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Selective Laser Melting of Commercially Pure Silicon

Journal of Wuhan University of Technology(Materials Science) 2022年第6期37卷 1155-1165页

作者： LAI Zhouyi GUO Ting ZHANG Shengting KOLLO Lauri ATTAR Hooyar WANG Zhi PRASHANTH Konda Gokuldoss Sino-German Robotics School Shenzhen Institute of Information TechnologyShenzhen 518172China School of Mechanical and Automotive Engineering South China University of TechnologyGuangzhou 510641China Centre for Advanced Materials Processing and Manufacturing School of Mechanical and Mining EngineeringThe University of QueenslandBrisbaneQueensland 4072Australia Department of Mechanical and Industrial Engineering Tallinn University of TechnologyTallinn 19086Estonia Erich Schmid Institute of Materials Science Austrian Academy of SciencesLeoben A-8700Austria Centre for Biomaterials Cellular and Molecular TheranosticsVellore Institute of TechnologyVelloreTamil Nadu 632014India

Selective laser melting(SLM)or Laser-based powder bed fusion(LBPF)is gaining much attention for the fabrication of novel materials with complex shapes,improved functionalities,and *** attempt has been made to fabricate hard and brittle silicon via SLM in the absence of any *** different powder batches were used,where one of the powder batches has 0.3wt%Fe and the other batch with 0.02wt%*** parameter optimization process shows that the SLM Si samples were successfully fabricated from the powders with the minor addition of *** deliberate addition of Fe facilitates heterogeneous nucleation of Si and aids in absorbing the laser energy beam more *** Si samples with 98.5%theoretical density were fabricated with a hardness of around 10.65±40 *** experimental results show that SLM can successfully fabricate Si without cracks and with near theoretical density(of 99%)and complex shapes,which opens their use in wider industrial applications.

关键词： additive manufacturing selective laser melting silicon heterogeneous nucleation

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Design of magnetorheological brake with adjustable interdigitated comb for lower limb prostheses and exoskeletons

Design of magnetorheological brake with adjustable interdigi...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Shi, Qiuyu Zhao, Xuan Liao, Haisu Lin, Yongji Huang, Ruisen Wu, Xinyu Gao, Fei Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Shatin 999077 Hong Kong

ISBN: (纸本)9798350325706

Magnetorheological (MR) fluids-based devices such as MR dampers and brakes can output a continuously controllable damping force via modulating the magnitude of the applied magnetic field. Owing to low energy consumption and fast response, recently vast MR dampers and brakes are widely studied and explored for lower limb prostheses and exoskeletons. This paper proposed a novel MR brake with adjustable interdigitated comb for lower limb prostheses. Through actively adjusting the area the of the comb engagement, the maximum viscous and field-induced damping torque can be increased or decreased. Because of that, the dynamic adjustment interval of the output damping torque can be increased to meet the function requirements of the prosthetic knee in different walking modes. Magnetic analysis via ANSYS is performed to check the magnetic density of the MR fluid under different excitations. Mathematical models of the damping torque are built. Finally, a prototype of the novel MR brake is fabricated. © 2023 IEEE.

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Medicine bottle recognition based on machine vision and deep learning in intravenous medicine dispensing robot∗

Medicine bottle recognition based on machine vision and deep...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Jin, Haiyang Teng, Zhen He, Yucheng Chen, Qi Wang, Ruiqiang Hu, Ying Shenzhen Broadcare Medical Robotics Co. Ltd Shenzhen China Hebei University of Engineering Handan China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong General Hospital Guangdong Academy of Medical Sciences Guangzhou China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

The intravenous drug dispensing robot needs to handle as many as hundreds of drugs and hundreds of different types of drugs. The identification and measurement of different types of medicine bottles is the key to precise dispensing. In this paper, aiming at different tasks of intravenous drug dispensing robot, such as the classification of drug bottle types and the measurement of key dimensions of drug bottles, a machine vision method and deep learning framework YoloV5s are adopted to realize an efficient and stable drug bottle identification and measurement method. Combined with the measurement accuracy of the machine vision method and the insensitivity of the deep learning method to the background and light source, the accurate identification and measurement of the medicine bottle in the different dispensing process are realized. Finally, the effects of background and ambient light sources on the recognition results are quantitatively tested through experiments. © 2022 IEEE.

关键词： Image recognition

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Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots

Extensions to Dynamically-Consistent Collision Reaction Cont...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Marie Harder Maged Iskandar Jinoh Lee Alexander Dietrich German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling Germany Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

Since modern robots are supposed to work closely together with humans, physical human-robot interaction is gaining importance. One crucial aspect for safe collaboration is a robust collision reaction strategy that is triggered after an unintentional physical contact. In this work, we propose a dynamically-consistent collision reaction controller, where the reactive motion is performed in one particular desired direction in Cartesian space, without disturbing the remaining ones. This results in more intuitive and more predictable behavior of the end-effector. In addition, the proposed reaction control law is independent of contact and internal observer dynamics used for collision detection. The theoretical claims are validated in simulation and experiments. The proposed reaction controller is experimentally compared with a conventional approach for collision reaction. All experiments have been conducted on a torque controlled KUKA LWR IV + lightweight robot.

