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0906 | Experimental Investigation of Increased Bearing Capacity When Imparting Vibration to Loose Ground in Low Atmospheric Pressure 21

0906 | Experimental Investigation of Increased Bearing Capac...

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21st International and 12th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle systems, ISTVS 2024

作者： Watanabe, Tomohiro Iizuka, Kojiro Department of Engineering Mechanical Engineering Program Niigata University Niigata Prefecture Niigata City Japan Department of Science and Engineering Machinery and Control Systems Shibaura Institute of Technology Saitama Prefecture Saitama City Japan

ISBN: (纸本)9781942112570

Recently, legged robots have attracted considerable attention as highly mobile rovers for planetary exploration. However, the surfaces of celestial bodies such as Mars and the Moon are primarily loose, causing slippage due to surface deformation from the rover's leg movements. To mitigate this, a walking method aimed at preventing slippage was proposed. In this walking method, the bearing capacity is increased by imparting vibration from the rover's leg to the loose soil on the ground. This walking method improved the mobility performance of the legged rover. It is crucial to investigate the increase in bearing capacity by imparting vibration in a realistic space environment to validate the effectiveness of the proposed method. This study examines the change in bearing capacity due to vibration under low atmospheric pressure, a condition found on Mars and the Moon. This condition affects the characteristics of ground sand due to decreased air resistance. Our findings provide valuable insights into using vibration in planetary exploration to enhance the performance of legged rovers. The experimental results indicate that the bearing capacity under low atmospheric pressure is nearly identical to that under standard atmospheric pressure, suggesting that atmospheric pressure conditions have minimal impact on the bearing capacity when vibration is applied. © 2024 International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Atmospheric pressure

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Relationship Between Mechanical Deformation and Contact Force Applied by Catheter Tip on Cardiac Muscle: Experimentation and Computer Modeling 5

Relationship Between Mechanical Deformation and Contact Forc...

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5th IEEE Eurasia Conference on Biomedical engineering, Healthcare and Sustainability, ECBIOS 2023

作者： Ijima, Yukako Masnok, Kriengsak Perez, Juan J. Gonzalez-Suarez, Ana Berjano, Enrique Watanabe, Nobuo Master's Program Global Course of Engineering and Science Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan Functional Control Systems Graduate School of Engineering and Science Shibaura Institute of Technology Biofluid Science and Engineering Laboratory Saitama Japan Universitat Politecnica de Valencia BioMIT Department of Electronic Engineering Valencia Spain School of Engineering University of Galway Translational Medical Device Lab Galway Ireland Functional Control Systems Graduate School of Engineering and Science College of Systems Engineering and Science Shibaura Institute of Technology Biofluid Science and Engineering Laboratory Department of Bio-Science and Engineering Saitama Japan

ISBN: (纸本)9798350320978

关键词： Catheters

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Asymptotic behavior of the indicator function in the inverse problem of the wave equation for media with multiple types of cavities

arXiv

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arXiv 2024年

作者： Kawashita, Mishio Kawashita, Wakako Mathematics Program Graduate School of Advanced Science and Engineering Hiroshima University Higashihiroshima739-8526 Japan Electrical Systems and Control Engineering Program Graduate School of Advanced Science and Engineering Hiroshima University Higashihiroshima739-8527 Japan

In this paper, the inverse problem of the wave equation by the enclosure method for a medium with multiple types of cavities is discussed. In the case considered here, the sign of the indicator function of the enclosure method is not determined and sign cancellation may occur, resulting in loss of information. By examining the top terms of the indicator function in detail, we show that the shortest distance to the cavities can be obtained even in such a *** Codes 35R30, 35L05, 35B40, 78A46 Copyright © 2024, The Authors. All rights reserved.

