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9th International Conference on Control, Decision and Information Technologies, CoDIT 2023

作者： Tang, Xiuzhen Manamanchaiyaporn, Laliphat Research Unit of Small-Scale Robotics Center of Excellence in Creative Engineering Design and Development Thailand Thammasat School of Engineering Thammasat University Faculty of Engineering Department of Mechanical Engineering Thailand

ISBN: (纸本)9798350311402

Remote controllability, real-time response, and small size are critically requirement of medical devices operated in blind, unstructured, and fluidic environments of biomedical regions. Untethered swimming soft milli-robots have been developed to fulfill treatment and therapy in such that region under magnetic navigation. The soft robot's motor-less mechanism with a high-DOF utilizes magnetic compliance of the deformable structure with a minimal control of oscillating magnetic field. Theoretically, magnetic property of the robots is defined by magnetic moments consisting of orientation and strength. Orientation can be programmed by magnetizing technique, and strength is defined by quantity of magnetic moments in the structure. Herein, this work investigates how orientation and quantity of magnetic moments affect swimming behavior and performance of the robots. The soft robots are designed into three distinguish types of magnetic property embedded in the deformable structure;the I-robot has non-uniform magnetic orientation and uniform magnetic strength, the II-robot has uniform magnetic orientation and non-uniform magnetic strength, and the III-robot has non-uniform magnetic orientation and non-uniform magnetic strength. The results interestingly report that each type of robot's property functions mechanism and benefits swimming performance differently under the same control parameters. The I-robot does not have any exceptional potential, but the II-robot can be operated at the higher control frequency even reaching the step-out point. The III-robot shows the greatest performance in swimming and maneuverability. These results are useful to design a swimming soft-robot capable of applying for various purposes, especially when the demand concerns non-harm, small-scale, soft-interface, and remote controllability. © 2023 IEEE.

关键词： Magnetic moments

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Machine Learning Enables Rapid Detection of Slips Using a Robotic Hip Exoskeleton

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 666-677页

作者： Peterson, Reese R. Leestma, Jennifer K. Kang, Inseung Young, Aaron J. Georgia Institute of Technology Department of Mechanical Engineering AtlantaGA30332 United States Florida Institute for Human and Machine Cognition PensacolaFL32502 United States Georgia Institute of Technology Department of Mechanical Engineering The Institute for Robotics and Intelligent Machines AtlantaGA30332 United States Harvard University John A. Paulson School of Engineering and Applied Sciences AllstonMA02134 United States Massachusetts Institute of Technology The Department of Brain and Cognitive Sciences BostonMA02139 United States

Fall incidents due to slips are some of the most common causes of injuries for industry workers and older adults, motivating research to assist balance recovery following slips. To assist balance recovery during a slip, a detection algorithm that can work with an assistive device, such as an exoskeleton, needs to be able to detect slips rapidly after onset, which remains a critical gap in the field. Here, we compared the ability of linear discriminant analysis (LDA), extreme gradient boosting (XGBoost), and convolutional neural networks (CNN) to detect slip using only native sensors on a hip exoskeleton. We trained and evaluated user-independent models on early-stance (ES) and late-stance (LS) slips of various magnitudes collected through treadmill-based slips. All models, except LDA with LS slips, detected slips with >90% accuracy. Overall, the best model was XGBoost, with its fastest results achieving average detection times and median accuracies of 155.06 ms at 96.25% for ES slips and 228.88 ms at 93.75% for LS slips, while also achieving 100% sensitivity at 195.64 ms (ES) and 266.24 ms (LS). Our results indicate a promising direction for further research into designing a generalizable model for balance recovery during slip perturbations using robotic hip exoskeletons. © 2018 IEEE.

