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A critical evaluation on design and development of smart dust sensor for mechatronics applications

AIP Conference Proceedings 2023年第1期2690卷

作者： Christu Paul Ramaian Nadanakumar Vinayagam Kuppan Chetty Ramanathan Joshuva Arockia Dhanraj Nandakumar Selvaraju Jenoris Muthiya Solomon Shridhar Anaimuthu 1Centre for Automation and Robotics (ANRO) Department of Mechanical Engineering Hindustan Institute of Technology and Science Padur Chennai 603103 India 2Department of Automobile Engineering Hindustan Institute of Technology and Science Padur Chennai 603103 India 3Department of Automobile Engineering Dayananda Sagar College of Engineering Bengaluru Karnataka 560078 India 4Department of Automobile Engineering KCG College of Technology Chennai 600117 India

In the advanced world that we have today, it is important for consumers to have devices that are smaller in size and are easily available, and should be powerful in terms of specifications and performance. Also, there is a demand for the industries to miniaturize the parts as smaller as possible in order to meet the consumer requirements. A sensor is a key element in any automated system/device as it senses the physical changes in the environment and processes this data. Thus, paving way for smart sensors which have revolutionized the tech industry by their ability to consist an entire data conversion and processing units on a single chip or the System on Chip (SoC). The presented review paper describes about the research survey performed on sensors, transducers, and also on the evolving smart sensor technology which helped in innovating the state-of-the-art sensor technology such as the smart dust. A detailed study on the smart dust sensor technology and its capabilities to sense physical phenomena such as sound, vibration, temperature, light, magnetism, acceleration, position, stress, humidity, and chemical traces has been analyzed. At present, the smart dust sensor technology is under critical research, testing, and prototyping process. Furthermore, the future scope of the smart dust or mote technology is discussed by the describing the need for these sensors in various fields and also by showing the graphical representation of the Gartner’s hype cycle. The paper concludes by presenting the important aspects of a smart dust sensor, its usability, necessity, and also estimating the impact of this sensor technology in the rapid advancement of the tech industry.

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A Learning-Driven Framework with Spatial Optimization for Surgical Suture Thread Reconstruction and Autonomous Grasping under Multiple Topologies and Environmental Noises

arXiv

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arXiv 2020年

作者： Lu, Bo Chen, Wei Jin, Yue-Ming Zhang, Dandan Dou, Qi Chu, Henry K. Heng, Pheng-Ann Liu, Yun-Hui T stone Robotics Institute Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong T Stone Robotics Institute Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Hamlyn Centre for Robotic Surgery Imperial College London United Kingdom Department of Mechanical Engineering Kong Kong Polytechnic University Hong Kong

Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to surgeons, especially during the tedious wound closure task. In this paper, we present a vision-based method to automate the suture thread grasping, which is a sub-task in surgical knot tying and an intermediate step between the stitching and looping manipulations. To achieve this goal, the acquisition of a suture’s three-dimensional (3D) information is critical. Towards this objective, we adopt a transfer-learning strategy first to fine-tune a pre-trained model by learning the information from large legacy surgical data and images obtained by the on-site equipment. Thus, a robust suture segmentation can be achieved regardless of inherent environment noises. We further leverage a searching strategy with termination policies for a suture’s sequence inference based on the analysis of multiple topologies. Exact results of the pixel-level sequence along a suture can be obtained, and they can be further applied for a 3D shape reconstruction using our optimized shortest path approach. The grasping point considering the suturing criterion can be ultimately acquired. Experiments regarding the suture 2D segmentation and ordering sequence inference under environmental noises were extensively evaluated. Results related to the automated grasping operation were demonstrated by simulations in V-REP and by robot experiments using Universal Robot (UR) together with the da Vinci Research Kit (dVRK) adopting our learning-driven framework. Copyright © 2020, The Authors. All rights reserved.

关键词： Topology

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Classification and applications of titanium and its alloys: A review

Journal of Alloys and Compounds Communications

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Journal of Alloys and Compounds Communications 2024年 3卷

作者： Mojtaba Najafizadeh Sahar Yazdi Mansoor Bozorg Mehran. Ghasempour-Mouziraji Morteza Hosseinzadeh Masoumeh Zarrabian Pasqual Cavaliere School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China Faculty of Chemical and Materials Engineering Shahrood University of Technology Shahrood *** Iran Department of Innovation Engineering University of Salento Via per Arnesano Lecce 73100 Italy School of Medical Sciences Shahrood Branch Islamic Azad University Shahrood Iran TEMA - Centre for Mechanical Technology and Automation University of Aveiro Portugal LASI Intelligent Systems Associate Laboratory Guimarães Portugal Engineering and Sustainable Technology ManagementIndustry 4.0: Automation Robotics & 3D Manufacturing SRH Hochschule Berlin Germany Department of Engineering Ayatollah Amoli Branch Islamic Azad University Amol Iran

