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2024 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2024

作者： Liu, Nai-Yu Erpenback, Pablo Manuel Ramos Arriagada, Sofia Ormazabal Su, Pin-Hsuan Tuan, Pham Anh Yu, Cheng-Hao Chang, Biing-Shwen National Taiwan University of Science and Technology Department of Mechanical Engineering Taipei10617 Taiwan Research Center for Information Technology Innovation National Taiwan University Taipei10617 Taiwan National Taiwan University Department of Biomedical Engineering Taipei10617 Taiwan

ISBN: (纸本)9798350362572

Lower-limb assistive wearable exosuits can reduce occupational injuries of manual workers by assisting strenuous and repetitive lifting tasks. This study aims to develop a lower-limb assistive wearable exosuit using a mechanism called SwitchSpring to assist users during lifting. The base structure of the SwitchSpring functions as a spring rod and can switch between rigid and soft states by adjusting the cable tension on the rod. When the SwitchSpring is switched to its rigid state, the energy is harvested and released as the user squats down and stands up. The lower limb joint angles and muscle activations of a female subject lifting a 5 kg box with and without the device were measured. The results show that the SwitchSpring wearable robot manages to reduce the muscle activation level by up to 30% on the rectus femoris (RF), 35% on the biceps femoris (BF), and 37% on the tibialis anterior (TA), showing the potential of lower limb power assistance in lifting. © 2024 IEEE.

关键词： Joints (anatomy)

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How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

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IEEE Robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

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A Survey of Nuclear Power for Data Centers

A Survey of Nuclear Power for Data Centers

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2024 Transactions of the American Nuclear Society on Winter Conference and Expo, ANS 2024

作者： Bard, Xander Denning, Richard Cao, Lei R. Nuclear Engineering Program Department of Mechanical and Aerospace Engineering 201 W 19th Ave ColumbusOH43220 United States Nuclear Reactor Laboratory College of Engineering 1298 Kinnear Rd ColumbusOH43212 United States

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Model-free Position Control of a Soft Continuum Manipulator in Cartesian Space

Model-free Position Control of a Soft Continuum Manipulator ...

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2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023

作者： Treratanakulchai, Shen Franco, Enrico Rodriguez Y Baena, Ferdinando Mahidol University Biomedical Engineering Department Nakhon Pathom Thailand Imperial College Mechanical Engineering Department London United Kingdom Imperial College The Hamlyn Centre for Robotic Surgery London United Kingdom

ISBN: (纸本)9798350347074

This work investigates the position control in Cartesian space of a soft continuum manipulator with pneumatic actuation. To this end, we employ a feedback integral action initialized using an optimized mapping between pressure and tip position. This approach is detailed for a manipulator consisting of either a single actuated segment or of two actuated segments connected in series. Experiments are conducted on individual prototypes and with a teleoperation setup including a master unit from our track record. © 2023 IEEE.

关键词： Position control

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Mapping extreme vertical forces induced by air-wake on a simplified ship model

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Marine Systems and Ocean Technology 2025年第3期20卷 1-9页

作者： Setiawan, Heri Bhirawa, Tunggul Ocean Engineering Program Institut Teknologi Bandung Bandung Indonesia Department of Mechanical Engineering The University of Melbourne ParkvilleVIC Australia

Helicopters, the primary vehicles for aerial support in naval operations, are the subject of our study. As the helicopter navigates above the ship’s landing deck, the unsteady flows formed in this region will translate into fluctuating aerodynamic forces on the helicopter. Understanding these forces and their extreme nature is crucial for ensuring the safety and stability of helicopters during naval operations. However, it is observed that many studies overlook the extremes in wind fluctuations as a critical contributor to ship-helicopter operation safety. They mainly focused on the time-averaged parameters, such as mean velocity and turbulence intensity, to characterise the highly fluctuating air-wake flow. This study introduces a method to identify extreme air-wake-induced aerodynamic vertical forces, one possible extreme event that the aircraft may face as it approaches the landing deck. The vertical forces are quantified by calculating the vertical drag acting on the helicopter fuselage using the strip approach proposed by Stepniewski and Keys (Rotary-wing aerodynamics. Courier Corporation, New York, 1984). Example calculations are conducted using experimental air-wake data recorded without the influence of the rotor thrust (Setiawan et al in Ocean Eng 260:111931, 2022). On average, it is shown that the helicopter will face strong downward forces as it hovers above the ship’s landing deck. However, more importantly, there are several instances where the vertical drag acting on the fuselage reaches five times higher than the average value. This highlights the potential risks and the urgent need for quantifying extreme events related to ship -helicopter landing operations. © The Author(s), under exclusive licence to Sociedade Brasileira de Engenharia Naval 2025.

