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Effect of Layer Thickness on Marginal Gap of Zirconia Crowns Manufactured Using Additive Manufacturing with Top-Down Approach

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Korean Journal of chemical engineering 2025年第5期42卷 1143-1147页

作者： Lee, Sang-Kyu Park, Chan Jo, Kwang-Ho Choi, Sang-Hyun Lee, Hyein Jang, Kyoung-Jun Yu, Taekyung Department of Chemical Engineering College of Engineering Integrated Engineering Major Kyung Hee University Yongin17140 Korea Republic of Research Institute 3D Controls Co Busan46721 Korea Republic of Department of Prosthodontics School of Dentistry Chonnam National University Gwangju61186 Korea Republic of School of Robotics and Automation Engineering Dongyang Mirae University Seoul08221 Korea Republic of

For efficient 3D printing, fast printing (thick print layers) is necessary;however, in ceramic 3D printing, which involves printing heavy materials, changes in print speed can significantly affect precision. This study compares and analyzes the marginal fit of zirconia crowns produced with different layer thicknesses using a top-down additive manufacturing process. The results for a layer thickness of 50 μm showed lower fit in areas opposite the support compared to the results for layer thicknesses of 10 and 25 μm. It is believed that during very fast printing, the load applied during printing cannot be sustained. These findings can be used as important information for future printing of zirconia prostheses. © The Author(s), under exclusive licence to Korean institute of chemical Engineers, Seoul, Korea 2025.

关键词： Ceramic materials

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Locomotion Analysis of a Modular Underactuated Snake-like Robot

Locomotion Analysis of a Modular Underactuated Snake-like Ro...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Ma, Zhenxuan Zhang, Jun Cao, Yiming Liu, Zaiyang Tian, Yang Li, Longchuan Ma, Shugen Wang, Zhongkui Ritsumeikan University Graduate School of Science and Engineering Kusatsu Shiga525-8577 Japan Ritsumeikan University Department of Robotics Kusatsu Shiga525-8577 Japan Beijing University of Chemical Technology College of Information Science and Technology Beijing China Robotics & Autonomous Systems Thrust Systems Hub Guangzhou511453 China

ISBN: (纸本)9798350372601

The exploration of snake locomotion has significantly informed the field of robotics, especially in the development of robots capable of navigating complex terrains. While most robotic designs traditionally rely on the assumption of uniform force distribution for movement, the nuanced agility of snakes suggests a more selective application of force across specific joints. This paper introduces a novel underactuated snake-like robot, drawing inspiration from the adaptive locomotion strategies observed in desert snakes. We propose a modular design, incorporating joints with varying functionalities, to enhance the robot's adaptability to diverse environmental challenges. Through simulation and experimentation on flat and inclined surfaces, we validate the effectiveness of this modular design in improving locomotive efficiency. © 2024 IEEE.

关键词： Machine design

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Carbon Capture and Utilization Technology to Upgrading Biogas Using Bubble Column Reactor: Effect of Concentration of Ca(OH)₂ Solution on CO₂ Removal 6th

Carbon Capture and Utilization Technology to Upgrading Bioga...

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6th International Conference on Mechanical engineering, ICOME 2023

作者： Febrada, Mayongga Heriz Maharani, Wanda Oktavia Kusdianto Mahdania, Suci Machmudah, Siti Rozy, Mohammad Irwan Fatkhur Winardi, Sugeng Chemical Engineering Department Faculty of Industrial Technology and Systems Engineering Sepuluh Nopember Institute of Technology Surabaya 60111 Indonesia

The CO2 content in biogas has several effects that need to be considered, such as affecting its calorific value or energy value. The higher the CO2 content, the lower the heating value of the biogas. One way to absorb... 详细信息