关键词： Exoskeleton (robotics)

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MXene:From synthesis to environment remediation

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Chinese Journal of Chemical engineering 2023年第9期61卷 260-280页

作者： Ali Nikkhah Hasan Nikkhah Hadis langari Alireza Nouri Abdul Wahab Mohammad Ang Wei Lun Ng law Yong Rosiah Rohani Ebrahim Mahmoudi Department of Chemical and Process Engineering Faculty of Engineering and Built EnvironmentUniversiti Kebangsaan MalaysiaBangi 43600Malaysia Department of Mechanical and Aerospace Engineering University at BuffaloBuffaloUSA Department of Chemical and Biomolecular Engineering University of ConnecticutStorrsUSA Department of Chemistry and Medicinal Chemistry University at BuffaloBuffaloUSA Chemical and Water Desalination Engineering Program College of EngineeringUniversity of SharjahSharjah 27272United Arab Emirates Lee Kong Chian Faculty of Engineering and Science Universiti Tunku Abdul RahmanJalan Sungai LongBandar Sungai LongKajangSelangorMalaysia

A new burgeoning family of two-dimensional(2D)transition metal carbides/nitrides,better known as MXenes,have received extensive attention because of their distinct properties,such as metallic conductivity,good hydrophilicity,large surface area,good mechanical stability,and *** 40 different MXenes have been synthesized,and dozens more structures and properties have been theoretically ***,the recent progress in MXenes development is not well covered in chronological order based on different *** review article focuses on emerging synthesis methods,the properties of MXenes,and mainly the applications of MXenes and MXene-based material family in environmental remediation,a comprehensive review of gaseous and aqueous pollutants treatment.

关键词： MXene 2D materials Wastewater treatment CO_(2)capture Adsorption Photodegradation

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Mixed-Reality Simulator for Analysis of Interactions between Humans and Crawler Cranes 13

Mixed-Reality Simulator for Analysis of Interactions between...

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Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2024

作者： Yamanobe, Kenta Yokota, Kazuya Uenoyama, Daigo Fujiura, Daisuke Ogura, Masataka Takahashi, Kengo Abe, Masajiro Nagaoka University of Technology Master's Program in Mechanical Engineering Nagaoka Japan Nagaoka University of Technology Department of Mechanical Engineering Nagaoka Japan Nagaoka University of Technology Bachelor's Program in Mechanical Engineering Nagaoka Japan Nagaoka University of Technology Center for Integrated Technology Support Nagaoka Japan Nagaoka University of Technology Department of System Safety Engineering Nagaoka Japan

ISBN: (纸本)9798350373332

Crawler cranes are used in various applications, including plant construction and civil engineering. However, accidents caused by hazardous events, such as overturning the entire body or overshadowing of a suspended load, can be problematic. Because crawler cranes are large and powerful machines, simulators are required to analyze the relationship between such hazardous events and human operations. This study proposed a framework for a mixed-reality simulator to analyze the interactions between humans and crawler cranes. This framework combined the high-performance graphics capabilities of Unreal Engine 5 with the high-precision multibody dynamics analysis of MATLAB Simscape to create a visually and physically realistic simulation. Moreover, the quantification of the decision-making process was possible based on the eye-tracking information of the operator. This study described the implementation of these features and discussed the prospects for human-crawler crane interaction analysis using this simulator. © 2024 IEEE.

关键词： MATLAB

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Distributed accelerated primal-dual neurodynamic approaches for resource allocation problem

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Science China(Technological Sciences) 2023年第12期66卷 3639-3650页

作者： ZHAO You HE Xing YU JunZhi HUANG TingWen College of Electronic and Information Engineering Southwest UniversityChongqing 400715China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China Science Program Texas A&M University at QatarDoha 2387Qatar

This paper investigates two distributed accelerated primal-dual neurodynamic approaches over undirected connected graphs for resource allocation problems(RAP)where the objective functions are generally *** the help of projection operators,a primal-dual framework,and Nesterov's accelerated method,we first design a distributed accelerated primal-dual projection neurodynamic approach(DAPDP),and its convergence rate of the primal-dual gap is O(1/(t^(2)))by selecting appropriate parameters and initial ***,when the local closed convex sets are convex inequalities which have no closed-form solutions of their projection operators,we further propose a distributed accelerated penalty primal-dual neurodynamic approach(DAPPD)on the strength of the penalty method,primal-dual framework,and Nesterov's accelerated *** on the above analysis,we prove that DAPPD also has a convergence rate O(1/(t^(2)))of the primal-dual *** with the distributed dynamical approaches based on the classical primal-dual framework,our proposed distributed accelerated neurodynamic approaches have faster convergence *** simulations demonstrate that our proposed neurodynamic approaches are feasible and effective.

