检索结果-内蒙古大学图书馆

2nd International Conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Xin, Zhengyuan Wu, Anping Bai, Kailun Yang, Haotian Lin, Kaijun Shi, Qing Wang, Huaping Hou, Yaozhen Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Medical Technology Beijing Institute of Technology Beijing China Science and Technology on Space Physics Laboratory Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9798400710681

Soft microrobots have garnered attention in the biomedical field due to their ability to access hard-to-reach regions within living organisms for precise manipulation. However, the inability to alter the stable morphology after design and fabrication remains a pressing issue for existing soft microrobots. This limitation results in a fixed range of locomotion modes, thereby restricting the diversity of operational environments. Addressing this challenge, this study proposes and designs a biocompatible X-shaped soft microrobot that achieves alterable stable morphologies through an innovative mechanism. We developed a deformable soft hydrogel robot based on alginate gel’s ability to reversibly swell in response to ion concentration changes. Based on the deformation characteristics of this microrobot, we have designed undulating and rolling locomotion modes that are suitable for different morphologies, along with their corresponding magnetic field manipulation systems, enabling multi-morphology locomotion of the robot. Experimental validations demonstrate that the designed flexible microrobot can achieve a deformation deflection angle of up to 150° under manipulation. This robot not only performs forward undulating locomotion in its expanded state but also executes rolling motion in its spherical configuration, exhibiting high locomotion flexibility and adaptability. © 2024 Copyright held by the owner/author(s).

关键词： Microrobots

来源：评论

学校读者我要写书评

暂无评论

A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

引用

Frontiers of Mechanical engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

来源：评论

学校读者我要写书评

暂无评论

Controllable Mechanical-domain Energy Accumulators

Controllable Mechanical-domain Energy Accumulators

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Sung Y. Kim David J. Braun Department of Mechanical Engineering Advanced Robotics and Control Laboratory within the Center for Rehabilitation Engineering and Assistive Technology Vanderbilt University Nashville TN

Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic potential energy in the absence of an external load, but have not yet been widely adopted in applications, partly because clutches introduce design complexity, reduce energy efficiency, and typically do not afford high fidelity control over the energy stored by the spring. Here, we present the design of a novel lockable compression spring that uses a small capstan clutch to passively lock a mechanical spring. The capstan clutch can lock over 1000 N force at any arbitrary deflection, unlock the spring in less than 10 ms with a control force less than 1% of the maximal spring force, and provide an 80% energy storage and return efficiency (comparable to a highly efficient electric motor operated at constant nominal speed). By retaining the form factor of a regular spring while providing high-fidelity locking capability even under large spring forces, the proposed design could facilitate the development of energy-efficient spring-based actuators and robots.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Practical Algorithm for Multirotor System Design and Evaluation

A Practical Algorithm for Multirotor System Design and Evalu...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Arshia Rezaei Faezeh Vahedi Amin Talaeizadeh Aria Alasty Department of Mechanical Engineering Advanced Research Lab for Control and Agricultural Robotics (Sharif AgRoLab) Sharif University of Technology

Multirotors have attracted much attention in recent years. During the design phase, both designers and users are often curious about whether an assembled multirotor can meet their expectations, including hover endurance, system efficiency, maximum load capacity, maximum pitch angle, and maximum flight distance. Traditionally, multirotor performance evaluation involves multiple flight tests or relying on experience, which can be time-consuming and expensive. To solve this challenge, this algorithm is proposed for extensive offline design and evaluation. This algorithm primarily focuses on performance metrics linked to the propulsion system, encompassing components such as motors, propellers, electronic speed controllers, and batteries. In the initial stage of our research, we establish models for these propulsion system components. Notably, the input for these models comprises technical specifications provided by manufacturers. Using these models and their interrelationships, equations were formulated to describe different performance indicators. Then these equations were solved to perform performance evaluation. The effectiveness of this evaluation method is shown through an example developed by a powerful and user-friendly software that enables users to access the performance evaluation approach presented in this article.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Impact of Artificial Intelligence on engineering: Past, Present and Future 54

Impact of Artificial Intelligence on Engineering: Past, Pres...

