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

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An Algorithm for Determining the Coordinates of a Test Tube by a Robotic Aliquoting System Based on a Combination of the Hough Method and a Result Filtering Algorithm 33rd

An Algorithm for Determining the Coordinates of a Test Tube ...

引用

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

作者： Rybak, Larisa Cherkasov, Vladislav Malyshev, Dmitry Dyakonov, Dmitry Carbone, G. Belgorod State Technol Univ 46 Kostyukova St Belgorod 308012 Russia Univ Calabria Dept Mech Energy & Management Engn I-87036 Arcavacata Di Rende Italy

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The article considers the problem of determining the position of test tubes in a tripod during aliquoting using technical vision. To solve this problem, the Hough circle transformation method was used, supplemented by an algorithm for filtering the obtained values. Experimental investigation of this algorithm have been carried out, which have shown its high accuracy and the possibility of successful application for determining the position of test tubes by a vision system. The results of the investigation show the high efficiency and accuracy of the proposed algorithm in determining the coordinates of a test tube with a biological liquid, which makes it a promising tool for automating the aliquoting process.

关键词： Aliquoting system Computer vision Object detection Gripper

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Preliminary Theoretical Considerations on 2D Multistable Tensegrity Structures Based on Equilateral Triangles 9th

Preliminary Theoretical Considerations on 2D Multistable Ten...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Herrmann, David Schaeffer, Leon Lehmann, Lukas Busch, Tobias Bohm, Valter OTH Regensburg Regensburg Germany

ISBN: (纸本)9783031672972;9783031672958;9783031672941

In this paper the stability and stiffness characteristics of two-dimensional tensegrity structures based on two equilateral triangles connected by tensioned members are investigated, leading to two multistable structure variants. The stability of the structures is examined via the potential energy of the system. Through a form-finding algorithm, the study illustrates the influence of tensioned member stiffness on global compliance distribution and equilibrium positions change. Depending on the equilibrium position, different direction-dependent equilibrium positions occur.

关键词： Compliant structure Tensegrity Multistable structure

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Identification of DOE-Based Predictive Model for the Bending Behavior of a Soft Pneumatic Actuator 5th

Identification of DOE-Based Predictive Model for the Bending...

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

作者： Stampone, Nicola Antonelli, Michele Gabrio Univ Aquila DIIIE Laquila Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Collaborative robotics allows the operator to work closely with the robot without the use of barriers. In addition, completely soft end-effectors guarantee the extension of safety from the base of the robot to the tool. Soft pneumatic actuators, the most widespread soft end-effectors, present strong nonlinearities due to compressed air, large deformations, and material constitutive law. For these reasons, the identification of an analytical model is difficult, and numerical simulations are often used to evaluate the behaviour of these actuators. It is important to limit the number of simulations, which are onerous in terms of computational cost and time. In this paper, the identification of a predictive model of the bending angle of a novel soft pneumatic actuator using planned numerical simulations by the Design of Experiment method is presented. The predicted bending angles are compared with experimental results achieved on three different prototypes and with the results of a predictive formula identified in a previous work. Results show how this approach allows not only to minimize the required simulations without sacrificing accuracy but also to identify the effects of interactions between factors that would otherwise remain hidden.

关键词： Collaborative Robotics Design of Experiment Finite Element Analysis Reconfigurability Soft Pneumatic Actuator

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Analysis of the Impact Mechanism of the "Single Hammer" Type Impact Wrench 14th

Analysis of the Impact Mechanism of the "Single Hammer" Type...

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

作者： Konecny, Martin Tech Univ Liberec Dept Text Machine Design Studentska 1402-2 Liberec 46117 Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The article deals with the description of the function of the impact mechanism of the impact wrench with the functional mechanism "Single hammer" and the calculation of the dynamic forces acting on the mechanism together with the determination of the contact pressures between individual parts of the mechanism. Part modeling was done in Creo Parametric. The design of the mechanism and determination of dynamic forces was carried out in the Creo Parametric - Mechanism add-on module and the determination of contact pressures in the Creo Parametric - Simulate module.

关键词： Hammer mechanism Single hammer Impact wrench Dynamic analysis Contact pressure

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A Method for Tire Damping Evaluation Based on a Free Fall Test and Image Processing 5th

A Method for Tire Damping Evaluation Based on a Free Fall Te...