Due to its numerous properties, iron is one of the most useful materials on the planet. The mechanical and physical properties of iron and its alloys are suitable and manageable. These alloys have significant issues like heavyweight, low corrosion resistivity and some other limitations. The researchers and companies for solving problems look out for other alternative materials. Titanium and its alloys, according to the researchers, have a huge variety of engineering applications. Titanium and titanium alloys have high strength and corrosion resistance, and they perform well at high temperatures up to nearly 600 °C. Titanium and its alloys have a density of about 60 % that of steel and its alloys, and about 50 % that of nickel alloys. Even though titanium and its alloys have cost and supply problems, they're utilized in numerous industries, which includes aerospace, automotive, and navy projects. Titanium and its alloys have unique properties, indicating that they are cost-effective components that require special manufacturing techniques. This study aims to explore the potential of titanium and its alloys to replace iron in various engineering applications. Addressing the critical need for materials with superior performance characteristics is essential for advancing technological development.

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Magnetic Continuum Robot for Intelligent Manipulation in Medical Applications

SmartBot

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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. Key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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Improvement of vibration and acoustic properties of woven jute/polyester composites by surface modification of fibers with various chemicals

引用

Scientific Reports 2025年第1期15卷 1-13页

作者： Senthilrajan, S. Venkateshwaran, N. Ismail, S.O. Nagarajan, Rajini Ayrilmis, Nadir Krishnan, Kumar Mohammad, Faruq Al-Lohedan, Hamad A. Department of Robotics and Automation Rajalakshmi Engineering College Chennai India Centre for Digital Manufacturing Department of Mechanical Engineering Rajalakshmi Engineering College Chennai India Centre for Engineering Research Department of Engineering University of Hertfordshire Hatfield England Hertfordshire AL10 9AB United Kingdom Department of Mechanical Engineering Kalasalingam Academy of Research and Education Tamilnadu Krishnankoil India Department of Wood Mechanics and Technology Faculty of Forestry Istanbul University-Cerrahpasa Sariyer Istanbul 34473 Turkey INTI International University Persiaran Perdana BBN Negeri Sembilan Nilai 71800 Malaysia Department of Chemistry College of Science King Saud University P.O. Box 2455 Riyadh 11451 Saudi Arabia

In response to the growing demand for lightweight and sustainable materials, the integration of natural fibers into polymer matrix composites has become very important. To improve the compatibility between hydrophilic natural fibers and matrices, surface modification has proven to be a crucial step. Therefore, this study advanced this technique by modifying the surfaces of woven jute mats with 1% of sodium hydroxide (NaOH), chromium sulphate (Cr2SO4), and sodium bicarbonate (NaHCO3). The composite, containing 56% by volume of the fibers, was produced by compression moulding. Extensive testing was carried out, including three-point bending, free vibration mode and acoustic analysis. The Brüel and Kjær two-microphone impedance tube with a frequency range of 25–6400 Hz was used. Various properties such as bending strength, vibration behaviour, damping and sound absorption were evaluated. It was comparatively evident that the NaHCO3-treated composite samples exhibited the highest natural frequency of 61.04 Hz and the highest sound absorption coefficient of 0.67 at about 2000 Hz, which was 69% higher than that of the untreated composite samples and about 29–72% higher than that of other treated counterparts. In addition, other test results of the surface modified composites were better than the untreated counterparts. There was good agreement between the experimental data and the results obtained from the theoretical models, which is another significant contribution to the field of composite technology.

关键词： Green product Jute fiber Mechanical properties Sound absorption Surface modification Vibration damping

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TRIDENT – Technology based impact assessment tool foR sustaInable, transparent Deep sEa miNing exploraTion and exploitation: A project overview

TRIDENT – Technology based impact assessment tool foR susta...

