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arXiv 2020年

作者： Wagner, Robert J. Such, Kristen Hobbs, Ethan Vernerey, Franck J. University of Colorado Boulder Mechanical Engineering Department Material Science and Engineering Program United States University of Colorado Boulder Mechanical Engineer Department United States University of Colorado Boulder Computer Science Department Interdisciplinary Quantitative Biology Program United States University of Colorado Boulder Mechanical Engineer Department Material Science and Engineering Program United States

Condensed active matter is exemplary for its capacity to morph and exhibit internal flows despite remaining cohered. (1) To facilitate understanding of this ability, we investigate the cause of finger-like protrusions that emerge from super-organismal, aggregated rafts of fire ants (Solenopsis invicta). While these features are easily observed, what permits their recuring initiation, growth, and recession is not immediately clear. Ants rafts are comprised of a floating, structural network of interconnected ants on which a layer of freely active ants walks. We show here that sustained shape evolution is permitted by treadmilling defined by the competition between perpetual raft contraction due to displacement of bulk structural ants into the active layer, and outwards raft expansion due to deposition of free ants into the structural network at the edges. Furthermore, we see that protrusions emerge due to asymmetries in the edge deposition rate of surface ants, and we provide strong evidence that these asymmetries occur stochastically due to wall accumulation effects and local alignment interactions. Together these effects permit the cooperative, yet spontaneous formation of protrusions that fire ants utilize for functional exploration and to escape flooded environments. Ant raft dynamics mirror the treadmilling that facilitates morphogenesis and motility of cytoskeletons (2, 3), thus providing another example in which reshaping of condensed active matter is explained by free constituent transport, yet whose continuance relies on perpetual phase transition between structural and free members. © 2020, CC BY-NC-SA.

关键词： Deposition rates

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Recent trends in diabetes mellitus diagnosis: an in-depth review of artificial intelligence-based techniques

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Diabetes Research and Clinical Practice 2025年 224卷 112221-112221页

作者： Khalid, Salman Kim, Hojun Kim, Heung Soo Department of Mechanical Robotics and Energy Engineering Dongguk University-Seoul 30 Pil-dong 1 Gil Jung-gu Seoul 04620 North Korea Department of Rehabilitation Medicine of Korean Medicine Dongguk University 27 Dongguk-ro Goyang 10326 North Korea Department of Civil and Environmental Engineering University of Michigan Ann Arbor 48109 United States

Diabetes mellitus (DM) is a highly prevalent chronic condition with significant health and economic impacts;therefore, an accurate diagnosis is essential for the effective management and prevention of its complications. This review explores the latest advances in artificial intelligence (AI) focusing on machine learning (ML) and deep learning (DL) for the diagnosis of diabetes. Recent developments in AI-driven diagnostic tools were analyzed, with an emphasis on breakthrough methodologies and their real-world clinical applications. This review also discusses the role of various data sources, datasets, and preprocessing techniques in enhancing diagnostic accuracy. Key advancements in integrating AI into clinical workflows and improving early detection are highlighted along with challenges related to model interpretability, ethical considerations, and practical implementation. By offering a comprehensive overview of these advancements and their implications, this review contributes significantly to the understanding of how AI technologies can enhance the diagnosis of diabetes and support their integration into clinical practice, thereby aiming to improve patient outcomes and reduce the burden of diabetes. © 2025

关键词： Artificial Intelligence Deep learning Diabetes Mellitus Early Detection, Healthcare Machine learning Prediction

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Socially acceptable route planning and trajectory behavior analysis of personal mobility device for mobility management with improved sensing

arXiv

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arXiv 2021年

作者： Mishra, Sumit Rajendran, Praveen Kumar Har, Dongsoo The Robotics Program Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Division of Future Vehicle Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of The CCS Graduate School of Green Transportation Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