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

作者： Stefanelli, Raffaele De Giuli, Carlotta Pagano, Gianluca Mandragora, Geraldino Dell'Annunziata, Guido Napolitano Univ Naples Federico II Via Claudio 21 Naples Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

The estimation of the tire damping coefficient is a fundamental topic in several fields, including vehicle dynamics, ride comfort, suspensions design or modeling and the overall vehicle stability. This paper presents an innovative approach for the damping coefficient evaluation with a non-contact methodology. A video of the vertical free fall of the tire from a specific height is acquired and through an image processing procedure the kinematics of the center of mass is extracted. The differential equations of the acquired motion are solved to estimate the damping coefficient. This innovative approach, thus, reveals how starting from a simple experiment combined with an image processing procedure it is possible to estimate the damping coefficient and it enhances the understanding of how the tire inflation pressure influences the coefficient itself.

关键词： Tire Damping Coefficient Vehicle Dynamics Motion Equations Damped Harmonic Oscillator

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Innovative Teaching Project: Design and Optimization of a Tubular Chassis for Automobiles Using Generative Artificial Intelligence Tools 9th

Innovative Teaching Project: Design and Optimization of a Tu...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Ramos, Daniel Garcia-Pozuelo Viadero-Monasterio, Fernando Boada, Maria Jesus L. Gutierrez-Moizant, Ramon Jimenez-Salas, Manuel Univ Carlos III Madrid Mech Engn Dept Adv Vehicle Dynam & Mechatron Syst VEDYMEC Avda Univ 30 Leganes 28911 Spain

ISBN: (纸本)9783031672972;9783031672958;9783031672941

In the Vehicle Theory course, taught in the fourth year of the Mechanical Engineering Degree program, students have been designing a tubular chassis made of balsa wood for testing and evaluation. An innovative project has been proposed with the use of Artificial Intelligence tools to guide the process of searching for information, design, and compliance with technical requirements. Additionally, it aims to address new sustainability challenges in this structure. Teachers have guided this process, including a classroom session prior to the project's start, where they demonstrated the use of ChatGPT as an assistant in the project's main development points. Furthermore, it is important to raise students' awareness of the usefulness of current AI-based tools, such as ChatGPT, for information retrieval. However, it is crucial to have criteria in place to evaluate and question the information obtained. Results show that the majority of students are familiar with generative AI tools and have used it to find solutions to academic or technical problems. However, they note that the responses provided are occasionally unclear and ambiguous, or directly incorrect in some cases. Although generative AI can enhance students' productivity and provide prompt feedback, it cannot substitute for their experience and skills in obtaining quality information.

关键词： Vehicle Theory Vehicle Chassis Vehicle Safety Teaching Generative AI ChatGPT

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A Novel Approach for Upper Limbs Joint Angle Measurement Using Wearable IMU Sensors 8th

A Novel Approach for Upper Limbs Joint Angle Measurement Usi...

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

作者： Baklouti, Souha Rezgui, Taysir Chaker, Abdelbadia Mefteh, Safa Ben Mansour, Khalil Sahbani, Anis Bennour, Sami Univ Sousse Natl Sch Engineers Sousse Mech Lab Sousse LMS Sousse Tunisia ENOVA Robot SA Novation City Tunisia Univ Carthage Polytech Sch Tunisia Appl Mech & Syst Res Lab LASMAP Carthage Tunisia Sorbonne Univ Univ Technol Compiegne BMBI UMR CNRS 7338 Paris France Sorbonne Univ Inst Intelligent Syst & Robot ISIR CNRS Paris France

ISBN: (纸本)9783031598906;9783031598883;9783031598876

This paper introduces a novel method for measuring upper limb joint angles using wearable IMU sensors and a Kalman filter algorithm. The proposed method estimates 3D joint orientations without relying on magnetometer data, addressing limitations associated with traditional motion capture systems. To assess the accuracy and reliability of IMU-based measurements, a comprehensive evaluation against the gold standard Vicon system is conducted. The agreement between IMU and Vicon measurements is assessed using various error metrics, including RMSE, MAE, NMBE, and R-2, followed by Mann-Whitney U tests with Bonferroni correction for statistical significance. Results indicate strong correlations between IMU and Vicon data (R-2 values: 0.890 to 0.974, R-2 > 0.7). RMSE (5.35 degrees to 12.07 degrees) and MAE (3.69 degrees to 7.01 degrees) values represent a small percentage of the range of motion for each joint. NMBE values are mostly close to zero, indicating minimal bias in IMU measurements. Notably, wrist flexion-extension exhibits a relatively higher NMBE (-0.839), suggesting a potential underestimation of angles in this plane of motion. Statistically significant differences (p < 0.05 with Bonferroni correction) are found for all degrees of freedom, with discrepancies ranging from 1.7% to 21% of the total dataset. Smallest differences are observed for wrist flexion-extension and elbow pronation-supination, while the largest occur in elbow flexion-extension and shoulder adduction-abduction. These findings suggest the proposed algorithm's reliability, as evidenced by strong correlation with the Vicon system and low error rates and biases for most degrees of freedom. However, larger population studies are warranted for further validation and refinement.