关键词： accelerated primal-dual neurodynamic approaches RAP projection operators penalty method convergence rate O(1/(t^(2)))

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Adaptive Closed-Loop Functional Electrical Stimulation System With Visual Feedback for Enhanced Grasping in Neurological Impairments

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 678-686页

作者： Lin, Chengyu Cheng, Kong Hoi Pan, Wei Sun, Jinxin Gou, Guotao Fu, Junyun Leng, Yuquan Fu, Chenglong Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China Guilin University of Electronic Technology Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin541004 China

Grasping is a critical motor skill essential for daily activities, but it is often compromised in individuals with neural impairments. Functional Electrical Stimulation (FES) has emerged as a promising intervention, utilizing electrical pulses to stimulate muscles and thereby restore impaired motor functions. However, existing closed-loop FES systems depend on pre-calibrated angles or forces specific to individual objects, which limits their practicality in dynamic, real-world environments with varying object properties. This paper presents a novel closed-loop FES (CLFES) system with visual feedback, designed to dynamically adjust stimulation parameters based on real-time interaction states without requiring object-specific calibration. The system employs a finite state machine to manage sequential grasp-release tasks and integrates a visual perception module for slip detection and intent recognition. The system was tested with two individuals with disabilities on five common household objects. Experimental results demonstrate significant improvements, including a 42.6% increase in success rate and a 45.9% reduction in task completion time compared to tasks performed without the system. These results underscore the system's potential to improve daily task performance for individuals with neural impairments. © 2018 IEEE.

关键词： Visual servoing

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Efficient Recycling of Magnesium Alloys via Partial Distillation Using Gravity-Multiple Effect Thermal System (G-METS)

Efficient Recycling of Magnesium Alloys via Partial Distilla...

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Magnesium Technology Symposium, 2025, held as part of the TMS Annual Meeting and Exhibition, TMS 2025

作者： McArthur Sehar, Daniel Saito, Kenichi Telgerafchi, Armaghan Gallego, Maya Sridhar, Meera Iurkovskyi, Artem Powell, Adam Department of Materials Science and Engineering Program Worcester Polytechnic Institute 100 Institute Rd. WorcesterMA01609 United States Department of Mechanical Engineering Shibaura Institute of Technology Tokyo Japan Department of Mechanical Engineering Worcester Polytechnic Institute WorcesterMA United States

ISBN: (纸本)9783031810602

MagnesiumMagnesium’s remarkable stiffnessStiffness-to-weight and high strengthStrength-to-weight ratios could enable substantial vehicle lightweighting versus aluminum and steel. However, primary production is very energy- and emissions-intensive, and recyclingRecycling cannot cost-effectively produce magnesiumMagnesium of sufficient purity for die casting and other structural applications. Distillation can produce high-purity magnesiumMagnesium but is capital- and energy-intensive. Gravity-Driven Multiple Effect Thermal System (G-METS) is a continuous low-pressure magnesiumMagnesium distillation process used in primary production or recyclingRecycling in which heat re-use leads to just 0.5–1 kWh energy consumption per kgMg Mg product—which is 80–90% less energy than current Mg distillation. This paper presents new partial distillation experiments showing 99.96% product purity. An industrial distiller design can help to estimate capital costs. New modeling work describes temperature and pressure change in the vapor conduit, energy use and losses in the industrial distiller, and effects of evaporator flow vanes on the separation of volatile elements such as zinc. © The Minerals, Metals & Materials Society 2025.

