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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Tsung-Chi Lin Achyuthan Unni Krishnan Zhi Li Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Mechanical Engineering Department Worcester Polytechnic Institute Worcester MA USA

Robot teleoperation via motion mapping has been demonstrated to be an efficient and intuitive approach for controlling and teaching the whole-body motion coordination of humanoid robots. However, the physical fatigue in the usage of such robot teleoperation interfaces may prevent this approach to be widely used in large scale by diverse workforce populations. As a result, this paper conducts a user study to investigate the physical fatigue of teleoperators in the whole-body motion mapping teleoperation of a mobile humanoid assistive robot. Through a Vicon motion capture system, participants teleoperated the robot to perform general purpose assistive tasks that involve reaching-to-grasp, bimanual manipulation, loco-manipulation and human-robot interaction. We assess the physical fatigue based on surface electromyography (sEMG) measurement, and compare it between different tasks and muscles. Our analysis results indicate that: (1) Fatigue happens more in the tasks that involve more precise manipulation and steady posture maintenance; (2) Deltoids, Biceps and Trapezius are used more for such tasks and thus have more fatigue than others. These findings imply that automating the fatigue-causing task components may reduce the physical fatigue in motion mapping teleoperation.

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Bridging technology and community: Local perceptions of earthquake sensors in Aceh's seismic zones, Indonesia

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International Journal of Disaster Risk Reduction 2025年 126卷

作者： Cut Isna Rina Suryani Oktari Agussabti Agussabti M. Dirhamsyah Muksin Umar Graduate Program in Disaster Science Universitas Syiah Kuala Banda Aceh 23111 Indonesia Tsunami and Disaster Mitigation Research Center (TDMRC) Graduate Program in Disaster Science and Department of Family Medicine Faculty of Medicine Universitas Syiah Kuala Banda Aceh 23111 Indonesia Graduate Program in Disaster Science Department of Agribusiness Faculty of Agriculture and Center for Rural Development & Sustainable Agriculture Studies Universitas Syiah Kuala Banda Aceh 23111 Indonesia Graduate Program in Disaster Science and Department of Mechanical Engineering Faculty of Engineering Universitas Syiah Kuala Banda Aceh 23111 Indonesia Tsunami and Disaster Mitigation Research Center (TDMRC) Graduate Program in Disaster Science and Department of Physics Faculty of Mathematics and Natural Sciences Universitas Syiah Kuala Banda Aceh 23111 Indonesia

The 2004 Aceh tsunami triggered by a major earthquake taught us the importance of disaster mitigation efforts, one of which is monitoring seismic activity using earthquake sensors. However, the success of these sensors is highly dependent on community involvement, awareness, and active maintenance of the technology. This study aims to examine the perceptions of the Acehnese community regarding earthquake sensors and to identify factors that influence their perceptions of this disaster mitigation technology. The study was conducted in six districts in Aceh Province: Aceh Besar, Aceh Selatan, Aceh Singkil, Aceh Utara, Lhokseumawe, and Aceh Tengah, which were selected due to their high seismic activity and the installation of existing earthquake sensors. The study involved 112 respondents who completed a questionnaire to assess their knowledge, perceptions, and attitudes toward sensors. A One Sample T-Test was used to assess each factor influenced perceptions. The study showed that experience was the most influential factor in shaping perceptions, indicating that individuals directly involved in installing the sensors were more likely to appreciate their benefits. This study emphasizes the importance of more targeted educational campaign efforts that emphasize the role and importance of earthquake sensors in reducing earthquake risk and bridging the gap in public understanding of earthquake sensors. By directly involving the community in installing or maintaining earthquake sensors, it can improve their perception and increase the effectiveness of disaster preparedness strategies.

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Measurement of high-temperature thermophysical properties of bulk and coatings using modulated Photothermal radiometry

arXiv

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arXiv 2020年

作者： Zeng, Jian Chung, Ka Man Wang, Qingyang Wang, Xiaoxin Pei, Yu Li, Peiwen Chen, Renkun Department of Mechanical and Aerospace Engineering University of California San Diego San diegoCA92093 United States Material Science and Engineering Program University of California San Diego San diegoCA92093 United States Department of Aerospace and Mechanical Engineering University of Arizona TucsonAZ85721 United States

This paper presents the development of instrumentation for the measurement of high-temperature thermal conductivity of bulk and coatings using a modulated photothermal radiometry (MPR) method, where a sample is heated by an intensity-modulated laser to probe into different layers of the sample. While MPR has been previously established, it has not been well studied for measurements of bulk and coating materials at high temperatures, which are increasingly important for a multitude of applications, such as materials used in the concentrating solar power (CSP) plants and the nuclear reactors. MPR is a non-contact technique that utilizes the intrinsic thermal emission from the specimens for thermometry, which is favorable for measurements at high temperatures in harsh environment. The authors designed and utilized a sample holder suitable for high temperature measurement up to 1000 K with good temperature uniformity within the sample. The high-temperature MPR setup was validated by measuring bulk materials with known thermal conductivity. The setup and technique were then extended to the measurement of black solar-absorbing coatings of 10 to 50 μm thick on various substrates by modulating the frequency of the laser heating beam and the thermal penetration depth. The studies showed that thermal conductivities of typical solar-absorbing coatings are 0.4 ~ 0.8 W m-1 K-1, indicating a possibly large temperature drop within the coating under high solar irradiation flux, such as over 1000-sun for central solar towers in CSP plants. Copyright © 2020, The Authors. All rights reserved.

