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Diffusiophoresis in the presence of a pH gradient

Physical Review Fluids 2022年第11期7卷 110513-110513页

作者： Suin Shim Janine K. Nunes Guang Chen Howard A. Stone Department of Mechanical and Aerospace Engineering Princeton University Princeton New Jersey 08544 USA Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing 100871 China

Diffusiophoresis is the spontaneous motion of particles under gradients of solutes. In electrolyte-driven diffusiophoresis, the zeta potential of the particles is an important surface property that characterizes diffusiophoretic mobility. However, the zeta potential is not a fixed material property and colloidal surfaces often show varying potentials depending on the physicochemical properties of the surrounding fluid, e.g., solute type, ionic strength, and pH. In this paper, we study experimentally and theoretically pH-dependent diffusiophoresis of polystyrene particles using a dead-end pore geometry. In particular, the influence of the isoelectric point (pI) on diffusiophoresis is demonstrated in the absence and presence of wall diffusioosmosis. Throughout the paper, we show with experiments and model calculations how the pH-dependent diffusiophoresis and diffusioosmosis influence the particle motion in dead-end pore configurations, including changes that occur when there is a sign change in the zeta potential near the pI.

关键词： Diffusiophoresis Electrokinetic flows Microfluidics Colloids

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KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

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

作者： Tanin Boka M. Navid Nikkhah S. Ali A. Moosavian Dept of Mechanical Engineering K. N. Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Toosi University of Technology Tehran Tehran Iran Dept of Mechanical Engineering K. N. Toosi University of Technology Tehran Tehran Iran

This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehabilitation exercises and daily tasks. The glove offers both active finger flexion and passive extension to aid in hand support and rehabilitative training. It achieves this by utilizing integrated soft actuators, including a variable stiffness layer and a pneumatic-driven layer, which guide specific bending, twisting, and extending movements when air pressure is applied. Notably, the variable stiffness layer takes inspiration from pangolins, whose scales are pliable during daily activities but become rigid when facing threats. To provide increased power with enhanced stiffness, a toothed pneumatic actuator is specially designed. The three-finger soft glove is manufactured by molding super-elastic material, creating the actuator mold using a 3D printer. The glove’s grasping abilities have been thoroughly tested, and experimental results demonstrate that, when compared to previously developed elastomeric-based actuators, these actuators can generate substantial force and torque to facilitate finger flexion even at lower air pressure levels. This capability allows the glove to grasp a wide range of objects, assisting individuals in their rehabilitative training. Furthermore, a control system for grasping has been developed, which includes motion processing unit sensors for collecting feedback signals aligned with the actuators, along with a closed-loop controller for regulating the pressure. In contrast to existing devices, this glove, thanks to its portable design, has the potential to significantly enhance user autonomy and independence.

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An Information Model with Voxelated Data from Computer Aided Systems and the Additive Manufacturing Workflow

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Procedia CIRP 2022年 112卷 382-387页

作者： Conor Maguire Abraham George Matthew Kelly Darragh Egan Denis Dowling Nikolaos Papakostas Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Ireland I-Form Advanced Manufacturing Research Centre School of Mechanical and Materials Engineering University College Dublin Belfield Dublin. 4 Ireland

This paper discusses diverse data management approaches and proposes a comprehensive information model that is built from voxelated data from across the Additive Manufacturing and Computer Aided (AM – CAx) platforms workflow. The information model is developed using discretisation and data management techniques to provide a robust method of managing and structuring the product / process data throughout the AM – CAx domain. The result is a voxelated representation of the design, manufacturing, in-situ process data and quality control stages of an AM build within a single Hierarchical Data Format (HDF5) file. Demo files were developed for two different AM processes during this work. With further research and by applying statistical methods or machine learning techniques, it would then be possible to filter through and potentially predict the optimal process parameters required for an AM build. The comprehensive information model is designed to provide insight to track changes along the AM process flow.

关键词： Computer Aided Design Unified information model Hierarchal data structure

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Using a process simulation platform for reviewing automated airport baggage handling system configurations

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Procedia CIRP 2022年 112卷 180-185页

作者： Barry Fay Aswin K Ramasubramanian Rónán Dillon Murphy Tadhg Adderley Nikolaos Papakostas Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Ireland Dublin Airport Authority (DAA) Ireland

The use of digital manufacturing platforms is becoming increasingly important since they facilitate process visualisation, optimisation, and validation, allowing engineers to make informed decisions at early product and process development phases. In this paper, the potential of using process simulation platforms is explored in order to visualise and validate baggage handling processes involving robotic handling systems and human operators. Multiple baggage handling layout configurations are digitally constructed and reviewed with the aim to investigate cost, time, and flexibility performance indicators. Furthermore, the advantages of using digital manufacturing and process simulation platforms are discussed.