关键词： Ship models

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3D Image Generation from X-ray Projections Using Generative Adversarial Networks 23

3D Image Generation from X-ray Projections Using Generative ...

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23rd IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2023

作者： AlShurbaji, Mohammad Dhou, Salam Biomedical Engineering Graduate Program American University of Sharjah Sharjah United Arab Emirates Department of Computer Science and Engineering American University of Sharjah Sharjah United Arab Emirates

ISBN: (纸本)9798350393118

The human brain can effortlessly imagine a 3D image from only 2D images with a little expertise and imagination, but for machines, this is not a trivial task. Because of this, reconstructing 3D images from 2D ones is a hot topic and has many applications. In this paper, we propose a Generative Adversarial Network (GAN)-based approach that generates CT-like images using pairs of orthogonal X-ray projections taken from different angles. In this work, a variety of orthogonal pairs from different angles, ranging from 0 &90 to 60 &150, were considered as input to the 3D image generation model. The effectiveness of the proposed method was assessed by measuring the Structural Similarity Index (SSIM) and Peak Signal-to-Noise Ratio (PSNR), which resulted in values of 0.641 and 29.21, respectively. Furthermore, the model's ability to capture the respiratory motion in the input projections and reflect it in the generated images was also assessed. This work demonstrated the feasibility of generating CT-like images from X-ray projections captured from different orthogonal angles taking into consideration the respiratory motion exhibited in these projections. © 2023 IEEE.

关键词： Generative adversarial networks

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Intelligent Adaptive RRT∗Path Planning Algorithm for Mobile Robots

Intelligent Adaptive RRT∗Path Planning Algorithm for Mobile...

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2023 Advances in Science and engineering Technology International Conferences, ASET 2023

作者： Khattab, Omar Yasser, Ahmed Jaradat, Mohammad A. Romdhane, Lotfi American University of Sharjah Mechatronics Engineering Graduate Program Sharjah United Arab Emirates American University of Sharjah Mechanical Engineering Department Sharjah United Arab Emirates

ISBN: (纸本)9781665454742

In this paper a new variant of the widely used Rapidly exploring Random Tree (RRT∗) algorithm is proposed. The main goal of this variant is to improve the efficiency of the generated path, in both computation time and the quality of the path. In a previous work by the authors, an improved version RRT∗N was proposed, where a normal probability distribution was used to control the generation of the random nodes. The proposed variant utilizes an intelligent fuzzy logic system (FLS) to control the generation of the random nodes and commands the robot to the required target introducing an intelligent fuzzy adaptive RRT∗N path planning approach (FA-RRT∗N). The proposed approach not only reduced the time required about 29.5 % of the time required by the RRT∗, but also generally resulted in shorter path about 63% of the path generated by the traditional RRT∗. © 2023 IEEE.

关键词： Motion planning

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An Accurate Estimate of Effective Thermal-mechanical Properties of Coreless Circuit Substrate for Advanced Packaging 22

An Accurate Estimate of Effective Thermal-Mechanical Propert...

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22nd International Conference on Electronics Packaging, ICEP 2023

作者： Jhu, W.Y. Cheng, H.C. Feng Chia University Department of Aerospace and Systems Engineering Taichung Taiwan Feng Chia University Ph.D Program of Mechanical and Aeronautical Engineering Taichung Taiwan

ISBN: (纸本)9784991191152

This study aims to give an accurate estimate of the effective thermal-mechanical properties of a coreless circuit substrate for advanced IC packages. To achieve the goal, a subdomain-based effective method is proposed, incorporating a sub-domain three-dimensional (3D) copper trace mapping and modeling (TMM) method, a volume-averaging rule of mixture (ROM) technique and finite element modeling. Furthermore, the proposed effective method is combined with an FEA-based process simulation framework to investigate the process-induced warpage of a flip-chip chip scale package during fabrication. At last, parametric analysis is performed to identify the crucial factors influencing the process-induced warpage of the package. © 2023 Japan Institute of Electronics Packaging.