引用

OCEANS

作者： E. Silva D. Viegas A. Martins J. Almeida C. Almeida B. Neves P. Madureira A.J. Wheeler G. Salavasidis A. Phillips A. Schaap B. Murton A. Berry A. Weir G. Dooly E. Omerdic D. Toal P.C. Collins M. Miranda C. Petrioli C. Barrera Rodríguez D. Demoor C. Drouet G.El Serafy S.M. Jesus J. Dañobeitia V. Tegas S. Cusi L. Lopes B. Bodo L. Beguery S. VanDam J. Dumortier L. Neves V. Srivastava T.G. Dahlgren J. Thomassen Hestetun R. Eiras R. Caldeira C. Rossi J. Spearman L. Somoza F.J. González R. Bartolomé P. Bahurel INESC TEC Porto Portugal Instituto Superior Engenharia do Porto ISEP Portugal Portuguese Task Group for the Extension of the Continental Shelf EMEPC Portugal Department of Geosciences and Institute of Earth Sciences University of Évora Portugal SFI Centre for Research in Applied Geosciences School of Biological Earth & Environmental Sciences University College Cork Ireland Marine Autonomous and Robotic Systems National Oceanography Centre NOC United Kingdom Ocean Technology and Engineering NOC United Kingdom Ocean BioGeosciences NOC United Kingdom Marine Institute Ireland University of Limerick Centre for Robotics & Intelligent Systems CRIS Ireland School of Biological Science Queen’s University Belfast Northern Ireland Instituto Português do Mar e Atmosfera IPMA Portugal WSENSE Italy Head of Vehicle Base VIMAS Consortium for the Design Equipping and Exploitation of the Oceanic Platform of the Canary Islands Spain GREENOV-ITES France Unit of Coastal and Sea Systems Stichting Deltares& TU Delft The Netherlands LARSys University of Algarve Portugal EMSO-ERIC Italy Marine Technology Unit UTM-CSIC Spain La Palma Research Centre Spain Alseamar France Agora Partners Malha Technology Israel Timelex Belgium Gesi Belgium NORCE Norwegian Research Centre Norway Forum Oceano UPTEC POLO DO MAR Portugal ARDITI Portugal Center for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Spain HRWallingford United Kingdom Geological Survey of Spain Marine Geology Resources and Extreme Environments IGME-CSIC Spain Institute for Marine Science ICM-CSIC Spain Mercator Ocean France

By creating a dependable, transparent, and cost-effective system for forecasting and ongoing environmental impact monitoring of exploration and exploitation activities in the deep sea, TRIDENT seeks to contribute to the sustainable exploitation of seabed mineral resources. In order to operate autonomously in remote locations under harsh conditions and send real-time data to authorities in charge of granting licenses and providing oversight, this system will create and integrate new technology and innovative solutions. The efficient monitoring and inspection system that will be created will abide by national and international legal frameworks. At the sea surface, mid-water, and the bottom, TRIDENT will identify all pertinent physical, chemical, geological, and biological characteristics that must be monitored. It will also look for data gaps and suggest procedures for addressing them. These are crucial actions to take in order to produce accurate indicators of excellent environmental status, statistically robust environmental baselines, and thresholds for significant impact, allowing for the standardization of methods and tools. In order to monitor environmental parameters on mining and reference areas at representative spatial and temporal scales, the project consortium will thereafter develop and test an integrated system of stationary and mobile observatory platforms outfitted with the most recent automatic sensors and samplers. The system will incorporate high-capacity data processing pipelines able to gather, transmit, process, and display monitoring data in close to real-time to facilitate prompt actions for preventing major harm to the environment. Last but not least, it will offer systemic and technological solutions for predicting probable impacts of applying the developed monitoring and mitigation techniques.

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xSCYTE: Express Single-frame Cytometer through Tomographic Phase

arXiv

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arXiv 2022年

作者： Ge, Baoliang He, Yanping Deng, Mo Rahman, Md Habibur Wang, Yijin Wu, Ziling Yang, Yongliang Kuang, Cuifang Wong, Chung Hong N. Chan, Michael K. Ho, Yi-Ping Duan, Liting Yaqoob, Zahid So, Peter T.C. Barbastathis, George Zhou, Renjie Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Laser Biomedical Research Center Massachusetts Institute of Technology CambridgeMA02139 United States Department of Biomedical Engineering The Chinese University of Hong Kong Shatin New Territories Hong Kong School of Artificial Intelligence Science and Technology University of Shanghai for Science and Technology Shanghai200093 China Institute of Photonic Chips University of Shanghai for Science and Technology Shanghai200093 China The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China State Key Laboratory of Extreme Photonics and Instrumentation College of Optical Science and Engineering Zhejiang University Hangzhou310027 China School of Life Sciences The Chinese University of Hong Kong Shatin New Territories Hong Kong Centre for Novel Biomaterials The Chinese University of Hong Kong Shatin New Territories Hong Kong Hong Kong Branch of CAS Center for Excellence in Animal Evolution and Genetics The Chinese University of Hong Kong Shatin New Territories Hong Kong Department of Biological Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Singapore-MIT Alliance for Research and Technology Centre Singapore Singapore-MIT Alliance for Research and Technology Centre Singapore

