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检索条件"任意字段=Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering"

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Magnetic targeting of aggregated nanoparticles for advanced lung therapies: A robotics approach

Magnetic targeting of aggregated nanoparticles for advanced ...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Panagiotis Vartholomeos Constantinos Mavroidis Nobuhiko Hata Surgical Planning Laboratory Harvard Medical School Brigham and Women's Hospital Boston MA USA Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA USA

This paper studies the use of the innovative concept of MRI-targeted drug delivery platform for robotic targeting of magnetized aerosol in the lungs. The goal is to increase dramatically the therapeutic effectiveness by increasing the aerosol drug concentration in the lesion while reducing its presence in healthy lung tissues. For this purpose, a parametric analysis is conducted to specify the magnetic forces required to efficiently target magnetized liposomal agents to the lungs. The force capabilities of the MRI system are assessed and their limitations with respect to magnetic targeting are identified. To overcome these limitations, the paper proposes a novel approach: to scale-up the MRI magnetic forces by using the MRI magnetic field to generate agglomerations of the aerosolized liposomal agents (or agglomerations of aerosol droplets). The formation of agglomerations increases the magnetic volume and thus increases the magnetic forces. Furthermore the paper presents a dynamic simulation platform, developed by the authors, to assess the feasibility of the concept and to investigate ways to control the size geometry and break-up rate of the agglomerations. The dynamic models of this computational tool are described in detail. The simulation results predict aggregation patterns, whose size and orientation can be controlled by external magnetic fields.

关键词： Magnetic resonance imaging Magnetic forces Magnetic fields Coils Lungs Lesions Force

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Abnormal State Sensing Method of Active Distribution Transformer Based on Digital Twin

Abnormal State Sensing Method of Active Distribution Transfo...

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Electrical engineering and mechatronics Technology (ICEEMT), IEEE international conference on

作者： Jianwen Zhu Xiaolei Tian Guoliang Li Tiangaung Lu Yuqing Lin State grid Shandong electric power company Zaozhuang power supply company Zaozhuang China School of Electric Engineering Shandong University Jinan China

Active distribution transformer refers to a transformer in a distribution network located in many distributed power supplies. This article proposes a perception method of faulty state -based transformers based on digital twin. It can meet the requirements of transformer protection speed, and at the same time, it has the advantages of unwillingness to be influenced by external failure of transformers, high sensitivity in the region, and rapid judgment. This article establishes a digital space model based on the physical mechanism of the transformer and establishes the mapping relationship between the voltage and current of the transformer. First analyze the single -phase transformer, rely on the improved T -type equivalent circuits and differential equations to model, and then expand to a three -phase transformer. By the voltage and current on one side of the transformer, the voltage current on the other side of the transformer can be accurately calculated in real time. The calculated voltage current becomes “virtual voltage” and “virtual current”. As long as the internal state of the transformer is normal, the calculation value of the virtual voltage and virtual current is very close to the value of the actual voltage current. If there is a failure inside the transformer, the value of the virtual voltage current and the actual voltage current will be significantly different. Unlike the longitudinal protection, relying on this different to distinguish the abnormal state of the transformer, it can not be affected by the influence of excitation surge, which greatly reduces the impact of the imbalanced current. It also has very high sensitivity to the discrimination of minor faults. In the end, the calculation error of the virtual voltage and virtual current under normal operation of the transformer and the calculation error of the virtual current discussed the differences between the virtual current and the actual sampling current when the fault occurred. According to

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The effects of Parameters on the Stability of Passive Dynamic Walking

The effects of Parameters on the Stability of Passive Dynami...

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The 3rd international conference on Bioinformatics and Biomedical engineering(iCBBE 2009)(第三届生物信息与生物医学工程国际会议)

作者： Xiuhua Ni Weishan Chen Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinChina

We studied the effects of parameters on the stability of passive dynamic walking by simulations and experiments. For simulations, we quantified the stability as the largest amount of lowing that the virtual prototype could still recover from and continue walking to the end. We used the ADAMS software to obtain this largest amount lowing. For experiments, we quantified the stability of each walker by observing 100 passive walking trials down a gentle slope of finite length and recording the fraction of trials which successfully walked to the end. This study provides a guide for designing passive dynamic walkers with high stability. This might also be used for designing prosthetic legs.

关键词： passive dyanmic walking stability ADAMS

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A novel self-adaptive search algorithm for unstructured peer-to-peer networks utilizing learning automata

A novel self-adaptive search algorithm for unstructured peer...