关键词： automated baggage handling robotic handling systems robotic system modelling process simulation AGV

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Statistical analysis of the effect of varying material and manufacturing conditions on the mechanical properties of high-density polyethylene/layered double hydroxide composites

SPE Polymers

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SPE Polymers 2023年第4期4卷 156-174页

作者： Botha, Natasha Coetzer, Roelof Inglis, Helen M. Labuschagne, F.J.W.J. Centre for Robotics and Future Production Future Production: Manufacturing Advanced Production and Security Division Council for Scientific and Industrial Research Pretoria South Africa Department of Mechanical and Aeronautical Engineering Faculty of Engineering Built Environment and Information Technology University of Pretoria Hatfield South Africa School of Mathematical and Statistical Sciences Faculty of Natural and Agricultural Sciences North-West University Potchefstroom South Africa Department of Chemical Engineering Faculty of Engineering Built Environment and Information Technology University of Pretoria Hatfield South Africa

Polymers are used in various industrial applications due to their ease of production, light weight, and ductility. Fillers such as clays are added to polymers to improve a range of factors such as material processing, thermal properties, fire retardance and cost. However, adding clays may negatively impact the mechanical performance of the composite. In addition, manufacturing parameters, for example, number of extrusions, press time, and so forth may also have an influence on the resulting composite system. This study performs a statistical analysis on a set of previously obtained experimental results, which investigated the influence of various manufacturing, material, and testing parameters on the composite mechanical properties. Exploratory data and statistical analysis techniques are applied to the historical tensile test data to gain insight into the influence on mechanical properties as well as the relationships and interactions between the parameters. Specifically, it is shown that clay loading does not have a statistically significant effect on the composite mechanical properties, which is contrary to literature. Another surprising result is the poor performance of the clay that is compatible with high-density polyethylene compared to the clay that is compatible with poly vinyl chloride. The contribution of this paper is to demonstrate the usefulness of applying statistical analysis on a large volume of data to understand the diverse correlations between the different variables. © 2023 The Authors. SPE Polymers published by Wiley Periodicals LLC on behalf of Society of Plastics Engineers.

关键词： analysis of variance exploratory data analysis polymer-clay composites tensile properties

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Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 45-54页

作者： LI Dong FAN Yulin LU Na CHEN Guodong WANG Zheng CHI Wenzheng School of Mechanical and Electrical Engineering/Jiangsu Provincial Key Laboratory of Advanced Robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation *** oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient’s brain function movement state,and the joint angle in the rehabilitation *** main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation *** analysis of brain functional connectivity coefficient was used to distinguish the basic motion *** human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth *** with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke *** building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.

关键词： upper limb rehabilitation robot safety protection functional near-infrared spectroscopy(fNIRS) multi-information fusion

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Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 24-35页

作者： WANG Zheng XU Hui LU Na TAO Wei CHEN Guodong CHI Wenzheng SUN Lining Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China School of Mechanical and Electrical Engineering/Jiangsu Provincial Key Laboratory of Advanced Robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and *** this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is *** this work,a practical and effective robot motion planning method is proposed for dynamic unstructured *** figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and ***,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real ***,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.

关键词： automated dispensing medicines dynamic unstructured environment human-robot collaboration dynamic obstacle avoidance multi-sensor depth images 3D grids reactive control method

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On Reducing the Localisation Error of Modern Mobile Robotic Platforms

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Procedia CIRP 2022年 112卷 168-173页

作者： Jithin James Graham Clarke Robins Mathew Brian Mulkeen Nikolaos Papakostas School of Electrical & Electronic Engineering University College Dublin Ireland Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Ireland

From drug delivery in hospitals to transportation of goods in warehouses, mobile robotic platforms have a wide variety of applications in industry today. The integration of mobile platforms with a manipulator opens up the possibility of more practical applications. However, this also introduces a new problem regarding the localisation accuracy of the platform, which in turn affects the accuracy of the manipulation. This paper details a comparative study of different strategies for improving the accuracy of pick and place tasks using a mobile robotic platform with an integrated arm. These strategies include fine positioning, LiDAR feedback and vision system feedback.

