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Biotechnology Notes 2025年 6卷 133-142页

作者： Dessouky, Ashraf Hisham El-Hussieny, Haitham El-Sherry, Taymour Mohammed Parque, Victor Fath El-Bab, Ahmed M.R. Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology (E-JUST) Alexandria Alexandria 21934 Egypt Mechanical Engineering Department Helwan University Cairo Cairo 11792 Egypt Department of Theriogenology Veterinary Hospital Faculty of Veterinary Medicine Assiut University Assiut Assiut Egypt of Advanced Science and Engineering Hiroshima University Hiroshima HigashiHiroshima 739-8527 Japan

Infertility in mammals is one of the most intricate medical issues requiring non-traditional interventions. In Vitro Fertilization (IVF) is one of the modern medical technologies currently used to treat infertility. However, current IVF procedures are inaccessible and unaffordable to the majority due to the high cost, the complexity of the procedure, and the reliance on highly qualified operators. For successful IVF, oocyte denudation, the process of removing cumulus cells from oocytes, is often performed. Here, microfluidics offers the potential to enhance denudation procedures and to minimize operator variability. In this paper, we propose the configuration of a microfluidic chip for oocyte denudation whose structure hybridizes inner jagged surfaces and expansion units. The jagged surface units have the role of removing the cumulus cells surrounding the oocyte by using the wall shear stress principle, and the (rounded) expansion units have the role of rotating the cumulus cells for further deployment in subsequent jagged surfaces. The proposed device can be manufactured at a low cost (<1 USD)) by the engraving of CO₂ laser machine on PMMA material, and is able to circumvent the use of enzymatic components such as hyaluronidase. Experiments using computational simulations and manufactured microfluidic chips evaluated distinct geometry configurations of the jagged surfaces and identified the suitable flow rates for maximal shear stress and denudation performance. Manufactured samples of the proposed microfluidic devices have shown the denudation performance of 96.7 % and yield rate of 90 % at a constant flow rate of 1 ml/min. © 2025 The Authors

关键词： CO2 laser In vitro fertilization Microfluidics Oocyte denudation

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Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System 48

Optimum Design of a Wire-Driven Redundant Spherical Parallel...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Gamal, Ahmed Mohamed, Abdelfatah Iwata, Hiroyasu Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to such cases, their high cost and the lack of professional caregivers arise the need for robotic rehabilitation systems. On the other hand, the existing robotic systems for foot-drop rehabilitation are heavy and bulky. Therefore, in this paper, a lightweight foot-drop rehabilitation system based on a wire-driven redundant spherical parallel manipulator (RSPM) is developed. The proposed RSPM can provide 3-DOF movements to exercise the dorsiflexion, plantarflexion, supination, lateral and medial rotations. Kinematic and static analyses are performed for the proposed rob RSPM. In order to guarantee permissible positive tensions for the wires of the RSPM, a new performance index is introduced, called permissible tension index. Optimum design based on optimizing certain performance indices is carried out to obtain the proper dimensions of the movable platform design parameters of the proposed RSPM. A new index called permissible tension index is introduced to guarantee permissible positive tensions for the wires of the RSPM. A weighted sum of the global kinematic dexterity, global minimized transmission and the global permissible tension indices is considered for the objective function of the optimization process. The RSPM performance is evaluated over its range of motion and the reaction forces exerted on the ankle are shown to be tolerable by an injured ankle. Additionally, the Jacobian-based kinematic controller is shown to be capable of tracking the normal gait trajectories with acceptable tracking errors. © 2022 IEEE.