关键词： Wave equations

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A chattering free consensus controller for multiple Lur'e systems with a non-autonomous leader and directed switching topology

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science China(Technological sciences) 2023年第4期66卷 1110-1118页

作者： WANG PeiJun YU WenWu WEN GuangHui YU XingHuo HUANG TingWen School of Mathematics and Statistics Anhui Normal UniversityWuhu 241000China Anhui Province Engineering Laboratory of Intelligent Robot's Information Fusion and Control Anhui Normal UniversityWuhu 241000China School of Mathematics Frontiers Science Center for Mobile Information Communication and SecuritySoutheast UniversityNanjing 210096China Purple Mountain Laboratories Nanjing 21111lChina Department of Electrical Engineering Nantong UniversityNantong 226019China Department of Systems Science School of MathematicsSoutheast UniversityNanjing 210096China School of Engineering RMIT UniversityMelbourne VIC 3001Australia Science Program Texas A&M University at QatarDoha 23874Qatar

Achieving asymptotical cooperative goal for multi-agent systems(MASs)with non-autonomous leaders(i.e.,leaders with nonzero inputs)is a critical but challenging *** approach is to use discontinuous controllers which may cause chattering phenomenon in practical *** to achieve the asymptotical goal via a chattering free cooperative controller remains to be open so *** this paper,an adaptive continuous controller is designed to achieve zero error consensus tracking in multiple Lur’e systems with a non-autonomous leader under directed switching ***,an unknown input observer(UIO)based on relative outputs is given to estimate the relative full *** an adaptive continuous controller is designed by introducing a decay function which remains positive into the term that plays the role of eliminating the impacts of leader’s nonzero ***,by using multiple Lyapunov functions(MLFs)technique,it is proven that zero error consensus tracking can be achieved if the average dwell time(ADT)is greater than a positive ***,theoretical result is verified by performing simulations on Chua’s *** with existing work,the proposed controller can not only achieve asymptotical consensus,but also is chattering free.

关键词： multi-agent system consensus chattering free non-autonomous leader directed switching topology

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The shortest lengths and the enclosure method for time dependent problems

arXiv

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arXiv 2023年

In this article, the role of "shortest length" is discussed concerning the inverse problems with the time dependent enclosure method. In the beginning, the inclusions embedded in a non-layered medium are handled. The argument for the above case reveals why the "shortest length" is important. Next, the case where the inclusions are embedded in a two-layered medium is explained in view of the previous works by Ikehata and the authors. In addition, the regularity assumptions for the boundaries of the inclusions are *** Codes 35R30, 35L05, 35B40, 78A46 Copyright © 2023, The Authors. All rights reserved.

关键词： Enclosures

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Magnetoelastic coupling driven magnon gap in a honeycomb antiferromagnet

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Physical Review B 2024年第10期110卷 104419页

作者： Jeongheon Choe Andrey Baydin Gaihua Ye Bowen Ma Cynthia Nnokwe Martin Rodriguez-Vega David Lujan Swati Chaudhary Fuyang Tay Jiaming He Hiroyuki Nojiri Jianshi Zhou Gregory A. Fiete Junichiro Kono Rui He Xiaoqin Li Department of Physics Center of Complex Quantum Systems Center for Dynamics and Control of Materials Department of Electrical and Computer Engineering Smalley–Curl Institute Department of Physics Applied Physics Graduate Program Smalley–Curl Institute Department of Mechanical Engineering Institute for Materials Research Department of Physics and Astronomy Department of Materials Science and NanoEngineering

Cobalt titanate, CoTiO3, is a honeycomb antiferromagnet recently confirmed experimentally to host Dirac magnons, topological spin-orbit excitons, and chiral phonons. Here, we investigate a magnon gap at the zone center which calls for a refined spin Hamiltonian. We propose a microscopic model for the magnon gap and attribute it to a lattice-distortion (phonon)-induced higher-order spin interaction. Strong magnetoelastic coupling in CoTiO3 is also evident in Raman spectra, in which the magnetic order exerts a stronger influence on phonons corresponding to in-plane ionic motions than those with out-of-plane motions. We further examine the evolution of the zone-center magnons in a high magnetic field up to 18.5 T via THz absorption spectroscopy measurements. Based on this field dependence, we propose a spin Hamiltonian that not only agrees with magnon dispersion measured by inelastic neutron scattering but also includes fewer exchange constants and a realistic anisotropy term. Our work highlights the broad implications of magnetoelastic coupling in the study of topologically protected bosonic excitations.