引用

54th CIRP Conference on Manufacturing Ssystems, CMS 2021

作者： Blake, Robert W. Mathew, Robins George, Abraham Papakostas, Nikolaos Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Ireland

Recent advancements in cloud computing and software technology have resulted in the development of powerful Artificial Intelligence (AI) tools for engineering applications. However, the impact of AI in future engineering jobs remains ambiguous. This paper discusses recent AI developments, AI applications, the influence of AI on the engineering profession, and the productivity of engineers. In addition, ethics, and professional impacts to be considered with the introduction of AI are addressed. The results of a survey conducted among people from engineering colleges across Ireland are also presented. © 2021 The Author(s).

关键词： Industry 4.0

来源：评论

学校读者我要写书评

暂无评论

Summer School on Circular Economy for Sustainable Manufacturing: A Case Study and Lessons Learned 31

Summer School on Circular Economy for Sustainable Manufactur...

引用

31st CIRP Conference on Life Cycle engineering, LCE 2024

作者： Rejeb, Helmi Ben Muxika, Eñaut Ghadimi, Pezhman Univ. Grenoble Alpes CNRS Grenoble INP G-SCOP Grenoble France Mondragon University Electronics & Computer Science Department - Signal Theory & Communications Arrasate Spain Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland

The Circular Economy Action Plan is the main building block of the European Green Deal, Europe's new agenda for sustainable growth. Businesses need new technologies, new methods and new industrial organization either to create new businesses or to transform their products, processes and business models. They also need new talents to innovate, create businesses and new jobs, and transform society into a more sustainable one. Circular economy has grown significantly in recent years as a topic taught in engineering curricula. The purpose of this paper is to present the design, implementation and evaluation of a summer school program dedicated to the development, transformation and implementation of circular economy systems and new business models in manufacturing. The program was designed in collaboration with three university partners during a European project and relied on contributions from industrial companies, including start-ups and innovative companies. At the end, some lessons are drawn in order to show the main added value based on the evaluation of this summer school and to identify recommendations for the design and implementation of similar summer schools. © 2024 The Author(s).

关键词： engineering education

来源：评论

学校读者我要写书评

暂无评论

A Machine Learning-Based Fatigue Extraction Method Using Human Manipulation Video Data in Smart Manufacturing

A Machine Learning-Based Fatigue Extraction Method Using Hum...

引用

International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Jiarong Yao Nabeel Muhammad Chongshan He Kaixu Li Rong Su School of Electrical and Electronic Engineering Nanyang Technological University Singapore Centre for Advanced Robotics Technology Innovation (CARTIN) School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

As an important part in smart manufacturing under Industry 4.0 era, human-robot collaboration (HRC) features the interaction between human operators and machines, which makes the research of human fatigue come into sight. However, most existing studies on human fatigue or efficiency detection are realized using detectors and models from bioelectronics, whose intrusive detection and decoding of electromyographic signal limits the generality and applicability of such methods. Therefore, this study proposes a human fatigue extraction method based on video data. A new dataset on human manipulation is established by collecting video data of assembly operations to simulate the working status of human operators under smart manufacturing environment. With human skeletal data extracted from the video using a machine learning-based pose extraction tool, MediaPipe, a spatiotemporal analysis for critical skeleton points is implemented for working status categorization and learning using a stochastic gradient descent (SGD) classifier. In this way, the duration taken to complete an assembly task can be extracted as the operation time using the trained SGD classifier, and thus the time-varying operation time series data are obtained to show the trend of human fatigue level. An accuracy of 98.3% is obtained for working status identification for the dataset. Several quantitative indicators like pearson correlation, R-squared value, root mean squared error (RMSE), and Fréchet Distance, are used to evaluate the accuracy of both the extracted operation time and its time-varying curve as compared to the ground truth, with satisfactory results showing the effectiveness of the proposed method.

