navigation in areas devoid of GPS signals. Although drones using GPS navigation in open areas are sophisticated and widely used, when GPS signals are poor or in areas with subterranean space, drones become blind and lose their benefits. In this study, a thorough foundation for autonomous piloting algorithms was put forward in order to create an autonomous drone, which can pilot autonomously in surroundings without external referrals. The technological framework combines sensor fusion, machine learning, path planning, simultaneous localization and mapping (SLAM), and real-time communication. First, data from LiDAR, ultrasonic sensors, and inertial measurement units (IMUs) are first combined using sensor fusion techniques to generate a 3D virtual model of the surrounding area. Real-time-mapping and locating are facilitated by SLAM algorithms. Second, machine learning models use sensor data to inform piloting decisions, while computer vision algorithms facilitate obstacle detection and recognition. Third, using the virtual model's observed impediments and predetermined mission objectives, path planning algorithms create safe and effective flying routes. Hardware and software were created to accompany a drone for test and demonstration. Through a loop of testing, validation, redundancy, and fail-safes, the autonomous piloting algorithms were integrated and improved. The drone equipped with the autonomous piloting algorithms was able to navigate in subterranean space on its own with no GPS navigation after trial and error. The capability and dependability of autonomous drone systems for inspection support in such conditions are to be improved through ongoing research and development.

关键词： Autonomous piloting underground space LiDAR sensor fusion machine learning path planning

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The Competitive Adsorption Behavior of CO2/CH4 and CH4/H2S/CO2 in in Illite Nanopores: Insights from Molecular Simulation 30th

The Competitive Adsorption Behavior of CO2/CH4 and CH4/H2S/C...

引用

30th International Conference on Computational and Experimental Engineering and sciences

作者： Ning, Shaofeng Bao, Junyao Cui, Jingkai Zhan, Shiyuan Wang, Xiaoguang Chengdu Univ Technol Coll Energy Chengdu 610059 Peoples R China Tianfu Yongxing Lab Chengdu 610213 Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

Owing to the well-developed nano-porosity, the Shale reservoir could offer substantial storage capacity and become a potential candidate for CO2 geological sequestration gradually. However, the industry waste gas typically contains H2S impurities in addition to CO2 components, and the purification of such waste gas consumes large economic costs. Hence, the co-sequestration of CO2/H2S emerges as a viable alternative. Yet, the micro-mechanisms of CO2/H2S co-sequestration and CH4 displacement in shale reservoirs remain unclear. This study employs Grand Canonical Monte Carlo (GCMC) simulations to investigate the competitive adsorption of CO2/CH4 in shale illite nanopores of various mole fractions (i.e. 2:8, 6.5:3.5 and 5:5) and CH4:H2S:CO2 = 5:1:4. Considering the high temperature and pressure condition of shale formation, the temperature during the GCMC simulation is set as 373.15K, and the pressures reach up to 40MPa. Results reveal that the excess adsorption of CO2 and CH4 exhibits an increasing-then-decreasing trend with pressure, with CH4's excess adsorption diminishing beyond 20 MPa. Absolute adsorption conforms closely to the Langmuir model. The competitive adsorption selectivity coefficient of CO2/CH4 diminishes with increasing CO2 mole fraction, suggesting its superior ability to displace CH4 under low mole fraction conditions. In the three-component adsorption, H2S demonstrates strong competitive adsorption, exceeding both CO2 and CH4 in adsorption density, resulting in reduced CH4 molecular numbers in both the adsorbed phase and pores, consequently diminishing the adsorption of CH4 and CO2 correspondingly. These findings elucidate the competitive adsorption behaviors of CO2/CH4 and CH4/H2S/CO2 in illite nanopores, providing a theoretical basis for CO2/H(2)s co-sequestration and enhanced recovery.