关键词： Kinematics

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Design and Hybrid Impedance Control of a Compliant and Balanced Wrist Rehabilitation Device 48

Design and Hybrid Impedance Control of a Compliant and Balan...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yellewa, Mwayi E Mohamed, Abdelfatah Ishii, Hiroyuki Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wrist rehabilitation robotic devices have delivered the repetitive and gradual training necessary to rehabilitate individuals with wrist impairments properly. Generally, there are two approaches for the design of the wrist rehabilitation devices. In one approach, the motors are placed on the forearm with complex transmission mechanisms to reduce the weight and inertia. In the other approach, rotary motors are placed close to the wrist joints with simple design, and this leads to high weight and inertia. In this paper, a simple design of two-degrees of freedom compliant and balanced wrist rehabilitation device is proposed. It can provide the radial-ulnar deviation and flexion-extension rehabilitation motions. In the proposed design, the servomotors that are placed close to the wrist joints are counterweight balanced to reduce the inertia and the required torques. The balancing is carried out by optimizing the center of mass of the device in the SolidWorks model. A custom design series elastic unit is proposed to be coupled to the servomotor to achieve the compliance for safe human-robot interaction. Based on the device dynamics modeled by ADAMS software, hybrid position and force tracking impedance control is developed for position and force tracking through the different therapeutic exercises. The device is shown to be capable of achieving the different therapeutic exercises compliantly such as the passive, active-assisted and isometric exercises. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Experimental study of hardness and corrosion properties of AZ91 magnesium alloy after electroless nano composite coating

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Materials Today: Proceedings 2022年 62卷 2926-2929页

作者： Sayyad, Dr Farook Sayyad, Dr Shabnam Ansari, Dr. Md. Imran Mechanical Engineering Department. Dr. D. Y. Patil School of Engineering Pune India Associate Professor Computer Engineering Department. AISSMS College of Engineering Pune India Robotics & Automation Department. Bharati Vidyappeth Pune India

Magnesium and its numerous alloys have excellent rigidity, low density, and electromagnetic protection properties, making them ideal for usage in numerous industrial components. Magnesium alloys have a significant disadvantage in terms of corrosion and hardness, which restricts their practical uses. One of the most recent ways for improving the corrosion and hardness of Mg alloys is electro-less nano-coating. The experimental research of corrosion and hardness of AZ91 Mg Alloy due to nano composite coating procedures of ENi-B-TiO2is examined in this study. It would be useful to conduct a thorough examination, including experimental analysis, into the possibilities of increasing the deposit efficiency and characteristics of composite deposits by designing a suitable bath composition and operating circumstances. It has been discovered that as the concentration of titania particles increases, so does the surface hardness of coatings. The optimal concentration of second-phase (titania) particles and bath agitation are also examined in order to get superior surface properties following nano coating. Following this nano coating, the materials may be employed for a variety of materials engineering applications. © 2022

关键词： Surface properties

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A Comparison of Model-Free Controllers for Trajectory Tracking in a Plant-Inspired Soft Arm 13th

A Comparison of Model-Free Controllers for Trajectory Tracki...

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13th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2024

作者： Nazeer, Muhammad Sunny Ansari, Yasmin Tauqeer Falotico, Egidio Laschi, Cecilia Department of Mechanical Engineering College of Design and Engineering National University of Singapore Singapore Singapore Bioinspired Soft Robotics Lab Istituto Italiano di Tecnologia Genoa Italy The Biorobotics Institute Scuola Superiore Sant’Anna Pontedera Italy

ISBN: (纸本)9783031725968

The field of soft robotics is experiencing a transformative phase with the emergence of self-supporting modular soft robot arms, inspired by design principles drawn from climbing plants, which are gaining recognition as a rich source of bio-inspiration. The vision to deploy these systems in highly unstructured environments, qualifies the need to investigate model-free algorithms that facilitate motion capabilities based solely on data regarding system-environment interactions. This paper delves into the development of model-free controllers to enable tracking capabilities in these systems. While the trajectory tracking task is already recognized as challenging in the context of redundant continuum/soft arms, the difficulty is compounded when aiming to generate control policies solely from sequential feedback from the environment. The novelty of this work lies in the development of both learning-based and learning-free model-free computational frameworks to address this task. Both controllers are validated on a 9-DoF modular cable-driven plant-inspired soft arm for moving through multiple trajectories in 3D space. The comparison of these controllers holds significant insights to future directions for the practical applicability of these systems in real-world scenarios, and are promising to pave way for novel application scenarios. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Robotic arms

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Performance of Pico Scale Turgo Turbine in Difference the Nozzle Diameter

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International Journal of Fluid Machinery and Systems 2022年第1期15卷 130-136页