关键词： Magnetism Magnons Topological materials Raman spectroscopy Terahertz spectroscopy

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Relationship Between Mechanical Deformation and Contact Force Applied by Catheter Tip on Cardiac Muscle: Experimentation and Computer Modeling

Relationship Between Mechanical Deformation and Contact Forc...

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IEEE Eurasia Conference on Biomedical engineering, Healthcare and Sustainability (ECBIOS)

作者： Yukako Ijima Kriengsak Masnok Juan J. Perez Ana González-Suárez Enrique Berjano Nobuo Watanabe Master's Program Global Course of Engineering and Science Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan Biofluid Science and Engineering Laboratory Functional Control Systems Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan Department of Electronic Engineering BioMIT Universitat Politecnica de Valencia Valencia Spain Translational Medical Device Lab School of Engineering University of Galway Galway Ireland Department of Bio-Science and Engineering Biofluid Science and Engineering Laboratory Functional Control Systems Graduate School of Engineering and Science College of Systems Engineering and Science Shibaura Institute of Technology Saitama Japan

The cardiac muscle is elastic and deformable. Pushing a catheter in contact with the cardiac muscle surface to conduct focal energy-based ablative therapies, such as RF ablation, requires an adequate electrode-tissue contact surface to transfer the energy to the target site. In this regard, the relationship between the contact force (CF) and the resulting mechanical response is still unclear, in particular, the insertion depth (ID) and the diameter of the surface deformation. The objective of this study was to quantify these relationships using an ex vivo model and a computational model. A rigid bar with a 2.3 mm diameter blunt tip (mimicking a 7Fr standard ablation catheter) was placed at a perpendicular orientation on a fragment of the porcine heart. CF values ranged from 10 to 80g. We used ANSYS to build a Mooney-Rivlig model of 3 parameters based on hyperelastic material and to simulate the same conditions as in the experiments. The experimental results showed a strong linear correlation between CF and insertion depth ID ( $\mathrm{R}^{2}=0.97, \mathrm{P} < 0.001$ ), from $0.7 \pm 0.3$ mm at 10 gto $6.9 \pm 0.1$ mm at 80 g. We also found a strong linear correlation between CF and minor and major diameters of the surface deformation assessed, from $4.0 \pm 0.4$ mm at 20 g to $10.3 \pm 0.0$ mm at 80 g ( $\mathrm{R}^{2}=0.96$ ), and from $6.4 \pm 0.7$ mm at 20 g to $16.7 \pm 0.1$ mm at 80 g ( $\mathrm{R}^{2}=0.95$ ), respectively. A descent gradient algorithm was used to minimize the mean square error (MSE) between the experimental and computational results of ID for the 10 values of CF. After trying different combinations for the3 parameters of the Mooney-Rivlig model, an optimal fit was achieved after 5 iterations, with an error of less than 0.55 mm for ID. This same mode was then used to predict the diameter of the surface deformation, obtaining an error of less than 0.65 mm. The results confirm that a Mooney-Rivlig model of three parameters based on

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Distributed online generalized Nash Equilibrium learning in multi-cluster games: A delay-tolerant algorithm

arXiv

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arXiv 2024年

作者： Liu, Bingqian Wen, Guanghui Fang, Xiao Huang, Tingwen Chen, Guanrong Laboratory of Security Operation and Control for Intelligent Autonomous Systems Department of Systems Science School of Mathematics Southeast University Nanjing211189 China Science Program Texas A&M University at Qatar Doha Qatar Department of Electrical Engineering City University of Hong Kong Hong Kong

This paper addresses the problem of distributed online generalized Nash equilibrium (GNE) learning for multicluster games with delayed feedback information. Specifically, each agent in the game is assumed to be informed a sequence of local cost functions and constraint functions, which are known to the agent with time-varying delays subsequent to decision-making at each round. The objective of each agent within a cluster is to collaboratively optimize the cluster's cost function, subject to time-varying coupled inequality constraints and local feasible set constraints over time. Additionally, it is assumed that each agent is required to estimate the decisions of all other agents through interactions with its neighbors, rather than directly accessing the decisions of all agents, i.e., each agent needs to make decision under partial-decision information. To solve such a challenging problem, a novel distributed online delay-tolerant GNE learning algorithm is developed based upon the primaldual algorithm with an aggregation gradient mechanism. The system-wise regret and the constraint violation are formulated to measure the performance of the algorithm, demonstrating sublinear growth with respect to time under certain conditions. Finally, numerical results are presented to verify the effectiveness of the proposed algorithm. Copyright © 2024, The Authors. All rights reserved.