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Artificial Intelligence and robotics (IRANOPEN)

作者： Mahdi Ghorbani Mohammad Reza Meybodi Ali Mohammad Saghiri Department of computer engineering and information technology engineering Islamic Azad University Qazvin Iran Department of computer engineering Amirkabir University of Technology Tehran Iran

Designing an efficient search algorithm is an important issue in unstructured peer-to-peer networks when there is no central control or information on the locations of objects. There are various search strategies with different effects on network performance. In k-random walks as a search strategy, having an adaptive value of k instead of a random value can affect performance of the network. Therefore in this paper, a distributed novel self-adaptive search algorithm has been developed by application of learning automata to overcome this challenge. This method does not aim to determine the value of k for k-random walks algorithm and each peer can issue walkers in a self adaptive manner. Simulation results show that the proposed search algorithm improves some features such as average number of walkers per query, average number of produced messages, number of hits per query and also success rate efficiently in comparison with the k-random walks algorithm.

关键词： Peer-to-peer computing Learning automata Algorithm design and analysis Search problems Heuristic algorithms Adaptive systems Vectors

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Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats

Development of the hybrid wheel-legged mobile robot WR-3 des...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Qing Shi Shunsyuke Miyagishima Shinichiro Konno Shogo Fumino Hiroyuki Ishii Atsuo Takanishii Cecilia Laschi Barbara Mazzolai Virgilio Mattoli Paolo Dario Graduate School of Science and Engineering Waseda University Tokyo Japan Faculty of Science and Engineering Waseda University Tokyo Japan Polo Sant'Anna Valdera CRIM & ARTS Laboratories Scuola Superiore Sant'' Anna Pontedera Italy Polo Sant'Anna Valdera CRIM & ARTS Labs Pontedera (Pisa) Italy

This paper presents the design and development of a bio-inspired mobile robot called WR-3 (Waseda Rat No.3), as an experimental tool to study social interaction between rats and robots. According to the motion analysis of rats, their motion can be divided into two phases: moving and interaction. Therefore, a novel hybrid mechanism in which wheels are used for moving and legs are used for interaction has been designed to actuate the WR-3. Consequently, the robot can move at a high speed using its wheels and reproduce the rats' interaction using its legs and other parts. Based on the dimension and body structure of a mature rat, WR-3 has been designed with dimensions of 240 × 70 × 90[mm] and is the same shape as a rat. It consists of 18 DOFs in total: two 1-DOF wheels, four 3-DOF legs (including passive DOFs), a 2-DOF waist, and a 2-DOF neck. Preliminary interaction experiments with rats demonstrate that WR-3 is capable of reproducing interactions such as following, rearing, grooming, mounting, etc. similar to a real rat.

关键词： Rats DC motors Legged locomotion Leg Torque

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Incremental algorithms of finding offset distance and minimum passage width using Voronoi diagram technique [CAM machining]

Incremental algorithms of finding offset distance and minimu...

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international conference on Adhesive Joining and Coating Technology in Electronics Manufacturing

作者： W. Lai T. Faddis R. Sorem Department of Mechanical Engineering University of Kansas Lawrence KS USA

Since some practical areas, such as computer graphics, computer-aided design, robotics, pattern recognition, and finite element methods, give rise to geometrical problems, Voronoi diagrams have broad areas of application, such as mesh generation in FEA (finite element analysis) and machining toolpath planning in CAM (computer-aided manufacturing) for NC pocket machining. When the mesh generation is applied in FEA, the information for extraction of geometric proximity is important. When the contour-parallel strategy is applied to machining toolpath planning, geometric degeneracies can occur and significantly require the performance of complicated and time-consuming computations of offset curves. The best way to deal with geometric proximity and geometric degeneracies is with Voronoi diagrams. If islands are considered in machining toolpath planning, it is necessary to calculate the minimum passage width between islands, or between islands and contour segments. This paper presents the incremental algorithms of the Voronoi diagram technique to calculate the offset distance for offset curves and the minimum passage width for pocket machining toolpath planning.

关键词： Machining Finite element methods Mesh generation Computer aided manufacturing Computer graphics Design automation Robots Pattern recognition Application software Pattern analysis

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A Novel Actuator for High-Precision Alignment in a Nano-Imprint Multi-Layers-Interconnection Fabrication

A Novel Actuator for High-Precision Alignment in a Nano-Impr...