关键词： Substrates

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An explainable echo state network trained from photoplethysmography signals for equine life stage prediction

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Neural Computing and Applications 2024年第32期36卷 20055-20066页

作者： Byfield, Richard Miller, Morgan Xie, Yunchao Crosby, Marci Schiltz, Paul Johnson, Philip Lin, Jian Department of Mechanical and Aerospace Engineering University of Missouri ColumbiaMO65211 United States Department of Animal Sciences University of Missouri ColumbiaMO65211 United States School of Equestrian Studies William Woods University FultonMO65251 United States Department of Veterinary Medicine and Surgery University of Missouri ColumbiaMO65211 United States Department of Electrical Engineering and Computer Science University of Missouri ColumbiaMO65211 United States Department of Chemical and Biomedical Engineering University of Missouri ColumbiaMO65211 United States

Determining the life stage of animals is crucial for assessing their overall health and making informed decisions for their care. However, traditional veterinary practices often rely on subjective methods, resulting in fuzziness or ambiguity. A quantitative metric via measurable vital signs has yet to be developed, which could be due to lack of a sophisticated methodology that can correlate the vital signs with age. To tackle this challenge, we present a method for equine life stage (young to old) classification from photoplethysmography (PPG) waveforms collected from 50 equine subjects with various ages, sex, and breeds. The data were collected using compact, wearable PPG sensors on their tails. The collected waveforms served as the input for the classification by an echo state network (ESN). It was found that the classification accuracy depended on the age split, suggesting a fussiness in classifying the youth and elder. Using the 17th year as the splitting age, the highest training and testing accuracies of 81.3% and 81.1% were achieved, respectively. In addition, input features from the reservoirs of the ESN were extracted and analyzed by a kernel principal component analysis, which afforded a 3D PCA map with clear clusters according to the age groups. This suggests that the ESN can learn hidden information from the PPG waves to classify the life stage. The proposed algorithm exhibits immense potential in veterinary medicine by offering a more objective and reliable approach to animal life stage assessment. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Animals

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Influence of ZnO Nanoparticle Dispersed Baheda Oil Biodiesel Blend in Variable Compression Ratio Diesel Engine: Vibration and Noise Assessment

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Journal of The Institution of Engineers (India): Series C 2021年第4期102卷 941-949页

作者： Sanatha, Kaki Bhatti, Sukhvinder Kaur Jaikumar, Sagari Engineering and Technology Program Rushikonda Visakhapatnam India Department of Mechanical Engineering Andhra University Visakhapatnam India Department of Mechanical Engineering GITAM Institute of Technology Visakhapatnam India

The present study is intended for the vibration and noise analysis of variable compression ratio diesel engine operating with zinc oxide (ZnO) nanoparticle dispersed with Baheda oil biodiesel blend (BOME20). The ZnO nanoparticles were taken at the following proportions of 50 ppm, 75 ppm, and 100 ppm. Further, the QPAN dispersant was added to nanoparticles at 1:1 ratio. The compression ratio was altered from 16.5 to 19.5 by keeping the speed constant at 1500 rpm. The vibration (velocity) and noise characteristics were stated in terms of RMS values. The RMS velocity together with RMS noise was seen lower for B20 than diesel fuel. Further, the dispersion of nanoparticles has depicted a significant reduction in vibration and noise. The least RMS velocity and RMS noise was attained with BOME20 + 75 ppm ZnO + 75 ppm DSP compared to other fuels. But the compression ratio enhancement has shown a gradual increase in vibration and noise. At a compression ratio of 16.5, the lower intensity of vibration and noise of BOME20 + 75 ppm ZnO + 75 ppm DSP were 0.0792 m/sec and 55.2 dB, respectively. © 2021, The Institution of Engineers (India).

关键词： Biodiesel

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