作者： Adanta, Dendy Syofii, Imam Sari, Dewi Puspita Wiyono, Apri Department of Mechanical Engineering Faculty of Engineering Universitas Sriwijaya Indralaya South Sumatera 30662 Indonesia Study Program of Mechanical Engineering Education Universitas Sriwijaya Indralaya South Sumatera 30662 Indonesia Department of Automotive Engineering Education Universitas Pendidikan Indonesia Bandung West Java 40154 Indonesia

Pico scale Turgo turbine (PSTT) is proper as a power plant to be applied for remote areas because of its simple construction, cheap investment cost, and good performance above 35%. However, the design of PSTT is still based on estimation because the wheel diameter and nozzle diameter (D/d) ratio are not yet in reasonable agreement. Furthermore, the literature on D/d affects PSTT performance has not been comprehensive. Accordingly, this study investigates the relation of D/d on PSTT performance and its effect on the U/Vjet. Based on experimental results, the relation of D/d and U/Vjet to PSTT performance is parabolic (expressed by polynomial quadratic);the maximum configuration of D/d of 22, and U/Vjet between 0.42 to 0.47. © 2022, Turbomachinery Society of Japan. All rights reserved.

关键词： Energy conversion

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Investigation of thermal conductivity and physical properties of oil palm trunks/ramie fiber reinforced biopolymer hybrid composites as building bio-insulation

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Materials Today: Proceedings 2022年 60卷 373-377页

作者： Mawardi, Indra Aprilia, Sri Faisal, Muhammad Rizal, Samsul Doctoral Program School of Engineering Post Graduate Program Universitas Syiah Kuala Banda Aceh23111 Indonesia Department of Mechanical Engineering Politeknik Negeri Lhokseumawe Lhokseumawe24301 Indonesia Department of Chemical Engineering Universitas Syiah Kuala Banda Aceh23111 Indonesia Department of Mechanical Engineering Universitas Syiah Kuala Banda Aceh23111 Indonesia

The current buildings insulating materials in the construction market, which mainly consist of synthetic materials, have a high performance in thermal resistivity. However, they negatively impact the human health and the environment, thereby finding bio-insulating materials is necessary. This research investigates the thermal conductivity and physical performance of oil palm trunks/ramie fibers reinforced biopolymer hybrid composites for thermal insulation of buildings. The hybrid composites were further prepared using oil palm trunk particles, ramie fiber as the reinforcement, and tapioca starch as a biopolymer binder. All the manufactured hybrid composites exhibited thermal conductivity in a range of 0.0723 W/mK to 0.1344 W/mK and density of 732 kg/m3 to 801 kg/m3, respectively. Sample C1, with a density of 732 kg/m3 had the lowest thermal conductivity of (0.0723 W/mK). Moreover, the minimum absorbed water (53.66%) and thickness swelling (21.36%) were found in the C1 sample hybrid composites after 24-hours immersion in water. Thermal conductivity performance was influenced positively by physical properties. Therefore, the results of this research show that waste oil palm trunks and ramie fiber could be used as a thermal insulating material for buildings. © 2022

关键词： Thermal conductivity

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Understanding Approaching Behavior for a Wheelchair with a Robotic Arm: A Human Study for Improving Autonomous Navigation

Understanding Approaching Behavior for a Wheelchair with a R...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Sarathchandra, H.A. Harindu Y. Priyanayana, K.S. Jayasekara, A.G.B.P. Gopura, R.A.R.C. University of Moratuwa Intelligent Service Robotics Group Department of Electrical Engineering Moratuwa10400 Sri Lanka University of Moratuwa Bionics Laboratory Department of Mechanical Engineering Moratuwa10400 Sri Lanka

ISBN: (纸本)9798350337020

An intelligent wheelchair is a system that evolves its functions for the well-being of humankind in the present status of robotics. Due to the active evolution of these wheelchair systems wheelchair-mounted robotic arms can be caught as the next level of development. However, the current state of intelligence is far behind the expansion and this lack causes to add extra cognitive load on handicapped users. Most of the available hindrances to autonomous operation could certainly be achieved by replicating natural human behaviors. Under these circumstances understanding human cognition on positioning a wheelchair around a table will drastically ease the autonomous object manipulation tasks by these systems. Hence to understand natural human behavior, a human study with three sub-studies was designed and reveal the prominent factors behind human cognition. Results were analyzed statistically to identify the significance of the considered factors. In lite of the study, approaching and positioning of the wheelchair mainly depend on the object position, obstacle position, and obstacles configuration within the considered workspace. Further orientation mainly depends on the object's position and approaching direction. Besides, these outcomes would be extremely beneficial in synthesizing human cognition to build human-friendly mobile robots for uplifting users' lives as well. © 2023 IEEE.