ISBN: (纸本)9789819781966

The CO₂ content in biogas has several effects that need to be considered, such as affecting its calorific value or energy value. The higher the CO₂ content, the lower the heating value of the biogas. One way to absorb CO₂ is by carbonation using a solution of Ca(OH)₂ to become CaCO₃. Synthesis of CaCO₃ by carbonation to obtain high quality products is still being carried out in terms of phase, morphology, and particle size. Ca(OH)₂ slurry was prepared with various concentrations, namely 0.05 M, 0.07 M, and 0.1 M. Scanning Electron Microscopy/Energy Dispersive Spectroscopy (SEM–EDS) and X-Ray Diffraction (XRD) test carried out to analyze the properties of CaCO₃. The Precipitated Calcium Carbonate (PCC) crystalline phase at all concentrations is all calcite with scalenohedral morphology. The difference in the concentration of Ca(OH)2 has a significant effect to CO₂ absorption and the morphology of PCC. The higher the concentration of Ca(OH)₂ slurry, the higher the percentage of CO₂ absorption in biogas, but with the effect of likely forming scalenohedral morphology that are commonly used in the paper industry to enhance opacity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Absorption Bubble column Ca(OH)2 Concentration CO2 Reduction Precipitated calcium carbonate

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Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis

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Journal of Bionic engineering 2023年第3期20卷 992-1007页

作者： Ning Li Tie Yang Yang Yang Wenyuan Chen Peng Yu Chuang Zhang Ning Xi Ying Zhao Wenxue Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong999077China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang110004China

Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.

关键词： Unpowered exoskeleton Health-paralysis combination Energy transfer Self-rehabilitation Shoulder mechanism design

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Exploring Children’s Strategies in Response to Robot’s Advice During a Group Task with iCub and Nao 16th

Exploring Children’s Strategies in Response to Robot’s A...

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16th International Conference on Social robotics, ICSR + AI 2024

作者： Pusceddu, Giulia Sangineto, Mariapia Cocchella, Francesca Bogliolo, Michela Belgiovine, Giulia Lastrico, Linda Casadio, Maura Rea, Francesco Gena, Cristina Sciutti, Alessandra Robotics Brain and Cognitive Science Department Italian Institute of Technology Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Department of Computer Science University of Turin Turin Italy Cognitive Architecture for Collaborative Technologies Unit Italian Institute of Technology Genoa Italy Scuola di Robotica Genoa Italy

ISBN: (纸本)9789819635184

This study investigates children’s trust in two humanoid robots, Nao and iCub, through a cooperative game designed to elicit spontaneous behaviors and group dynamics. We investigate whether participants change their choices after hearing advice from a robot, considering rounds where the advice is correct or incorrect, with the robot apologizing for its mistakes. Results reveal that, in most cases, participants prefer not to change their moves after the robot’s advice. Additionally, after the robots made mistakes, participants are less likely to actively follow their advice and more likely to reject it. No significant differences in strategies among the iCub and Nao samples are evidenced. Furthermore, we examine the influence of group dynamics, identifying "Proactive Players" who consistently initiated moves. A significant association between the strategies of this player and their teammates is found, suggesting potential influence. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Adversarial machine learning

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Robust Practical Stabilization for Complex Dynamical Networks With DoS Attacks and Actuator Saturation

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3108-3118页

作者： Shi, Xueya Peng, Zhinan Yu, Junzhi Li, Hongfei Southwest University College of Electronic and Information Engineering Chongqing400715 China Sichuan Artificial Intelligence Research Institute Yibin644000 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China

This article addresses the problem of designing an attack-resilient adaptive event-triggered (AET) controller for complex dynamical networks (CDNs) under DoS attacks and actuator saturation, with a focus on robust practical stability (RPS). First, considering the impact of DoS attacks on closed-loop systems, an AET controller against DoS attacks is designed. Unlike other event-triggered controllers, the complete timeline is divided, and the AET controller is built with two switching modes based on the intervals of dormant and active periods of DoS attacks in which the system is located. Second, to reconcile AET controller with actuator saturation, a switched system modeling approach is established that explicitly incorporates saturation constraints into the coupled network dynamics. Third, a switched Lyapunov-Krasovskii functional (LKF) is proposed, with which sufficient conditions are provided to ensured the RPS, and a joint design strategy is developed for the desired triggered matrix and feedback gain using linear matrix inequalities (LMIs). Moreover, the results are generalized to the case of actuator faults, indicating that the system is able to achieve RPS with actuator faults. Finally, the proposed method is verified through an example. © 2013 IEEE.

关键词： Lyapunov functions

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Optimization of Cylindrical Blades for Wind Turbine Based on Magnus Effect

Optimization of Cylindrical Blades for Wind Turbine Based on...

