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

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An Enhanced Inverse Finite Element Method for Shape and Strain Sensing of Complex Aerospace Structures 30th

An Enhanced Inverse Finite Element Method for Shape and Stra...

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30th International Conference on Computational and Experimental Engineering and sciences, ICCES 2024

作者： Chen, K.Y. Niu, S.T. Bao, H. The Key Laboratory of Electronic Equipment Structure Design of Ministry of Education Xidian University Xian710071 China Hangzhou Institute of Technology Xidian University Hangzhou311200 China

ISBN: (纸本)9783031829062

In this study, an enhanced inverse finite element method (iFEM) is presented for real-time shape and strain sensing of complex aerospace structures. The method can improve the structural performance and flight efficiency of the intelligent aircraft by feeding back the structural shape information to the control system. Initially, the presented algorithm combines the rigid kinematics with the classical iFEM to discretize the aerospace structures into a combination of rigid and elastic parts, which will effectively overcome structural complexity due to the variable cross-section and changing bending stiffness. Subsequently, the rigid parts provide geometric constraints for iFEM in the shape reconstruction method. Meanwhile, utilizing the Fiber Bragg grating (FBG) strain sensor to obtain real-time strain information ensures the lightweight and anti-interference of the monitoring system. Next, the strain data and the geometric constraints are processed by the iFEM for monitoring the full-field elastic deformation of the aerospace structures. The whole procedure can be interpreted as a piecewise sensing technology. Finally, the present method is numerically performed for the morphing structure subjected to different loading cases, and the effectiveness is validated by comparing the finite element analysis results. Overall, the presented hybrid algorithm fills the gap in the reconstruction of complex aerospace structures and expands the engineering application of iFEM. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Inverse kinematics

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Layered System Architecture for Covert Communication Based on Social Networks 30th

Layered System Architecture for Covert Communication Based o...

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30th International Conference on Computational and Experimental Engineering and sciences, ICCES 2024

作者： Liang, Yanyang Zhang, Ziyi Xu, Xin Huang, Yongfeng School of Aerospace Engineering Xiamen University Fujian China Department of Electronic Engineering Tsinghua University Beijing China Zhongguancun Laboratory Beijing China

ISBN: (纸本)9783031829062

With the widespread adoption and rapid development of social networks, covert communication technology within social networks has faced new opportunities and challenges, and has gradually become a research hotspot in the field of information security. However, there is currently a scarcity of research on the architecture of covert communication systems within social networks. While social networks offer multi-modal steganographic covers, existing studies have predominantly focused on streaming media covers, neglecting a system architecture adaptable to multiple covers. To address this issue, this paper proposes a novel three-layer architecture for covert communication system based on social networks. This architecture is capable of supporting various steganographic covers, including streaming media, images, and text, providing a more flexible and extensive application scenario for covert communication. Following a functional comparison, the layered system architecture for covert communication within social networks proposed in this paper demonstrates compatibility with a broad range of social network covers and adaptability to diverse steganographic algorithms. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Media streaming

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Control Scheme for a Cable Driven Robotic Arm 9th

Control Scheme for a Cable Driven Robotic Arm

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9th European Conference on Mechanism science (EuCoMeS)

作者： Boschetti, Giovanni Bottin, Matteo DAngelo, Roberta Fantini, Valeria Bianca Univ Padua Dept Ind Engn Padua Italy Univ Padua Dept Informat Engn I-35131 Padua Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Robotic solutions for rehabilitation purposes is a topic that takes much interest in the medical field. In particular a prototype called CADEL for the upper limb rehabilitation has been studied. This idea has been developed and refined through the years up to produce a portable exoskeleton driven by cables: the L-CADELv2 prototype. The present paper involves the design of the control scheme for a cable driven robotic arm, inspired from the CADEL project. It is presented the choice for the hardware components necessary to deploy a position control for the actuators of the exoskeleton. Afterwards it is designed and simulated the tracking of a polynomial reference for the position of the actuators.