关键词： Learning algorithms

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Wavy Whiskers in Phocid Seals Exhibit High Signal-to-Noise in Sensing Hydrodynamic Flows

Wavy Whiskers in Phocid Seals Exhibit High Signal-to-Noise i...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Xingwen Zheng Amar M. Kamat Ming Cao Michael S. Triantafyllou Ajay G. P. Kottapalli Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen the Netherlands State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Department of Control Science and Engineering Institute of Cyber-Systems and Control Zhejiang University Hangzhou China MIT Sea Grant College Program Massachusetts Institute of Technology (MIT) 77 Massachusetts Avenue Cambridge MA USA Department of Mechanical Engineering MIT Cambridge MA USA

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

Phocid seals can detect fish from distances up to 180 meters solely using undulating whiskers. The unique undulating surfaces of these whiskers have been found to minimize vortex-induced vibrations (VIVs). In our previous work, we measured the ratios of undulation wavelength (λ) to mean diameter $\left(D_{m}\right),\left(\lambda / D_{m}\right)$ in both harbor and grey seals, yielding values of approximately 4.36 and 4.63, respectively. In this study, we delve into the significance of the $\lambda / D_{m}$ ratio to the vibration responses of seal whiskers in a fluid flow. We conducted comprehensive fluid-structure interaction studies using COMSOL Multiphysics®, wherein we studied vibration responses of harbor and grey seal whisker structures with diverse $\lambda / D_{m}$ values in the oncoming flow. Our results indicate that seal whiskers exhibited a trough in their VIV responses and a peak in wake-induced vibration (WIV) responses at $\lambda / D_{m}$ values around 4 to 5. Our findings could imply that the evolutionary optimization of the $\lambda / D_{m}$ value enables seal whiskers with resistance to VIV and sensitivity to WIV.

关键词： Vibrations Sensitivity Surface waves Biological system modeling Wavelength measurement Seals Fish Robot sensing systems Sensor systems Sensors

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Experiences with Postdoctoral Training in Human Factors: Mentor and Trainee Perspectives 67th

Experiences with Postdoctoral Training in Human Factors: Men...

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67th International Annual Meeting of the Human Factors and Ergonomics Society, HFES 2023

作者： Caine, Kelly Catchpole, Ken Sasangohar, Farzan Chen, Karen B. Hegde, Sudeep Souders, Dustin McDonald, Anthony McLaurin, Elease J. Clemson University School of Computing ClemsonSC United States Medical University of South Carolina Clinical Practice and Human Factors CharlestonSC United States Texas A&M University Industrial and Systems Engineering CentralSC United States North Carolina State University Edward P. Fitts Department of Industrial and Systems Engineering RaleighNC United States Clemson University Department of Industrial Engineering CentralSC United States Clemson University Psychology Department ClemsonSC United States University of Wisconsin-Madison Department of Industrial and Systems Engineering MadisonWI United States Oak Ridge Institute for Science & Education Fellowship Program Centers for Disease Control & Prevention PhiladelphiaPA United States

Postdoctoral training positions are becoming more common in the human factors and ergonomics (HFE) discipline. However, conversations related to training in the HFE discipline have largely focused on undergraduate and graduate education. This panel assembles both postdoctoral mentors and former trainees who collectively have a diverse set of HFE-related postdoctoral experiences. By panelists discussing their experiences, observations, and recommendations related to postdoctoral training with the audience, the panel session will support HFE faculty and students in making more informed decisions about if and how a postdoctoral experience (either as a mentor or trainee) could be a part of their career development in HFE. © 2023 Human Factors and Ergonomics Society.

关键词： education human factors mentorship postdoctoral training

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