关键词： Collaborative robot Error compensation Vision system Bioprocessing Environmental sampling

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Virtual Prototyping of a Cable-Driven Compliant Robotic Wrist

Virtual Prototyping of a Cable-Driven Compliant Robotic Wris...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Mario Baggetta Gianluca Palli Claudio Melchiorri Giovanni Berselli Dept. of Mechanical Energy Management and Transportation Engineering University of Genova Italy Dept. of Electrical Electronic and Information Engineering "Guglielmo Marconi" University of Bologna Italy Advanced Robotics Department (ADVR) at the Italian Institute of Technology

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

This article details the virtual prototyping of a cable-actuated robotic wrist with two degrees of freedom (DOFs). These DOFs are achieved using two pairs of Cross Axis Flexural Pivot (CAFP) compliant transmission elements (CTEs), along with passive rolling contacts that guide deflection and protect the CTEs from *** a virtual prototype allows for testing the behavior of the prototype in various scenarios without the cost of building a physical model. This approach helps in selecting the appropriate actuation system for specific applications in advance. Moreover, a fast-operating virtual prototype enables the exploration of suitable control strategies and parameter adjustments without risking the physical prototype. Thus, having a computationally efficient model is *** study describes the creation of a quasi-real-time virtual prototype based on Finite Element Analysis (FEA) results. Simplifying the model by replacing flexible actuation cables with rigid counterparts, substituting CTEs with their reaction forces from deformation, and using constraints to mimic passive contacts and ensure correct component trajectories, along with implementing a friction estimation model based on Euler-Eytelwein’s formula, allowed to achieve a computational time reduced by 99.98%. Additionally, a multi-software control algorithm was integrated to fine-tune parameters and estimate the system’s response speed.

关键词： Wrist Deformable models Torque Computational modeling Prototypes Finite element analysis Trajectory Virtual prototyping Servomotors Testing

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Optical Based Gradient-Weighted Class Activation Mapping and Transfer Learning Integrated Pneumonia Prediction Model

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Computer Systems Science & engineering 2023年第12期47卷 2989-3010页

作者： Chia-Wei Jan Yu-Jhih Chiu Kuan-Lin Chen Ting-Chun Yao Ping-Huan Kuo Department of Mechanical Engineering National Chung Cheng UniversityChiayi62102Taiwan Department of Intelligent Robotics National Pingtung UniversityPingtung900392Taiwan School of Medicine College of MedicineTaipei Medical UniversityTaipei CityTaiwan Advanced Institute of Manufacturing with High-Tech Innovations(AIM-HI) National Chung Cheng UniversityChiayi62102Taiwan

Pneumonia is a common lung disease that is more prone to affect the elderly and those with weaker respiratory ***,hospital medical resources are limited,and sometimes the workload of physicians is too high,which can affect their ***,a good medical assistance system is of great significance for improving the quality of medical *** study proposed an integrated system by combining transfer learning and gradient-weighted class activation mapping(Grad-CAM).Pneumonia is a common lung disease that is generally diagnosed using ***,in areaswith limited medical resources,a shortage of medical personnel may result in delayed diagnosis and treatment during the critical ***,overworked physicians may make diagnostic ***,having an X-ray pneumonia diagnosis assistance system is a significant tool for improving the quality of medical *** result indicates that the best results were obtained by a ResNet50 pretrained model combined with a fully connected classification layer.A retraining procedure was designed to improve accuracy by using gradient-weighted class activation mapping(Grad-CAM),which detects the misclassified images and adds weights to *** the evaluation tests,the final combined model is named Grad-CAM Based Pneumonia Network(GCPNet)out performed its counterparts in terms of accuracy,precision,and F1 score and reached 97.2%*** integrated system is proposed to increase model performance where Grad-CAM and transfer learning are ***-CAM is used to generate the heatmap,which shows the region that the model is focusing *** outcomes of this research can aid in diagnosing pneumonia symptoms,as themodel can accurately classify chest X-ray images,and the heatmap can assist doctors in observing the crucial areas.

关键词： Data augmentation deep neural network image classification medical imaging transfer learning Grad-CAM

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