关键词： Magnesium alloys

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Toward A Mobile Robot for Vibration Control and Inspection of Power Lines

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ASME Letters in Dynamic Systems and Control 2022年第1期2卷 011001页

作者： Kakou, Paul-Camille Barry, Oumar Vibrations and Robotics Laboratory Department of Mechanical Engineering Virginia Polytechnic and State University BlacksburgVA24061 United States

As power demand across communities increases, focus has been given to the maintenance of power lines against harsh environments such as wind-induced vibration (WIV). Inspection robots and fixed vibration absorbers (FVAs) are the current solutions. However, both solutions are currently facing many challenges. Inspection robots are limited by their size and considerable power demand, while FVAs are narrowband and unable to adapt to changing wind characteristics and thus are unable to reposition themselves at the antinodes of the vibrating loop. In view of these shortcomings, we propose a mobile damping robot (MDR) that integrates inspection robots mobility and FVAs WIV vibration control to help maintain power lines. In this effort, we model the conductor and the MDR by using Hamilton’s principle, and we consider the two-way nonlinear interaction between the MDR and the cable. The MDR is driven by a proportional-derivative (PD) controller to the optimal vibration location (antinodes) as the wind characteristics vary. The numerical simulations suggest that the MDR outperforms FVAs for vibration mitigation. Furthermore, the key parameters that influence the performance of the MDR are identified through a parametric study. The findings could setup a platform to design a prototype and experimentally evaluate the performance of the MDR. Copyright © 2021 by ASME.

关键词： Intelligent systems

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Repaired morphology of CO_(2)laser rapid ablation mitigation of fused silica and its influence on downstream light modulation

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Science China(Technological Sciences) 2022年第5期65卷 1116-1126页

作者： TAN Chao ZHAO LinJie CHEN MingJun CHENG Jian ZHANG Yu ZHANG Jiong YANG Hao YIN ZhaoYang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Department of Mechanical Engineering National University of SingaporeSingapore117575Singapore

The threat of cascading damage to downstream components caused by the light modulation intensification of laser repaired morphology on the surface of fused silica optics cannot be ignored in high-power laser *** paper uses the angular spectrum diffraction theory based on the analysis of repaired surface morphology of CO_(2)laser rapid ablation mitigation to study the influence of different repaired morphologies on the downstream 355 nm laser *** show that the arc-shaped laser processing lines on the repaired surface are formed by the residual height superposition of the material after laser scanning of two adjacent layers,and the short-pulse laser can substantially suppress the heat-affected zone of the repaired *** offaxis ring caustic and on-axis hotspot are sequentially generated in the downstream modulated light fields of the conical repaired sites with different diameters.A secondary peak with modulation larger than 3 emerges downstream of the modulation ***,the maximum modulation and the secondary peak increase with the diameter and cone angle of the repaired site,and the position of the secondary peak appears farther away from the rear *** modulations of three repaired sites with cone angles of 15°,20°,and 25°can finally be stabilized below ***,the downstream optics should be installed far away from the positions where the maximum modulation and the secondary peak ***,the maximum value and the secondary peak of the downstream light modulation of double repaired sites are larger than that of the single repaired site,and both rise as the repaired sizes ***,large-scale and large-size repairing of multiple surface damages in the same area should be avoided in the laser repairing of fused silica.

关键词： fused silica laser repairing morphology light modulation secondary peak double repaired sites

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Project Edubot: Exploring Pedagogical Approaches in High School robotics Education 16

Project Edubot: Exploring Pedagogical Approaches in High Sch...

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16th Brazilian Symposium on robotics and 15th Workshop on robotics in Education, SBR-WRE 2024

作者： Nunes Daltro, Isabela Silva Santos, João Victor de Sousa, Guilherme Barbosa Martins, Rodrigo Pastrana, M.A. de Souza Baptista, Roberto Mechatronics Engineering Undergraduate Program University of Brasilia DF Brasilia Brazil Department of Mechanical Engineering Mechatronics Graduate Program University of Brasilia DF Brasilia Brazil Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia DF Brasilia Brazil

ISBN: (纸本)9798350391084

This study focus on passive and active learning within the context of robotics education on public high schools. By synthesizing research findings and practical insights, this paper offers valuable recommendations for educators aiming to optimize the delivery of robotics education in public high schools, addressing the significance of the utilization of appropriate resources and technologies to support effective instruction. We implemented two distinct teaching methodologies to compare and study students’ reactions and learning outcomes: Group A experienced a passive methodology, while Group B engaged with an active methodology. We conducted a survey and the results show that the majority of the students prefer the active approach used in classes. ©2024 IEEE.

关键词： Contrastive Learning

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