关键词： Upper limb biomechanics Inertial Measurement Unit (IMU) Motion monitoring Kalman filter

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Enhancing Cutting Tool Performance through ta-C:Ta Coating for CFRP Dry Machining: Investigation of Wear Resistance and Cutting Forces 5th

Enhancing Cutting Tool Performance through ta-C:Ta Coating f...

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5th International Tribology Symposium of IFToMM (ITS-IFToMM)

作者： Suzuki, Kosuke Tokoroyama, Takayuki Takita, Riko Zhang, Ruixi Umehara, Noritsugu Sato, Shun Nishida, Shin Nagoya Univ Chikusa Ku Furo Cho Nagoya Aichi 4648603 Japan Mitsubishi Mat Ltd 1528-1 Yokoi Godo Cho Gifu 5032301 Japan

ISBN: (纸本)9783031626180;9783031626166;9783031626159

Currently, in the machining of CFRP, the mainstream tools are CVD diamond-coated tools known for their high wear resistance. However, a challenge arises from the thick coating, leading to blade dulling and increased occurrence of burrs. Therefore, DLC, which can be thinly coated and exhibits high wear resistance, is gaining attention. In this study, a Ta-containing DLC (ta-C:Ta) coating, reported to have a lower friction coefficient than conventionalDLC in atmospheric friction tests, was applied to CFRP machining drills, and its effects were investigated. The ta-C:Ta with various Ta contents were deposited by a system that combines FAD and UBMS. The coating characteristics were analyzed through nanoindentation, Raman, and XPS analyses, revealing a trade-off relationship among Ta content, hardness, and the ID/IG ratio. In CFRP cutting tests, drills with higher Ta concentrations coating exhibited initial reductions in thrust forces, suggesting a potential for lowering cutting resistance. However, the observation of chipping and delamination in the coating indicated the importance of improving adhesion strength.

关键词： DLC CFRP Drilling Low cutting force Tantalum

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EWA 2: A Single Size Self-adapting Exoskeleton Without Adjustment for the Upper Limb 5th

EWA 2: A Single Size Self-adapting Exoskeleton Without Adjus...

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

作者： Borboni, Alberto Arbore, Antonio Elamvazuthi, Irraivan Univ Brescia Dept Mech & Ind Engn Via Branze 38 I-25123 Brescia Italy Univ Teknol PETRONAS Dept Elect & Elect Engn Smart Assist & Rehabil Technol SMART Res Grp Bandar Seri Iskandar 32610 Malaysia

ISBN: (纸本)9783031645716;9783031645693;9783031645686

This paper focuses on the design of an upper limb exoskeleton without articular adjustment. It includes a shoulder articulation and explores potential transmission systems applicable to the exoskeletal actuators. A key feature of this exoskeleton is its ability to dynamically adapt between human and exoskeleton joints, thereby mitigating stress on human joints and reducing non-linearity between motor input and human joint output angles. To assess the performance of a 3D printed prototype of the exoskeleton, a dummy with adjustable body segment lengths was fabricated. In vitro experiments utilizing a flexible force sensor confirm that the exoskeleton does not subject the dummy's joints to overstress.

关键词： exoskeleton upper limb self-adapting self-aligning adjustment EWA

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Industry Needs in Robotics Education 33rd

Industry Needs in Robotics Education

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

作者： Aggogeri, Francesco Pellegrini, Nicola Adamini, Riccardo Univ Brescia Dept Mech & Ind Engn Brescia Italy

ISBN: (纸本)9783031592591;9783031592577;9783031592560

This paper presents the outcomes of the investigation conducted in a specific Italian region on the robotics usage and integration within the manufacturing sector. The adoption of robotic solutions has been examined selecting representative users and providing a technical survey. Data collection is based on homogeneous population of about 2500 companies, that 655 have been directly interviewed in 2021-2023 period. The used types of robots, their main applications, the corporate dimension, the issues experienced, are the information collected to build the needs derivate predominantly from the lack of competences. The results of the investigation highlight a presence of articulated robots. Large companies demonstrate a superior ability to adapt to robotic cells and the definite hiring strategy where the ***. degree in Automation Engineering is the preferred figure. The mapped robotic competences gaps are the significant input to fine tuning the educational proposal from University at Engineering profile to react at industrial needs. Finally, companies of all sizes confirmed the vision on approval of the installed robots and indicated the intention to progress the implementation in the 2023-2026 period.

关键词： Industrial robotics Robotics education Robotics impacts

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