关键词： Accuracy Surveillance Time series analysis Switches Fatigue Data mining Robots Assembly Unsupervised learning Smart manufacturing

来源：评论

学校读者我要写书评

暂无评论

SwarmPRM: Probabilistic Roadmap Motion Planning for Large-Scale Swarm Robotic Systems

arXiv

引用

arXiv 2024年

作者： Hu, Yunze Yang, Xuru Zhou, Kangjie Liu, Qinghang Ding, Kang Gao, Han Zhu, Pingping Liu, Chang Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China Marshall University HuntingtonWV25755 United States

Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, traditional motion planning approaches often face a trade-off between scalability and solution quality due to the exponential growth of the joint state space of robots. In response, this work proposes SwarmPRM, a hierarchical, scalable, computationally efficient, and risk-aware sampling-based motion planning approach for large-scale swarm robots. SwarmPRM utilizes a Gaussian Mixture Model (GMM) to represent the swarm’s macroscopic state and constructs a Probabilistic Roadmap in Gaussian space, referred to as the Gaussian roadmap, to generate a transport trajectory of GMM. This trajectory is then followed by each robot at the microscopic stage. To enhance trajectory safety, SwarmPRM incorporates the conditional value-at-risk (CVaR) in the collision checking process to impart the property of risk awareness to the constructed Gaussian roadmap. SwarmPRM then crafts a linear programming formulation to compute the optimal GMM transport trajectory within this roadmap. Extensive simulations demonstrate that SwarmPRM outperforms state-of-the-art methods in computational efficiency, scalability, and trajectory quality while offering the capability to adjust the risk tolerance of generated trajectories. © 2024, CC BY.

关键词： Scalability

来源：评论

学校读者我要写书评

暂无评论

Intelligent Collective Escape of Swarm Robots Based on a Novel Fish-inspired Self-adaptive Approach with Neurodynamic Models

arXiv

引用

arXiv 2024年

作者： Li, Junfei Yang, Simon X. The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada

Fish schools present high-efficiency group behaviors through simple individual interactions to collective migration and dynamic escape from the predator. The school behavior of fish is usually a good inspiration to design control architecture for swarm robots. In this paper, a novel fish-inspired self-adaptive approach is proposed for collective escape for the swarm robots. In addition, a bio-inspired neural network (BINN) is introduced to generate collision-free escape robot trajectories through the combination of attractive and repulsive forces. Furthermore, to cope with dynamic environments, a neurodynamics-based self-adaptive mechanism is proposed to improve the self-adaptive performance of the swarm robots in the changing environment. Similar to fish escape maneuvers, simulation and experimental results show that the swarm robots are capable of collectively leaving away from the threats. Several comparison studies demonstrated that the proposed approach can significantly improve the effectiveness and efficiency of system performance, and the flexibility and robustness in complex environments. © 2024, CC BY.

关键词： Fish

来源：评论

学校读者我要写书评

暂无评论

Contactless Bioprinting Based on Acoustic Tweezer

Contactless Bioprinting Based on Acoustic Tweezer

引用

IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Yunsheng Li Xiaoming Liu Zhuo Chen Xiaoqing Tang Jiaqi Shan Fengyu Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and the Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

3D bioprinting technology presents an expansive array of possibilities for tissue engineering, drug screening, and foundational research. However, its operational demands necessitate a meticulous balance between pollution prevention and minimizing cellular harm. Traditional inkjet and extrusion bioprinting methods lead to direct nozzle-to-object contact, heightening the risk of contamination and cellular injury. To address these challenges, we propose a novel bioprinting approach harnessing acoustic tweezer in conjunction with a three-degree-of-freedom displacement platform. Herein, hydrogel droplets containing cells are trapped by acoustic tweezer and subsequently transported and positioned at the desired location via the displacement platform. This innovative technique avoids direct nozzle contact with the printed object, thus offering a viable strategy for mitigating contamination and minimizing cellular damage throughout the printing process.

关键词： Phased arrays Bioprinting Pollution Prevention and mitigation Hydrogels Tissue engineering Transportation Acoustics Contamination Injuries

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：