关键词： Molecular simulation competitive adsorption shale reservoir CO2 geological sequestration

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Study on Intelligent Vibration Compaction Method for Concrete Dam in High-Cold and High-Altitude Areas 30th

Study on Intelligent Vibration Compaction Method for Concret...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Xu Houlei Zhao Zhiyong Li Haipeng Zhang Libing Yin Jianqi Peng Lin China Power Construct Grp Kunming Survey Design & Kunming Yunnan Peoples R China Tsinghua Univ Dept Hydraul Engn Beijing Peoples R China

ISBN: (纸本)9783031816758;9783031816734;9783031816727

Construction of concrete dam in high-cold and high-altitude areas faces challenges in process control, intelligent control, and management decision-making. Particularly, concrete vibration compaction operations heavily rely on manual labor, making it difficult to ensure construction quality under harsh environmental conditions. Therefore, there is an urgent need to investigate intelligent vibration compaction methods for hydropower project concrete. Based on the construction requirements of concrete dam in high-cold and high-altitude areas. In this study, an intelligent technologies for the acquisition of concrete vibration compaction parameters and the control of vibration compaction operations is developed. These technologies enable online feedback and control of concrete pouring quality. A comprehensive analysis method including CNC acquisition, intelligent control, quality analysis, and information display is proposed. Through intelligent monitoring of the entire process of concrete production, construction process simulation, and construction decision-making assistance, manual intervention and input is significantly reduced while enhancing concrete construction quality. The study results are of guiding significance for the development of intelligent vibration compaction construction of hydropower projects in high altitude areas, and can also be used as reference for other similar projects and infrastructure engineering construction.

关键词： Concrete dam Intelligent vibration compaction Quality control Comprehensive analysis Intelligent construction

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Employee Competencies Required for MIS Implementation in the Context of Industry 4.0 12th

Employee Competencies Required for MIS Implementation in the...

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12th International Conference of machine and Industrial Design in Mechanical Engineering

作者： Praj, Filip Kostal, Peter Horvathova, Martina Bestvinova, Viera Slovak Univ Technol Bratislava Bratislava Slovakia

ISBN: (纸本)9783031805141;9783031805127;9783031805110

The term Industrial Revolution 4.0 is very common nowadays, quite mysterious to most people and its content is unknown. It can be said with great certainty that it is already touching and will touch both production processes, radical changes in their structure, the advent of groundbreaking technological and communication devices, but it will certainly affect labour relations. The growth of new forms and methods of work based on automation, digitisation, applied also in new models of labour relations, is already beginning to threaten jobs in some segments of the economy. There are increasing demands for specific qualifications and skills for people, particularly in the field of information technology, with an emphasis on the digitisation of processes, data processing and the creation of communication networks linking objects and people. This smart industry will, understandably, disqualify many jobs without the need to keep them in their current structure, causing many employees to lose their jobs. Analysts openly say that by 2030, robots will replace up to 20 million industrial jobs worldwide. The idea of which jobs or occupations or working conditions in them will be affected is already becoming concrete. Radical change will require radical solutions, but also hitherto unrecognised movements and new elements and measures in the labour market. The Fourth Industrial Revolution offers a new direction and unique opportunities for the development of national economies. This major societal change will have a significant impact on the labour market, resulting in the creation of new jobs on the one hand, but with the inherent consequence that existing jobs will also be under threat.

关键词： Management information systems Competencies Industry 4.0

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Deep Learning-Driven Molecular Dynamics for the Prediction of 3d Transition Metal Multi-principal Alloys Structure 30th

Deep Learning-Driven Molecular Dynamics for the Prediction o...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Yu, Hanzhang Yao, Zhixuan Han, Tianyi Guan, Zhenjie Qu, Nan Zhu, Jingchuan Harbin Inst Technol Sch Mat Sci & Engn 92 Xidazhi St Harbin 150001 Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

