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

共 3195 条记录，以下是401-410 订阅

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Leveraging machine Learning for Terrain Traversability in Mobile Robotics 6th

Leveraging Machine Learning for Terrain Traversability in Mo...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Cottiga, Simone Bonin, Lorenzo Giberna, Marco Caruso, Matteo Gorner, Martin Carabin, Giovanni Scalera, Lorenzo De Lorenzo, Andrea Seriani, Stefano Univ Trieste Via A Valerio 6-1 Trieste Italy German Aerosp Ctr DLR Inst Robot & Mechatron Muenchener Str 20 Wessling Germany Free Univ Bozen Bolzano Piazza Univ 1 I-39100 Bolzano BZ Italy Univ Udine Via Sci 206 I-33100 Udine Italy

ISBN: (纸本)9783031673856;9783031673832;9783031673825

The problem of traversability of soft terrains is hard to solve due to both the inherent modeling complexity and the related computational cost. In this work a surrogate model is used to describe the behavior of soft soil, thus avoiding explicitly simulating it. We leverage machine learning to train a model on real-world data acquired with the "Archimede" robotic platform in DLR's Moon-Mars test area in Oberp-faffenhofen, Germany. The model is tested using the Gazebo simulation environment by injecting virtual forces that mimic the effect of drift. Results show that the surrogate model shows promise, but showing also noticeable variability, possibly ascribable to the early stage of the model and training dataset.

关键词： mobile robots rover soft-terrain terrain mechanics machine learning surrogate model

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Stress Analysis of the Composite Disc with Inserts of an Indexing Gearbox Turret Follower 14th

Stress Analysis of the Composite Disc with Inserts of an Ind...

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14th International Conference on the Theory of machines and mechanisms (TMM)

作者： Zboncak, Radek VUTS As Liberec Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The hybrid indexing gearbox turret follower consists of a composite body with the steel inserts for pins and a steel shaft flange. Isotropic steel interacts with generally orthotropic composite through adhesive layer. The simulation results presented in this work map a stress transfer from one material to another. Inserts and flange geometry combinations are analyzed with aim to prevent stress peaks to occur in material interface. Four types of cylindrical inserts are regular, concave, convex and convex with notches. Flange types have regular and concave geometry. Analyzed configurations of flanges and inserts show the same character of stress distribution. Stress peaks are located around loaded pin-holes edges and in areas of polygon bearing vertices. Maximum stress in disc's composite body is about 20 MPa for disc A and 26 MPa for disc B across all analyzed insert-flange variants. It can be said that the insert and flange geometry does not fundamentally influence the stress distribution and its value. However geometry of metallic parts has an effect on locking of the inserts and flange in composite. From that point of view, the convex cylindrical insert with notches prevents the insert displacement in all three directions of the insert's cylindrical system of coordinates.

关键词： Indexing turret follower Composite material CFRP Hybrid structure FEA

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D-Star-Based Optimized Trajectory Planner for Mobile Robots Operating in Dense Environments 9th

D-Star-Based Optimized Trajectory Planner for Mobile Robots ...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Vukolov, Andrey ELETTRA Sincrotrone Trieste ICT Grp Str Statale 14163-5kmArea Sci Pk I-34149 Trieste Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

This paper proposes the path planner module designed for the robots operating in the dense dynamic environments. It contains description of the novel ROS module that implements adopted version of the known and well described D-star (D*) algorithm accompanied with customized heuristic, and optimizer pipeline for trajectory decompaction, and postprocessing engine for holding a safety distance from the obstacles. The module removes the known problems that D-star experiences on high-resolution maps, providing sparse trajectory useful for the industrial unmanned ground vehicles (UGVs) with simple actuation trackers installed. Test results of the algorithm are given for the dense industrial environment containing closed loops.

关键词： Path planning D D-star trajectory optimizer raytracing potential field sparse path

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Neural Network-Based Virtual Measurement of Road Vehicle Wheel Displacements 5th

Neural Network-Based Virtual Measurement of Road Vehicle Whe...

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

作者： Marotta, Raffaele De Matteis, Luca Univ Naples Federico II Naples Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

In the automotive industry, sensors play a crucial role in enabling the advancement of autonomous vehicles. However, physical sensors often present challenges due to their cost or practical limitations. Consequently, virtual sensors offer a viable and cost-effective alternative, where relevant metrics can be estimated using available data and mathematical models. This paper introduces a virtual sensor designed to measure the vertical displacement of a road vehicle's wheels, specifically aimed at enhancing the control of the vehicle's suspension systems. The virtual sensor utilizes a multi-output neural network to predict the displacements of all four wheels simultaneously. Inputs to the network include longitudinal, lateral, and vertical accelerations from an Inertial Measurement Unit (IMU), along with anti-roll torques from both front and rear anti-roll bars, and currents in the actuators of active suspensions. Experimental validation was conducted using data collected from a Range Rover vehicle, demonstrating the efficacy of the virtual sensor in measuring vertical displacements of unsprung masses. Results were assessed through comparison with measurements obtained from a physical sensor, with Root Mean Square Error (RMSE) values confirming the accuracy of the virtual sensor's estimations.