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2023 International Conference on Electromechanical and Energy systems, SIELMEN 2023

作者： Lukin, Aleksandr Demidova, Galina Lukichev, Dmitry Poliakov, Nikolai Anuchin, Alecksey ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Moscow Power Engineering Institute Electric Drives Department Moscow Russia

ISBN: (纸本)9798350315240

Wind turbines based on the Magnus effect open new prospects in terms of energy generation for areas with low average wind speeds. The main feature of these turbines is rotating cylinders which are used to create lift instead of blades. Due to this unconventional design, different parameters of the cylinder, such as mass and moment of inertia, can greatly affect the dynamic characteristics of such energy systems. The goal of this paper was to present an approach to structural optimization of a cylinder flange of the experimental Magnus effect-based wind turbine. The proposed approach, presented as an algorithm, allows us to determine input data for the preferred structural optimization software and achieve lightweight, low-inertia parts. Control simulation has shown that optimized parts ensure a high enough factor of safety while also significantly reducing the moment of inertia. © 2023 IEEE.

关键词： Finite element method

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Global trade of green iron

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Steel Times International 2025年第33期2025卷 26-33页

作者： Bilici, Süheyb Holtz, Georg Zelt, Ole Jülich, Alexander Tonjes, Annika König, Robin Kronshage, Stefan Meurer, Andreas Li, Zhenxi Trollip, Hilton McCall, Bryce Vishwanathan, Saritha Sudharmma Lechtenböhmer, Stefan Wuppertal Institute for Climate Environment & Energy Wuppertal Germany Institute of Networked Energy Systems Stuttgart Germany Environmental and Energy Systems Studies at Faculty of Engineering Lund University Lund Sweden Energy Systems Research Group Chemical Engineering Department University of Cape Town Cape Town South Africa National Institute for Environmental Studies Tsukuba Ibaraki Japan Indian Institute of Management-Ahmedabad Vastrapur Gujarat Ahmedabad India University of Kassel Kassel Germany

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A δ-Persistently-Exciting Formation Controller for Non-Holonomic systems Over Directed Graphs

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IEEE Control systems Letters 2023年 7卷 2587-2592页

作者： Dutta, Maitreyee Loria, Antonio Panteley, Elena Sukumar, Srikant Nuno, Emmanuel Indian Institute of Technology Bombay Systems and Control Engineering Department Mumbai400076 India L2S CNRS Gif-sur-Yvette91192 France ITMO university Faculty of Control Systems and Robotics Saint Petersburg197101 Russia Guadalajara45570 Mexico

We study a formation control problem of nonholonomic vehicles which consists in making a group of them gather around a given rendezvous set-point and acquire a common orientation. This task may be regarded as part of a more complex maneuver, e.g., requiring the robots to advance in a scouting mission on a path composed of straight lines and occasional turns. The control approach relies on addressing separately the problems of stabilization (on the plane) and of orientation consensus. For the former we use individual controllers involving smooth time-varying terms and for the latter we use distributed consensus control, under the assumption that the robots form a directed graph that contains a spanning tree. © 2017 IEEE.

关键词： Directed graphs

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Stability and Performance Analysis of Model Predictive Control of Uncertain Linear systems 63

Stability and Performance Analysis of Model Predictive Contr...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Liu, Changrui Shi, Shengling De Schutter, Bart Delft University of Technology Delft Center for Systems and Control Delft Netherlands Massachusetts Institute of Technology Department of Chemical Engineering Cambridge United States

ISBN: (纸本)9798350316339

Model mismatch often presents significant challenges in model-based controller design. This paper investigates model predictive control (MPC) for uncertain linear systems with input constraints, where the uncertainty is characterized by a parametric mismatch between the true system and its estimated model. The main contributions of this work are twofold. First, a theoretical performance bound is derived using relaxed dynamic programming. This bound provides a novel insight into how the prediction horizon and modeling errors affect the suboptimality of the MPC controller to the oracle infinite-horizon optimal controller, which has complete knowledge of the true system. Second, sufficient conditions are established under which the nominal MPC controller, which relies solely on the estimated system model, can stabilize the true system despite model mismatch. Numerical simulations are presented to validate these theoretical results, demonstrating the practical applicability of the derived conditions and bounds. These findings offer practical guidelines for achieving desired modeling accuracy and selecting an appropriate prediction horizon in designing certainty-equivalence MPC controllers for uncertain linear systems. © 2024 IEEE.

关键词： Predictive control systems

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