Multi-principal element alloys (MPEAs) have attracted much attention in recent years due to the optimization of performance by adjusting the contents and ratios of different elements. Since the phase structure of MPEAs that determine the macroscopic properties are directly affected by the solidification process, the construction of an accurate solidification model is the basis and key to the prediction and optimization of alloy properties. Therefore, this work establishes a microscopic model that can enable to predict the solidification structure of 3d transition metal MPEAs exactly. We have calculated the interatomic interactions between 3d transition MPEAs using first principle calculation as a dataset for deep potential molecular dynamics to construct a new force field which provide an accurate potential function for the molecular dynamics to achieve an accurate prediction of the atomic configurations of 3d transition metal MPEAs after solidification. The results show that laminar dislocations were formed near the Co-rich and Fe-rich body-centered cubic phases along the densely arranged surfaces. The FeCoNi laminar dislocation energy is lower than that of pure Ni and NiFe, which is more likely to form laminar dislocations. It suggests that the compromise between accuracy and cost can be effectively solved by our strategy established by solidification structure microscopic modeling, which provides an effective method for phase formation prediction of MPEAs, and contributes to the design and further development of MPEAs.

关键词： Multi-principal element alloys Deep learning potential Molecular dynamics Structure evolution simulation

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Potential Solutions for Improvement of the Thermal Conditions in a Bus Passenger Compartment 12th

Potential Solutions for Improvement of the Thermal Condition...

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12th International Conference of machine and Industrial Design in Mechanical Engineering

作者： Ruzic, Dragan Nikolic, Nebojsa Feher, Dalibor Univ Novi Sad Fac Tech Sci Novi Sad Serbia

ISBN: (纸本)9783031805141;9783031805127;9783031805110

A bus passenger compartment is exposed to significant thermal loads in both hot and cold environment. The climate control system is high power consumer in any vehicle, especially in buses because of the passenger compartment size. An electrification of the buses and pressure to reduce fossil fuel consumption is motivation to improve energy management for comfort systems in any kind of vehicles. In this paper, the identification and discussion of the causes of thermal discomfort and proposal for improvements are presented, based on the experimental investigation of microclimate conditions in a school bus in warm outdoor conditions. Analysis of the individual microclimatic parameters was used as the input for conventional and non-conventional solutions that contribute to improve of the thermal conditions in the passenger compartment. The results showed that some significant changes in design of the vehicle body and the air-conditioning system could improve the energy efficiency of the thermal comfort.

关键词： Bus passenger compartment Heat transfer Thermal comfort Air-conditioning

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A Refined Approach for Carbon Emission Calculation of Intelligent Construction in High-Altitude Regions 30th

A Refined Approach for Carbon Emission Calculation of Intell...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Yin Jianqi Xu Houlie Lin Peng Li Chaoyi Mao Hua Tsinghua Univ Dept Hydraul Engn Beijing 100084 Peoples R China Qinghai Univ Sch Civil Engn & Water Resources Xining 810016 Peoples R China Huaneng Xizang Power Generat Co Ltd Lasa 850000 Peoples R China Power China Kunming Engn Co Ltd Kunming 650032 Yunnan Peoples R China Huaneng Langcang River Power Generat Co Ltd Kunming 650214 Yunnan Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

In this research, a refined static-dynamic coupling calculation model through enhancements to the emission coefficient methodology is proposed. The altitude adjustment coefficient is proposed by considering the change of emission factors caused by altitude, air pressure and other factors. Considering the multi-stage and multi-characteristics of intelligent construction activities, the relationship between dynamic factors such as transportation distance and equipment status are established with discrete event simulation, which significantly enhances calculation precision. The method is applied in a high-altitude intelligent construction project, and the distribution and source of carbon emissions in each stage of the cycle are obtained. The computations reveal that to effectively mitigate the project's environmental footprint, prioritizing the low-carbonization of building materials and electrification of the construction process represents the forward trajectory for intelligent construction activities in high-altitude regions. These findings hold pivotal implications for the future low-carbonization development of intelligent construction endeavors at elevated altitudes.

关键词： Intelligent Construction carbon emission calculation emission factor discrete event simulation

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