In urban cities, with increasing acceptability of shared spaces used by pedestrians and personal mobility devices (PMDs), there is need for pragmatic socially acceptable path planning and navigation management policies. Hence, we propose a socially acceptable global route planner and assess the legibility of the resulting global route. Our approach proposed for choosing global route avoids streets penetrating shared spaces and main routes with high probability of dense usage. The experimental study shows that socially acceptable routes can be effectively found with an average of 10 % increment of route length with optimal hyperparameters. This helps PMDs to reach the goal while taking a socially acceptable and safe route with minimal interaction of different PMDs and pedestrians. When PMDs interact with pedestrians and other types of PMDs in shared spaces, micro-mobility simulations are of prime usage for acceptable and safe navigation policy. Social force models being state of the art for pedestrian simulation are calibrated for capturing random movements of pedestrian behavior. Social force model with calibration can imitate the required behavior of PMDs in a pedestrian mix navigation scheme. Based on calibrated models, simulations on shared space links and gate structures are performed to assist policies related to deciding waiting and stopping time. Also, based on simulated PMDs interaction with pedestrians, location data with finer resolution can be obtained if the resolution of GPS sensor is 0.2 m or less. This will help in formalizing better modelling and hence better micro-mobility policies. Copyright © 2021, The Authors. All rights reserved.

关键词： Navigation

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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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Omni-Temporal Theory and Simulation of Hydrodynamic Dispersion using Fourier Transformation

arXiv

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arXiv 2025年

作者： Hamid, Md Abdul Smith, Kyle C. Department of Mechanical Science and Engineering Grainger College of Engineering University of Illinois at Urbana-Champaign UrbanaIL61801 United States Department of Materials Science and Engineering Grainger College of Engineering University of Illinois at Urbana-Champaign UrbanaIL61801 United States Computational Science and Engineering Program Grainger College of Engineering University of Illinois at Urbana-Champaign UrbanaIL61801 United States Beckman Institute for Advanced Science and Technology Grainger College of Engineering University of Illinois at Urbana-Champaign UrbanaIL61801 United States

Hydrodynamic dispersion determines the extent of solute mixing and apparent diffusive flux in various chemical, geological, and biological systems that possess flow with strong velocity gradients. Though established dispersion theory captures the transient interplay between diffusion, flow, and reaction rates, a long-time approximation is commonly adopted where the characteristic time scale of flow substantially exceeds that of pore-scale diffusion. Here, we introduce a frequency-based theory to model omni-temporal dispersion through porous media that simultaneously captures fast and slow components of dispersion. To create this theory, we formally volume-average the Fourier-transformed pore-scale advection-diffusion equation for solute and obtain up-scaled transport coefficients for a periodic unit cell: a dispersion tensor, an advection suppression vector, and reaction-rate coefficients. These coefficients serve dually as transfer functions that correlate certain output with input quantities in the frequency domain, enabling the prediction of up-scaled temporal dynamics using inverse Fourier transformation. Their utility is demonstrated by deriving analytical expressions for the dispersion coefficient for cases of Poiseuille flow between parallel plates and through circular tubes. This omni-temporal theory produces breakthrough curves for a fast solute pulse between inactive parallel plates that agree with the solute propagation rates predicted by direct numerical simulation (DNS), in contrast with conventional asymptotic theory that overpredicts such by orders of magnitude. Deviations in solute peak magnitude from DNS are shown to arise from solute back-diffusion into the inlet plane as well as entry-region effects that are evidenced by a non-periodic variation of the closure variable *** Codes 76 © 2025, CC BY-NC-ND.

关键词： Inverse transforms

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Correction: Energy Density Effect on the Interface Zone in Parts Manufactured by Laser Powder Bed Fusion on Machined Bases

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International Journal of Precision engineering and Manufacturing-Green Technology 2023年第4期10卷 1139-1139页

作者： Marin, Felipe de Souza, Adriano Fagali Mikowski, Alexandre Fontanella, Luís Henrique Guarnieri Soares, Paulo de Lacalle, Luis Norberto López Aeronautics Advanced Manufacturing Centre University of the Basque Country Zamudio Spain Graduate Program in Mechanical Engineering and Sciences Federal University of Santa Catarina Joinville Brazil Department of Mobility Engineering Federal University of Santa Catarina Joinville Brazil Department of Mechanical Engineering Pontifícia Universidade Católica Do Paraná Curitiba Brazil

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Recent trends on organizational energy reduction policies and best practices in South-East Asia

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Materials Today: Proceedings 2023年 81卷 302-309页