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Inverse Origami Design Model for Soft Robotic Development

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Soft robotics 2024年第1期11卷 131-139页

作者： Hu, Qiqiang Li, Junyang Tao, Jian Dong, Erbao Sun, Dong Department of Biomedical Engineering City University of Hong Kong Hong Kong Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei China Department of Electronic Engineering Ocean University of China Qingdao China CAS Key Laboratory of Mechanical Behavior and Design of Materials School of Engineering Science University of Science and Technology of China Hefei China Centre for Robotics and Automation Shenzhen Research Institute of City University of Hong Kong Shenzhen China

Origami provides an opportunity to construct a wide range of 3D functional structures by folding a flat sheet. It can be used to develop various soft functional robots by combining soft smart actuators. However, a simple and an effective model that can address the challenging problem of designing origami patterns to connect origami design with robotics is lacking, thereby greatly increasing the threshold of soft origami robots and hindering its development. This study proposes an easy-to-use inverse origami design model to generate the flat crease pattern from the desired folded shape automatically while simulating origami morphing by simply providing the shape parameters or 2D shape graphics. This method overcomes the difficulty of origami design and enables a close connection between origami and robotics. Through this method, various soft origami robots can be developed with low design complexity and time cost to achieve different functions, thereby promoting the development of soft origami robots. © 2024 Mary Ann Liebert Inc.. All rights reserved.

关键词： Robots

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Hyperspectral Image Classification Using Custom Spectral Convolutional Neural Networks (CSCNNs) 14

Hyperspectral Image Classification Using Custom Spectral Con...

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14th International Conference on Information Science and Technology, ICIST 2024

作者： Rouamba, Stephanie Zhang, Nian Mahmoud, Wagdy Thompson, Lara Denis, Max Deksissa, Tolessa University of the District of Columbia Department of Electrical and Computer Engineering WashingtonDC United States University of the District of Columbia Department of Mechanical Engineering Biomedical Engineering Program WashingtonDC United States University of the District of Columbia Department of Mechanical Engineering WashingtonDC United States Water Resources Research Institute University of the District of Columbia WashingtonDC United States

ISBN: (纸本)9798350353334

Custom spectral convolutional neural networks (CSCNNs) combine the strengths of convolutional neural networks with specialized spectral processing, resulting in improved classification accuracy by effectively capturing subtle variations in hyperspectral data. This paper proposes a CSCNNs based approach to classify hyperspectral images. The proposed method leverages the high-dimensional spectral data inherent in hyperspectral images, employing convolutional layers specifically designed to capture spectral-spatial features. By reducing dimensionality through principal component analysis and creating image patches, the model is trained to recognize complex patterns across different spectral bands. In addition, a comprehensive analysis of CSCNN performance is carried out, focusing on its architecture, key features, and benefits in computational efficiency and spectral representation. Experimental results on datasets such as Salinas-A, Pavia University (Pavia-U), and Indian Pines demonstrate that the CSCNN model surpasses traditional methods, achieving higher classification accuracy and more robust performance metrics like overall accuracy (OA), average accuracy (AA), and Kappa coefficient. The proposed model achieved an overall accuracy (OA) of 98.2%, 96.7%, and 92.5% for the Salinas-A, Pavia-U, and Indian Pines datasets, respectively. The model's average accuracy (AA) was 97.5%, 95.4%, and 89.8% for the same datasets. Furthermore, the model attained Kappa coefficients of 97.7%, 95.2%, and 89.1% for Salinas-A, Pavia-U, and Indian Pines, respectively. © 2024 IEEE.

关键词： Convolutional neural networks

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