关键词： Robotic arm Position Control Rehabilitation

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Influence of the Counter-Body Material on Micro-Abrasion-Corrosion 5th

Influence of the Counter-Body Material on Micro-Abrasion-Cor...

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

作者： Biasoli de Mello, Jose Daniel Narvaes Ardila, Miguel Angel Costa, Henara Lilian Univ Fed Uberlandia BR-38400214 Uberlandia MG Brazil Univ Fed Rio Grande BR-96203900 Rio Grande RS Brazil

ISBN: (纸本)9783031626180;9783031626166;9783031626159

This study aims to investigate how the ball material used in microabrasion-corrosion testing affects AISI 304 stainless steel. Three different spherical counter-bodies were utilized: a ceramic (Si3N4) and two thermoplastic polymers (polypropylene-PP and polyacetal-POM). The findings revealed that microabrasion corrosion tests using Si3N4 balls resulted in a lower wear rate and friction coefficient compared to tests using PP and POM polymeric balls. Moreover, the study revealed that the removal of the passive layer was less effective in tests that used ceramic counter-bodies, as evidenced by the evaluation of the minimum passivation current density.

关键词： Abrasion-corrosion Abrasive wear Friction Potentiodynamic polarization Counter-body material

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An Improved Mechanism for Rotational Variable Stiffness 6th

An Improved Mechanism for Rotational Variable Stiffness

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Nelson, Carl Univ Nebraska Lincoln Lincoln NE 68588 USA

ISBN: (纸本)9783031673856;9783031673832;9783031673825

This paper presents a variable-stiffness mechanism that uses the variable-lever principle to achieve a large range of output stiffness variation. It is unique in its use of a gear/rack pair to function both as a lever with a variable pivot point and as part of the stiffness-adjustment transmission mechanism. It improves on a previous design by reconfiguring some of the kinematic constraints on the gear, resulting in very efficient operation. Simulation experiments are presented to validate the design.

关键词： Variable Stiffness Robot Compliance Gear-Rack System

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Workspace Analysis for Laparoscopic Rectal Surgery: A Preliminary Study 33rd

Workspace Analysis for Laparoscopic Rectal Surgery: A Prelim...

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

作者： Thomieres, Alexandra Khanzode, Dhruva Duchalais, Emilie Jha, Ranjan Chablat, Damien Ctr Hosp Univ F-44000 Nantes France CSIR Cent Sci Instruments Org Chandigarh 160030 India Acad Sci & Innovat Res AcSIR Ghaziabad 201002 India Nantes Univ LS2N CNRS Ecole Cent NantesUMR 6004 F-44000 Nantes France Tech Univ Cluj Napoca Res Ctr Ind Robots Simulat & Testing Cluj Napoca 400114 Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particularly in the realm of laparoscopic rectal surgery (LRS). This specialized surgical technique, aimed at addressing rectal cancer, requires an in-depth comprehension of the spatial dynamics within the narrow space of the pelvis. Leveraging Magnetic Resonance Imaging (MRI) scans as a foundational dataset, this study incorporates them into Computer-Aided Design (CAD) software to generate precise three-dimensional (3D) reconstructions of the patient's anatomy. At the core of this research is the analysis of the surgical workspace, a critical aspect in the optimization of robotic interventions. Sophisticated computational algorithms process MRI data within the CAD environment, meticulously calculating the dimensions and contours of the pelvic internal regions. The outcome is a nuanced understanding of both viable and restricted zones during LRS, taking into account factors such as curvature, diameter variations, and potential obstacles. This paper delves deeply into the complexities of workspace analysis for robotic LRS, illustrating the seamless collaboration between medical imaging, CAD software, and surgical robotics. Through this interdisciplinary approach, the study aims to surpass traditional surgical methodologies, offering novel insights for a paradigm shift in optimizing robotic interventions within the complex environment of the pelvis.

关键词： Laparoscopic rectal surgery Magnetic resonance imaging Workspace analysis

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Experimental Evaluation of a Collision Avoidance Control for Redundant Manipulators 33rd

Experimental Evaluation of a Collision Avoidance Control for...