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The Smart Hospital: Data and AI Challenges

The Smart Hospital: Data and AI Challenges

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2023 IEEE EMBS Special Topic Conference on Data Science and engineering in Healthcare, Medicine and Biology, IEEECONF 2023

作者： Plati, Daphni K. Konstantakopoulos, Fotios S. Kalatzis, Theofanis Manousos, Dimitrios Kassiotis, Thomas Di Luzio, Francesco Scotto Tagliamonte, Nevio Luigi Zollo, Loredana Tsiknakis, Manolis Fotiadis, Dimitrios I. University of Ioannina Unit of Medical Technology and Intelligent Information Systems Materials Science and Engineering Department Greece Forth Biomedical Research Institute IoanninaGR 45110 Greece Forth Institute of Computer Science Crete HeraklionGR 70013 Greece Campus Bio-Medico University Research Unit of Advanced Robotics and Human-Centred Technologies Rome Italy

ISBN: (纸本)9798350383386

Healthcare systems generally constitute a combination of healthcare facilities and providers that collaborate in order to offer a complete range of healthcare services. As the primary providers of healthcare, hospitals hold an essential place in the healthcare system. This study introduces three novel automated Artificial Intelligence (AI) systems by using the robotic platform of the TIAGo robot: (i) an image-based system that monitors the food consumption of the patients and provides information regarding their energy intake to prevent malnutrition;(ii) a rehabilitation system that monitors patients as they perform prescribed exercises to prevent loss of mobility, and (iii) a monitoring system for the correctness of the oxygen therapy in terms of the proper positioning of the oxygen mask to prevent hypoxia complications. A well-designed observational clinical study is planned to evaluate and validate the utility and effectiveness of the proposed AI systems in improving patient stay in the hospital. For the abovementioned systems, three novel datasets were *** Relevance: Through the implementation of AI systems, the proposed research intends to provide specialists with an extra tool to aid in the monitoring of hospitalized patients, thus helping to prepare the way for the Smart Hospital. © 2023 IEEE.

关键词： Hospitals

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Bio-Inspired Design and Additive Manufacturing Techniques for Aquatic Robot Development Based on the Locomotion of the Istiophorus (Sailfish)

Bio-Inspired Design and Additive Manufacturing Techniques fo...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Bernabé Oscco Victor Cuyotupac Jose Mayorga Robert Castro Ricardo Palomares Jose Cornejo Professional School of Mechatronics Engineering Universidad Ricardo Palma Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma Lima Peru Universidad Tecnologica del Peru Lima Peru

ISBN: (数字)9798350354423

ISBN: (纸本)9798350354430

The goal of this project is to develop a robotic prototype capable of swimming at high speeds, intended for use un rescue operations and ocean research. The design focuses on replicating key characteristics of the sailfish's movement, particularly its dart-like shape during high-speed swimming, which is enhanced by its lack of scales, minimizing friction with water. The robotic prototype features degrees of freedom in its neck and fins, allowing vertical movement without human intervention, thereby providing added comfort and stability during deep-water rescue operations. Finally, the proposed bioinspired design of fish-morphology robots offered enhanced maneuverability, efficiency, adaptability, and stability for aquatic applications, while also presenting challenges that demand innovative solutions.

关键词： Aquatic robots Shape Prototypes Morphology Tail Propulsion Robot sensing systems Fish Stability analysis Sports

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Capturing Contact Surfaces by a Frustrated Total Internal Reflection System Using a Curved Plate for Comparison of the Beginning of Touching Motions by Humanitude Experts and Novices

Capturing Contact Surfaces by a Frustrated Total Internal Re...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Yuguchi, Akishige Toyoda, Mayuki Cho, Sung-Gwi Nakazawa, Atsushi Takamatsu, Jun Yoshino, Koichiro Ogasawara, Tsukasa Tokyo University of Science Faculty of Advanced Engineering Katsushika-ku Tokyo125-8585 Japan Guardian Robot Project Riken Seika-cho Sorakugun Kyoto619-0288 Japan Nara Institute of Science and Technology Nara Ikoma630-0192 Japan School of Science and Engineering Tokyo Denki University Hatoyama-machi Saitama Hiki-gun350-0394 Japan Graduate School of Interdisciplinary Science and Engineering in Health Systems Okayama University Okayama Kita-ku700-8530 Japan Applied Robotics Research Microsoft Corporation RedmondWA98052 United States

ISBN: (纸本)9781665410205

Analyzing time-series changes of the contact surface by touching is important to elucidate the touching skills of Humanitude as one of the pervasive multimodal comprehensive care methodologies. For the analysis, there is a frustrated total internal reflection (FTIR) method to capture contact surfaces on a transparent flat plate by a camera. However, this conventional flat plate is far from the actual surfaces of care receivers because the surfaces of humans consist of curved shapes. In this paper, we propose an FTIR sensing system using a transparent curved plate to capture more ideal contact states with a surface shape more similar to the human body. We collect the contact surface data of the beginning of touching motions by Humanitude experts and novices using the FTIR sensing system with the curved and flat plates. Then, we compare the data by the experts and novices in terms of time-series contact areas and the quantitative indices and subjective evaluation and discuss the analysis results. Through these experiments, we confirm that the proposed system has the potential for the novices to perform more correctly the beginning of Humanitude's touching motions. © 2024 IEEE.