关键词： Artificial intelligence neural network wheel displacements

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A Feasibility Study for a Cable Driven Parallel Robot for Integrated Wrist and Fingers Rehabilitation 5th

A Feasibility Study for a Cable Driven Parallel Robot for In...

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

作者： Pugliese, Vincenzo Sciocchetti, William De Nisi, Mario Abramo, Giuseppe Lago, Francesco Curcio, Elio Matteo Carbone, Giuseppe Univ Calabria DIMEG Arcavacata Di Rende Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

This paper explores the feasibility of a Cable-Driven Parallel Robot (CDPR) for rehabilitating wrist and finger movements. The proposed design is inspired by 3D printed braces and utilizes cables for actuation. Kinematic models for both wrist and fingers are presented, along with an inverse kinematic approach to calculate cable adjustments for desired movements. A prototype was built and tested, validating the model, and demonstrating impressive accuracy and range of motion in both wrist and finger movements. This study paves the way for a rehabilitation solution using CDPRs, offering potential improvements in precision and consistency for physical therapy.

关键词： feasibility study cable-driven robots rehabilitation

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Design and Implementation of a Digital Twin for a Multi-robot Surgical Platform 8th

Design and Implementation of a Digital Twin for a Multi-robo...

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8th IFToMM International Symposium on Robotics and Mechatronics (ISRM)

作者： Trabelsi, Amir Sandoval, Juan Mlika, Abdelfattah Lahouar, Samir Laribi, Med Amine Univ Poitiers Pprime Inst Dept GMSC UPR 3346CNRS Poitiers France Univ Sousse Natl Engn Sch Sousse LMS BP 264 Sousse Erriadh Sousse 4023 Tunisia Nantes Univ Ecole Cent Nantes CNRS LS2NUMR 6004 F-44000 Nantes France Univ Monastir Natl Engn Sch Monastir LGM Monastir 5019 Tunisia

ISBN: (纸本)9783031598906;9783031598883;9783031598876

Digital twins are revolutionizing healthcare by creating virtual models of physical systems and processes, allowing for real-time simulation, validation, and training. This technology has the potential to significantly improve the safety and efficiency of surgical applications, transforming the medical field. The proposed study aims to develop a digital twin for a multi-robot platform, by creating a virtual replica of the surgical platform that reflects the physical behavior of the multi-robot system. The proposed digital twin framework consists of physical and virtual environments that are interconnected through bi-directional data flow, serving as a bridge between the physical and virtual worlds. By offering a virtual replica of the physical system, digital twins enable real-time testing and optimization of surgical procedures, allowing for the simulation of various scenarios, validation of new techniques, and training of surgeons within a virtual environment. This approach can reduce the risk of complications and improve patient outcomes, ultimately transforming the field of surgery.

关键词： Digital twin Multi-robot systems Robotic surgical platform

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Dynamic Analysis of a Quay Crane Using Lumped Parameter Models 5th

Dynamic Analysis of a Quay Crane Using Lumped Parameter Mode...

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

作者： Remino, Carlo Incerti, Giovanni Solazzi, Luigi Tomasi, Ivan Adamini, Riccardo Univ Brescia Dept Mech & Ind Engn DIMI Via Branze 38 I-25123 Brescia Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The objective of this research activity is to evaluate the extent to which models with lumped parameters might be appropriate for the development of lifting devices. The models we used have only one or two degrees of freedom, but the parameters of the crane were derived by a FEM analysis of its structure, while the viscoelastic parameters of the ropes took into account their time-varying behavior. The results showed that it is useful to consider the length of the ropes in order to calculate more accurately the dynamics of the crane, since the stiffness and the damping change during the load movement. According to the results, higher stress values were also obtained using the model with one degree of freedom for the ropes. This implies that the model can be useful for rope selection as it ensures a conservative estimate of their coefficient of safety. In the case of the two-degree-of-freedom model, the same is true for the structure.

关键词： lifting equipment crane dynamic effect lumped parameters

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A Compact Low-Frequencies Vibrational Bioreactor to Induce Cellular Response 33rd

A Compact Low-Frequencies Vibrational Bioreactor to Induce C...