Rapid, comprehensive, and accurate cell phenotyping without compromising viability, is crucial to many important biomedical applications, including stem-cell therapy, drug screening, and liquid biopsy. Typical image cytometry methods acquire two-dimensional (2D) fluorescence images, where the fluorescence labelling process may damage living cells, and the information from 2D images is not comprehensive enough for precise cell analysis. Although three-dimensional (3D) label-free image cytometry holds great promise, its high throughput development faces several technical challenges. Here, we report eXpress Single-frame CYtometer through Tomographic phasE (xSCYTE), which reconstructs 3D Refractive Index (RI) maps of cells with diffraction-limited resolution. xSCYTE is built on a versatile quantitative phase microscope, whose label-free imaging nature allows in-situ, long-time, reusable live-cell analysis. Further, with angle-multiplexing illumination and a pre-trained physics-incorporating Deep Neural Network, xSCYTE can map the 3D RI distribution of a cell by acquiring only a single frame that allows rapid image reconstruction and holds the potential for real-time analysis. By flowing large quantities of cells through a microfluidic channel and equipping xSCYTE with a high-speed camera, we have demonstrated an unprecedented 3D imaging throughput of over 20,000 cells/second while providing sufficient morphological information to distinguish different cellular species. The biomedical application potential of xSCYTE has been evaluated by visualizing and quantifying shear-induced 3D transient deformation of red blood cells that can be correlated with several blood pathologies. With these high-speed and high-precision imaging capabilities empowered by artificial intelligence, we envision xSCYTE may open up many new avenues of biomedical investigations and industries, such as multi-omic assays and quality control during cellular therapeutic manufacturing. © 2022, CC BY-NC-S

关键词： High speed cameras

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Autonomous Robotic Exploration and Navigation System using Tri-layered Mapping and Geometrical Path Planning Techniques

引用

IOP Conference Series: Materials science and engineering 2021年第1期1055卷

作者： S Gowtham R Praveen M Parthiban P Sai Charan N Seenu RM Kuppan Chetty Mechatronics Engineering School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai – 603 103 Centre for Automation and Robotics School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai – 603 103

In the recent decade, robotic exploration is emerging as a vast research platform as it prolongs to be a challenging task, especially in unknown dynamic environments. Exploration plays a vital role in collecting data from the areas inaccessible to the human. The operation of manual exploration systems in complex environments is cumbersome due to ineffective noise filtering, poor visibility and shuffling of map characteristics. In order to overcome such drawbacks, our approach focuses on the development of autonomous robotic exploration by designing a robust SLAM-based system, incorporating tri-layered mapping technique for automatic map generation and a new geometrical boundary-based path-planning technique to improve the mobility of the robot during navigation. The proposed path-planning algorithm yields better trajectory planning and obstacle avoidance using the pose, odometry and orientation parameters of the robot. The performance of the developed robot is evaluated through real-time experimentation, and it is evident from the results that, the proposed approach is preferable for autonomous exploration applications.

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Design and simulation of disaster mitigation robot using machine vision

引用

Journal of Physics: Conference Series 2021年第1期2115卷

作者： M Avinaash D Andrew S Visnu M Abrar N Seenu Mechatronics Engineering School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai – 603103. Centre for Automation and Robotics School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai – 603103.

The goal is to provide a robust mobile robot to assist recures in their operation by providing real time surveillance, remote operation as well autonomous operation. The mobile robot is capable of mapping using a LIDAR, this provides a map of the disaster zone which is then used to assess and provide a path planning for the most efficient rescue for the Mobile robot as well as the Rescuers. The built-in gas sensor reads the concentration of gases in the area, providing data on the environment in the disaster zone. The use of high definition cameras combined with Artificial Intelligence based image classification provides an edge in autonomous traversing and search and rescue. Disaster mitigation is an extremely dangerous task for the rescuers, a mobile robot such as LV-01 can be the difference between life and death.

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Probabilistic Discrete Time Robust H2 Controller Design

Probabilistic Discrete Time Robust H2 Controller Design

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IEEE Conference on Decision and Control

作者： Mohammadreza Chamanbaz Mario Sznaier Constantino Lagoa Fabrizio Dabbene Singapore University of Technology and Design Singapore and Rio Tinto Centre for Mine Automation Australian Centre for Field Robotics University of Sydney Northeastern University Boston MA School of Electrical Engineering and Computer Science Pennsylvania State University University Park PA USA CNR-IEIIT Politecnico di Torino Torino Italy

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

Optimal H 2 control theory is appealing, since it allows for optimizing a performance index frequently arising in practical situations. Moreover, in the state feedback case, the resulting closed loop system has an infinite gain margin and a phase margin of at least 60°. However, these properties no longer hold in the output feedback case, where it is well known that there exist cases where the system is arbitrarily fragile. Motivated by this observation, since the early 1980's a large research effort has been devoted to the problem of designing robust H 2 controllers. To this effect several relaxations of the original problem have been introduced, but all of these lead to conservative solutions. Surprisingly, the original problem remains, to date, still open. To address this issue, in this paper we present a randomization based algorithm that seeks to solve a relaxation of the original problem. Contrary to existing approaches, the performance of the resulting controller can be made-in a sense precisely defined in the paper-arbitrarily close to the optimal one. These results are illustrated with an academic example.

关键词： Uncertainty Transfer functions Robustness Linear systems Optimization Closed loop systems Approximation algorithms

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