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IEEE international conference on robotics and Automation (ICRA)

作者： Tat Joo Teo I-Ming Chen Guilin Yang Wei Lin Mechatronics Group Singapore Institute of Manufacturing Technology Singapore Mechanical and Aerospace Engineering Nanyang Technological University Singapore

This paper presents a novel flexural-based nano-positioning actuator that has a positioning accuracy of 10 nm (limited by encoder resolution) throughout a range of 3 mm. A new dual-magnet configuration is introduced to enhance this electromagnetically driven actuator in achieving 60 N/Amp in a compact configuration. In addition, a constant and evenly distributed magnetic flux density is obtained throughout 11 mm of air gap. A new mathematical model is presented to accurately predict the behavior of magnetic field within the effective air gap of this configuration. Complete analytical models for this actuator's electromagnetic drive and flexural-bearing support element are presented. Lastly, a prototype of this actuator is developed for validating the established analytical models and verifying the claimed capabilities.

关键词： Fabrication Nanopositioning Analytical models Hydraulic actuators Electromagnetic forces Mathematical model Prototypes Lithography Manufacturing processes Substrates

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Correction of zoomed morphology-based interpolation of contours

Correction of zoomed morphology-based interpolation of conto...

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Annual international conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： B. Migeon C. Rosenberger P. Marche Laboratoire Vision et Robotique Bourges France

In medical imaging, a 3D object must often be reconstructed from serial cross-sections. Usually, the cross-sections are not closely spaced so that interpolation is needed to solve the problem of anisotropy. Different interpolation technique exist, applied either on slices either on objects. Recently, a new contour interpolation method based on a zooming transform and on mathematical morphology has been developed. Thanks to the zooming transform, it works in any case. But, the obtained results are bigger and not so smooth as one could wish. This paper proposes a correction of the method in order to avoid so big results.

关键词： Interpolation Image reconstruction Morphology Computed tomography Biomedical imaging Medical robotics Orbital robotics Robot vision systems Anisotropic magnetoresistance Image processing

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Sensor fusion and calibration for motion captures using accelerometers

Sensor fusion and calibration for motion captures using acce...

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IEEE international conference on robotics and Automation (ICRA)

作者： Jihong Lee Insoo Ha Department of Mechatronics Engineering Chungnam National University Taejon South Korea

A low cost motion capture system for the human body is handled. This system is based on low cost accelerometers. By extracting the gravity-related term from sensor data, we relate the sensor data with body configuration in real-time. One sensor unit is composed of 3 accelerometers and is capable of identifying 2 rotating angles of joints with 2 degrees of freedom. A geometric fusion technique is applied to cope with the uncertainty of sensor data. A practical calibration technique is also proposed to handle the error in aligning the sensing axis with coordination axis. In the case where motion acceleration is not negligible compared with the gravity acceleration, a compensation technique to extract gravity acceleration from sensor data is proposed. Experimental results of human motion capturing are also described with graphics.

关键词： Sensor fusion Calibration Acceleration Costs Humans Accelerometers Data mining Gravity Joints Uncertainty

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Swarm Intelligence Path-Planning Pipeline and Algorithms for UAVs: Simulation, Analysis and Recommendation 26

Swarm Intelligence Path-Planning Pipeline and Algorithms for...

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26th international conference on Enterprise Information Systems, ICEIS 2024

作者： Harris, Wyatt Tseng, Sean Viso, Tabatha Weissman, Max Ngan, Chun-Kit Department of Robotics Engineering Worcester Polytechnic Institute 100 Institute Rd. WorcesterMA United States Data Science Program Worcester Polytechnic Institute 100 Institute Rd. WorcesterMA United States

ISBN: (纸本)9789897586927

This research work aims to support domain experts in the selection of proper path planning algorithms for UAVs to solve a domain business problem (i.e., the last mile delivery of goods). In-depth analysis, insight, and recommendations of three promising approaches, including reinforcement learning-based, bio-inspired-based, and physics-based are used to address the multi-agent UAV path planning problem. Specifically, the contributions of this work are fourfold: First, we develop a unified pipeline to implement each approach to conduct this analysis. Second, we build a 2D UAV path planning environment to simulate each approach. Third, using this 2D environment, we run the 450 simulations in three different group sizes of swarm UAV agents (i.e., 3, 5, and 10) within three environments of varying complexity (i.e., Easy, Intermediate, and Hard). We aggregate the simulation data and compare their performance in terms of success rate, run-time, and path length while using the classical A* Search as a baseline. Finally, based upon the performance of each approach and our analytical investigations, we provide informed recommendations for the optimal use case of each UAV path planning approach. The recommendations are presented using parameters for environmental complexity and urgency of goods delivery. Copyright © 2024 by SCITEPRESS – Science and Technology Publications, Lda.

关键词： Motion planning

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