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DynaPP: A Dynamic Resolution Model with Patch Packing for Fast Online Video Detection

DynaPP: A Dynamic Resolution Model with Patch Packing for Fa...

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International Joint Conference on Neural Networks (IJCNN)

作者： Changrok So Simon S. Woo Jong Hwan Ko Advanced Robotics Lab CTO Division LG Electronics Seoul South Korea Department of Artificial Intelligence Sungkyunkwan University Suwon South Korea Department of Electrical and Computer Engineering Sungkyunkwan University Suwon South Korea

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

Online video detection becomes more challenging with higher resolution as computational costs increase proportionally with increasing resolution. To address this issue, we present a novel approach, DynaPP, which arranges object candidate regions into a compact form. DynaPP performs resource-intensive whole-image inference only on sparse key frames, employing reduced resolutions for inference on other frames. Additionally, we propose transforming a 1-stage detector into a dynamic resolution model to facilitate frame inference at reduced resolutions. Here, the dynamic resolution model signifies a model capable of inferring all resolutions, distinguishing itself from typical models by not having restricted inferable resolutions. Unlike prior studies introducing new model structures for multi-resolution models, our work demonstrates that slight modifications to existing models can convert them to dynamic resolution models. DynaPP showcases substantial acceleration in video detection across four representative video datasets: AU-AIR (5.5×), UAVDT (3.67×), VisDrone (2.73×), and ImageNet VID (3.69×), while maintaining a mean average precision with a small loss (≤2.2). Furthermore, we observed that our method achieves a detection acceleration of up to 8.84×, depending on the video clip.

关键词： Image resolution Neural networks Detectors Computational efficiency

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An Image Acquisition Scheme for Visual Odometry based on Image Bracketing and Online Attribute Control

An Image Acquisition Scheme for Visual Odometry based on Ima...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Shuyang Zhang Jinhao He Bohuan Xue Jin Wu Pengyu Yin Jianhao Jiao Ming Liu Department of Electronic and Computer Engineering the Hong Kong University of Science and Technology Hong Kong SAR China Thrust of Robotics and Autonomous Systems the Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Center for Advanced Robotics Technology Innovation (CARTIN) School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Computer Science University College London London UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Visual odometry (VO) system is challenged by complex illumination environments. Image quality and its consistency in the time domain directly determine feature detection and tracking performance, which further affect the robustness and accuracy of the entire system. In this paper, an image acquisition scheme with image bracketing patterns is proposed. Images with different exposure levels are continuously captured to sufficiently explore the scene under varying illumination. An attribute control method is designed to adjust image exposures within the brackets online. Gaussian process regression fits the relationship between image quality metric and exposure via image synthesis technique. The optimal exposures for the next bracket are obtained directly without attempts to ensure a quick response. Experiments show our acquisition system’s effectiveness and performance improvement for VO tasks in complex illumination scenes.

关键词： Image quality Measurement Image synthesis Lighting Gaussian processes Robustness Time-domain analysis

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Personalized single support trajectory generation with preferred walking speed for lower limb exoskeletons

Personalized single support trajectory generation with prefe...

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

作者： Farzad Tofighi Alireza Akbarzadeh Iman Kardan Department of Mechanical Engineering Ferdowsi University of Mashhad Center of Advanced Rehabilitation and Robotics Research (FUM-CARE) Mashhad Iran

ISBN: (纸本)9781665454537

This paper presents an algorithm to generate the single support phase trajectory in each step for exoskeleton users with low strength in their lower body. This method generates the trajectory of the single support phase according to the patient's body parameters and enables the patients to voluntarily change their walking speed. In this method, the body parameters of the exoskeleton user and the information of the double support phase are taken as input. A multi-layer perceptron neural network, human kinematic model, and cubic spline interpolation are used to generate the single support phase trajectory for the hip and knee joints. To evaluate the performance of this algorithm, a healthy person walked on the ground at three different speeds, and the walking data was recorded. Then the knee and hip joints trajectory of the single support phase for one step was generated by the proposed algorithm. Then the generated Trajectories were compared with the actual trajectories. The experimental results reveal that the proposed algorithm is able to generate a smooth personalized trajectory according to the preferred walking speed.

关键词： Legged locomotion Knee Mechatronics Exoskeletons Neural networks Kinematics Trajectory

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