作者： Sami Salama Hussen Hajjaj Mohamed Thariq Hameed Sultan Daryl Ian Paliath Lee Seng Hua Centre for Advanced Mechatronics and Robotics (CaMaRo) Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Institute of Informatics and Computing in Energy (IICE) Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Laboratory of Biocomposite Technology Institute of Tropical Forestry and Forest Products (INTROP) Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia Department of Aerospace Engineering Faculty of Engineering Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia Aerospace Malaysia Innovation Centre (944741-A) Prime Minister’s Department MIGHT Partnership Hub Jalan Impact 63000 Cyberjaya Selangor Darul Ehsan Malaysia Department of Mechanical Engineering Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Laboratory of Biopolymer and Derivatives Institute of Tropical Forestry and Forest Products (INTROP) Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia

Reports show that 40% of global carbon emissions come from energy consumed in buildings, so organizations around the world continuously seek ways to reduce their buildings energy consumption. Research identifies three main approaches; Retrofitting, the use of Low Carbon Buildings (LCB), and implementing Energy Management Systems (EMS). However, other factors could affect the success of these approaches; climate and local weather, building types, social acceptance, and implementation. This paper reviews and evaluates 50 reports on these implementations, and uses that evaluation to identify the most effective approach to reduce buildings carbon footprint. In this evaluation, authors used the reported success rate (in reducing carbon footprint) as key parameter, they then cross-checked this with origin of reports (country, climate region), building type, and implementation thoroughness. This allowed the authors to identify not only the best approach, but also understand the impact of these other factors on the reported success rate. Retrofitting was implemented the most (58%) but with varying success (2% to 49% reductions), this variation is attributed to the current state of the buildings and the level/method of retrofitting applied. LCB showed the highest reductions as energy saving measures were preplanned before building construction, this however limits LCB to new and planned buildings. Even though EMS showed results comparable to Retrofitting and required a fraction of the costs/effort, only 14% implemented it, this is an indication of the level of social awareness in the region on the need to reduce carbon footprint and its impact on the world’s climate.

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A conductive cooling scheme for bone augmentation of the proximal femur with PMMA: An experimental and finite element study

A conductive cooling scheme for bone augmentation of the pro...

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ASME 2019 International mechanical engineering Congress and Exposition, IMECE 2019

作者： Bakhtiarinejad, Mahsan Farvardin, Amirhossein Chamani, Alireza Armand, Mehran Laboratory for Computational Sensing and Robotics Department of Mechanical Engineering Johns Hopkins University BaltimoreMD United States Laboratory for Computational Sensing and Robotics Department of Mechanical Engineering Johns Hopkins University Johns Hopkins University Applied Physics Laboratory LaurelMD United States

ISBN: (纸本)9780791859407

The rate of one-year mortality after osteoporotic hip fracture in elderly is reported to be more than 20%. Hip augmentation using polymethylmethacrylate (PMMA) is an alternative preventive approach for patients at the highest risk of osteoporotic fracture. Excessive injection volumes of PMMA however may introduce the risk of thermal osteonecrosis. We have previously proposed a Finite element (FE) simulation to estimate the bone temperature elevations after cement injection in three key locations and demonstrated an agreement between the simulation results and the temperature measurements during the experiment. Previous study showed that the maximum temperature-rise measured at the hip surface is 10°C. The aim of this study is to introduce a cooling approach to reduce the PMMA’s curing temperature after cement injection during hip augmentation. For this purpose, we perform a conductive cooling experiment with a metallic K-wire attached to an ice-water bath. We also create a finite element simulation model for the proposed cooling system to estimate the peak temperature reduction and compare the simulation results with experimental data. Simulation results demonstrate the decrease of 80%of peak curing temperature during PMMA polymerization;similarly, sawbone experiments also show that on average the peak temperature has been reduced 64% when cooling system is integrated to the hip augmentation procedure. Copyright © 2019 ASME.