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

作者： Palmieri, Giacomo Carbonari, Luca Costa, Daniele Forlini, Matteo Neri, Federico Scoccia, Cecilia Polytech Univ Marche Dept Ind Engn & Math Sci Ancona Italy

ISBN: (纸本)9783031592591;9783031592577;9783031592560

This paper presents the implementation and testing of an obstacle avoidance algorithm for redundant kinematics manipulators, focusing on its experimental implementation on the KUKA LBR iiwa robot. The algorithm, previously validated in simulations, is based on the null space method and a closed-loop inverse kinematics control law, enabling real-time updates of the robot's motion to avoid collisions with dynamic obstacles. The document outlines the hardware/software architecture of the robotic system, featuring an external controller implemented on a standard PC communicating with the robot controller via TCP/IP protocol. The control execution rate ensures a smooth system control. A test case is presented to assess the method's applicability to a real system and discuss key implementation parameters.

关键词： Collaborative robotics Collision avoidance Human-robot collaboration Redundant manipulators

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A Rapid Initial-Pose Self-calibration Method for Underactuated Cable-Driven Parallel Robots 5th

A Rapid Initial-Pose Self-calibration Method for Underactuat...

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

作者： Zoffoli, Filippo Coccia, Valerio Ida, Edoardo Carricato, Marco Univ Bologna Dept Ind Engn DIN Bologna Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Underactuated cable-driven parallel robots (UACDPRs) use fewer cables than the end-effector (EE) degrees of freedom to control their motion. Depending on the sensors installed on the robot, the initial pose of the EE may not be known at startup, and determining it is essential for subsequent operations. This paper presents a rapidly executable self-calibration procedure for estimating the initial pose of a UACDPR. The procedure employs a nonlinear weighted least square optimization, whose tentative solution is also optimized for rapid global convergence. Experiments on a 4-cable UACDPR demonstrates the procedure.

关键词： Underactuated Cable-Driven Parallel Robots Self-Calibration Nonlinear Optimization

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Retrofit and Interface of a SCARA Robot with a PLC for Real-Time Direct Joint Control 9th

Retrofit and Interface of a SCARA Robot with a PLC for Real-...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Boschetti, Giovanni Rosati, Giulio Sinico, Teresa Univ Padua Dept Ind Engn I-35131 Padua Italy Univ Padua Dept Informat Engn I-35131 Padua Italy Univ Padua Dept Management & Engn I-36100 Vicenza Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Robot proprietary controllers greatly limit the implementation of advanced control algorithms, as well as the interface and synchronization of robots with other devices. PLC-based robot control can overcome current limitations: being an open and flexible control architecture, it allows the development of arbitrary control schemes while ensuring real-time synchronization. In this paper, we replaced an obsolete SCARA robot controller with a PLC-based controller and developed software for the real-time implementation of high-performance control schemes. We then carried out experimental tests to evaluate the tracking capabilities of the SCARA manipulator with different commanded trajectories and velocities: during the tests, the robot achieved small tracking errors, proving the effectiveness of the proposed strategy.

关键词： SCARA robot PLC-based control real-time control

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Condition Monitoring of Gears via Time-Frequency Techniques 5th

Condition Monitoring of Gears via Time-Frequency Techniques

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

作者： Niola, Vincenzo Melluso, Francesco Spirto, Mario Univ Naples Federico II Dept Ind Engn Via Claudio 21 I-80125 Naples Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

In this study, the vibrational analysis of cylindrical helical gears has been addressed. Accelerometric signals were acquired for various gears rotational speeds, both under lubricated and dry gear conditions. Through a time-frequency approach, it was possible to discriminate between the two different operating conditions and observe how impacts between teeth are concentrated at high frequencies. The aim of this study is to provide a methodology for the condition monitoring of gears.

关键词： Vibration Analysis Gearwheels FFT Wavelet RMS

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