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33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Ragno, Luca Borboni, Alberto Ginestra, Paola Serena Mazzoldi, Elena Laura Ferraro, Rosalba Monica Benini, Gabriele Univ Brescia I-25123 Brescia BS Italy Univ Brescia Angelo Nocivelli Inst Mol Med I-25123 Brescia BS Italy

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The production of functional tissues, as well as ensuring cells viability, differentiation and proliferation, is mainly related to the biomimicking degree of the culture chamber, that aims to reproduce the same conditions that occur in-vivo. For this reason, bioreactors able to mimic and provide specific signals or a combination of them, are used to improve tissue formation and biological results. Specifically, literature widely reports that external stimulation can deeply influence cells behavior. This paper presents the design of a compact vibrational bioreactor, operating at low frequencies. The device is based on a voice-coil actuator connected to a bioreactor chamber. Firstly, the system design process is demonstrated, motivated by the necessity for 10(1)-10(2) Hz vibrational stimulation, and then the electro-mechanical model is established. The obtained system allows to investigate cellular response to extremely low-frequency of vibrations, and it is used in combination to a peristaltic pump to realize a perfusion-based system obtaining a continuous flow of culture medium during mechanical excitation.

关键词： Vibration Subwoofer Shaker Mechanotransduction Biomimetic Bioreactor

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Analysis of the Foot-Ground Contact Using an MSD-FEM Co-simulation Approach 9th

Analysis of the Foot-Ground Contact Using an MSD-FEM Co-simu...

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9th European Conference on Mechanism science (EuCoMeS)

作者： de Melo, Francisco Guedes Goncalves, Sergio B. Areias, Pedro da Silva, Miguel Tavares Univ Lisbon IDMEC Inst Super Tecn Lisbon Portugal

ISBN: (纸本)9783031672972;9783031672958;9783031672941

The development of realistic contact models is essential for simulating and analyzing human motion, reducing the need for physical measurements and expensive equipment. This information is fundamental for understanding the mechanical principles governing human motion and, developing effective and personalized assistive solutions. This work describes a novel co-simulation methodology for the dynamic and structural analysis of biomechanical systems, integrating a Multibody System Dynamics (MSD) formulation with fully Cartesian coordinates and a generic rigid body, with the Finite Element Method (FEM). The MSD formulation is used to perform the inverse and forward dynamic analyses of the entire system, while a nonlinear and nonsmooth FEM software is employed to realistically characterize the contact phenomena between different bodies. The methodology was applied to the evaluation and analysis of foot-ground contact for the static position and during gait. The results of the gait analysis showed contact pressure patterns consistent with the corresponding experimental data. However, discrepancies between the measured ground reaction forces (GRF) and the estimated contact forces are observed, potentially explained by the simplified friction model used and the mechanical properties adopted for the foot mesh model. The implemented co-simulation methodology suggests that the combination of the MSD formulation's efficiency with the detailed contact analysis of FEM has the potential to become a successful strategy in describing the contact phenomena between complex geometries.

关键词： Co-simulation Multibody System Dynamics Fully Cartesian Coordinates Finite Element Method Foot-Ground Contact Human Gait

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Hydroelectric Power Generation Unit Coast-Down Data Analysis for Diagnostic Purposes 5th

Hydroelectric Power Generation Unit Coast-Down Data Analysis...

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

作者： Daga, Alessandro Paolo Abdullaev, Bekhzod Garibaldi, Luigi Cuvato, Damiano Bonjean, Manuel Sannolo, Antonino Artaz, Lorenzo Politecn Torino Dept Mech & Aerosp Engn Turin Italy Compagnia Valdostana Acque Electromech Engn Dept Aosta Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Hydropower Generation Units (HGUs) are electromechanical systems designed to convert the potential energy of flowing water-thus harnessing a renewable energy source-into electrical energy. Given their swift and easy operability and environmentally friendly nature, HGUs have become indispensable assets for grid operators. This importance is underscored by global energy policies emphasizing ecologically sustainable and healthier energy production methods. Consequently, ensuring the safety and optimizing the maintenance of HGUs through condition monitoring has become paramount. In the present work, coast-down measurements from real HGUs of the Signayes hydroelectric power plant from C.V.A. S.p.A. will be used to estimate the actual resistant torque as a function of the speed. Such a parameter is fundamental for the dynamic simulations which can be frequently conducted to verify the state of health of rotating shafts during transient events.

关键词： Hydropower Diagnostics Pelton Journal bearings coast-down resistant torque estimation

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