关键词： Finite element method

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Dojo: A Differentiable Physics Engine for robotics

arXiv

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arXiv 2022年

作者： Howell, Taylor A. Le Cleac'h, Simon Brüdigam, Jan Kolter, J. Zico Schwager, Mac Manchester, Zachary The Department of Mechanical Engineering Stanford University StanfordCA94305 United States The School of Computation Information and Technology Technical University of Munich Munich80333 Germany The Department of Computer Science Carnegie Mellon University PittsburghPA15213 United States The Department of Aeronautics and Astronautics Stanford University StanfordCA94305 United States The Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, and system parameters. Dojo achieves stable simulation at low sample rates and conserves energy and momentum by employing a variational integrator. A nonlinear complementarity problem with second-order cones for friction models hard contact, and is reliably solved using a custom primal-dual interior-point method. Special properties of the interior-point method are exploited using implicit differentiation to efficiently compute smooth gradients that provide useful information through contact events. We demonstrate Dojo with a number of examples including: planning, policy optimization, and system identification, that demonstrate the engine's unique ability to simulate hard contact while providing smooth, analytic gradients. Copyright © 2022, The Authors. All rights reserved.

关键词： robotics

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Evaluating the impacts of environmental and human health of the critical minerals mining and processing industries in Indonesia using life cycle assessment

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Case Studies in Chemical and Environmental engineering 2024年 10卷

作者： Wahyono, Yoyon Sasongko, Nugroho Adi Trench, Allan Anda, Martin Hadiyanto, Hadiyanto Aisyah, Nyayu Anisah, Anisah Ariyanto, Novy Kumalasari, Isnaeni Putri, Virny Zasyana Eka Lestari, Mutia Citrawati Panggabean, Lambas Parlaungan Ridlo, Rohmadi Sundari, Sundari Suryaningtyas, Anissa Dewi Novianti, Endah Dwi Hakim, Muhammad Raihan Farras Prihatin, Anggara Lomak Matin, Hashfi Hawali Abdul Research Center for Sustainable Production System and Life Cycle Assessment National Research and Innovation Agency - BRIN Prof. BJ. Habibie Complex Area Banten Tangerang Selatan 15314 Indonesia Energy Security Graduate Program Republic of Indonesia Defense University IPSC Sentul Area West Java 16810 Indonesia Centre for Exploration Targeting School of Earth Sciences The University of Western Australia 35 Stirling Highway Crawley 6009 WA Australia UWA Business School 35 Stirling Highway Crawley 6009 WA Australia Environmental Engineering Murdoch University Murdoch 6150 WA Australia Doctoral Program of Environmental Science School of Postgraduate Studies Diponegoro University Central Java Semarang 50241 Indonesia Department of Chemical Engineering Faculty of Engineering Diponegoro University Central Java Semarang 50275 Indonesia Department of Mechanical Engineering Vocational School Gadjah Mada University Sleman Yogyakarya 55281 Indonesia Study Program of Environmental Science Faculty of Mathematics and Natural Science Universitas Sebelas Maret Central Java Surakarta 57126 Indonesia

The critical minerals industries in Indonesia may pose possible environmental and human health risks due to the release of pollutants into soil, water, and air, as well as the use of materials and energy. This study investigates the possible environmental and human health impacts of Indonesia's nickel, gold, copper, tin, and bauxite mining and processing industries. This study utilizes the latest version of the OpenLCA software, version 2.0, in combination with the Ecoinvent 3.8 database. To evaluate potential environmental consequences and health effects on humans, CML-IA Baseline and Environmental Priority Strategies (EPS) are employed in product development. The EPS system was developed utilizing a hierarchical methodology with the objective of furnishing the product developer with data regarding the financial impact of human health impairment resulting from a particular product development. The production of one tonne of gold, nickel, bauxite, tin, and copper results in the emission of 7.34.E+07, 4.61.E+04, 3.10.E+04, 1.02.E+04, 8.01.E+03 kg CO₂ eq/t, respectively, contributing to global warming. This production is associated with asthma cases of 7.79.E+01 (gold industry), 2.21.E−03 (copper industry), 1.81.E−03 (tin industry), 9.21.E−04 (nickel industry), and 4.71.E−06 (bauxite industry) Personyears/t. Electricity consumption and the release of carbon dioxide are the main factors contributing to global warming. The primary cause of asthma cases is the utilization of fuel oil and electricity. Power plant chimneys can employ various technologies, such as cyclones, bag filters, and scrubbers, to mitigate the release of polluting gas emissions. The critical mineral industry must prioritize handling and governing of steam power facilities to minimize their negative effects on the environment and human health. © 2024 The Authors

关键词： Critical minerals industries Environmental impacts Human health impacts Life cycle assessment

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