关键词： Solar energy

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Control of a line following robot based on FSM estimation

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IFAC-PapersOnLine 2018年第22期51卷 542-547页

作者： Toumpa, Alexia Kouris, Alexandros Dimeas, Fotios Aspragathos, Nikos Robotics Group Mechanical Engineering & Aeronautics University of Patras Greece Electrical and Electronic Engineering Department Imperial College London United Kingdom

Line following robots are becoming increasingly popular both in industrial and in domestic applications. In these real world environments, noisy or inaccurate measurements lead to ambiguous conclusions about the robot's state relative to the path. In this paper, a Finite State Machine is introduced that detects irregularities in the measurements from an array of reflectance sensors. Based on the estimated state, the FSM switches between a proposed variable-gain PD controller for line following and an open loop controller for handling special cases. Experimental evaluation demonstrates that the proposed approach reduces considerably the amount of errors caused by noisy measurements and improves the performance of the line following robot compared to a similar approach from the literature. © 2018

关键词： Robots Estimated state Experimental evaluation Line following Line following robots Noisy measurements Open loop controllers Real world environments Reflectance sensors

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Load capacity of foil gas dynamic bearings with conical surfaces lubricated with low-viscosity cryogenic fluids 10

Load capacity of foil gas dynamic bearings with conical surf...

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10th International Scientific Conference BALTTRIB 2019

作者： Sheng-Bo, Li Savin, L.A. Sytin, A.V. Tyurin, V.O. School of Mechanical and Automotive Engineering Xiamen University of Technology China Department of Mechatronics Mechanics and Robotics Orel State University named after I.S. Turgenev Russia

The present paper features a mathematical model of load capacity and static characteristics calculation of foil gas dynamic bearings with conical surfaces lubricated with cryogenic fluids based on equations of thermophysics, hydrodynamic and elasticity theory. Algorithmic model is presented. Original software is presented that is used to calculate load capacity and static characteristics of the bearings in question. Copyright © 2019 The Authors.

关键词： Gas dynamics

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Alternate current poling and direct current poling for Pb(Mg1/3Nb2/3)O3-PbTiO3 single crystals

Alternate current poling and direct current poling for Pb(Mg...

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作者： Sun, Yiqin Karaki, Tomoaki Fujii, Tadashi Yamashita, Yohachi Department of Intelligent Robotics Toyama Prefectural University Imizu Toyama9390398 Japan Department of Mechanical and Aerospace Engineering North Carolina State University RaleighNC27695-7910 United States

We have investigated the effects of alternate current poling (ACP) for four different plates of [100]-oriented (100-x)Pb(Mg1/3Nb2/3)O3-xPbTiO3 (PMN-xPT, x = 28, 29, 30, 31) single crystals (SCs) obtained from one ingot. A record high piezoelectric coefficient d 33 of 3000 pC N-1 for PMN-30PT SCs, and a high free dielectric permittivity of 8900 for PMN-28PT SCs by ACP, 27% higher than those of conventional direct current poling (DCP), were confirmed. X-ray analysis revealed a higher (004) peak intensity and angle of ACP SCs compared to those of DCP. We assume that ACP creates a monoclinic multiphase (MB and MC) and eliminates some portion of the tetragonal phase in SCs. In addition, (004) peak shifts were different between the different PT composition SC samples. This work demonstrates an ACP process with excellent cost performance can offer promising prospects and practical value for PMN-xPT SC piezoelectric transducers. © 2019 The Japan Society of Applied Physics.

关键词： Single crystals

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Classification and applications of titanium and its alloys: A review

Journal of Alloys and Compounds Communications

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Journal of Alloys and Compounds Communications 2024年 3卷

作者： Mojtaba Najafizadeh Sahar Yazdi Mansoor Bozorg Mehran. Ghasempour-Mouziraji Morteza Hosseinzadeh Masoumeh Zarrabian Pasqual Cavaliere School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China Faculty of Chemical and Materials Engineering Shahrood University of Technology Shahrood *** Iran Department of Innovation Engineering University of Salento Via per Arnesano Lecce 73100 Italy School of Medical Sciences Shahrood Branch Islamic Azad University Shahrood Iran TEMA - Centre for Mechanical Technology and Automation University of Aveiro Portugal LASI Intelligent Systems Associate Laboratory Guimarães Portugal Engineering and Sustainable Technology ManagementIndustry 4.0: Automation Robotics & 3D Manufacturing SRH Hochschule Berlin Germany Department of Engineering Ayatollah Amoli Branch Islamic Azad University Amol Iran

Due to its numerous properties, iron is one of the most useful materials on the planet. The mechanical and physical properties of iron and its alloys are suitable and manageable. These alloys have significant issues like heavyweight, low corrosion resistivity and some other limitations. The researchers and companies for solving problems look out for other alternative materials. Titanium and its alloys, according to the researchers, have a huge variety of engineering applications. Titanium and titanium alloys have high strength and corrosion resistance, and they perform well at high temperatures up to nearly 600 °C. Titanium and its alloys have a density of about 60 % that of steel and its alloys, and about 50 % that of nickel alloys. Even though titanium and its alloys have cost and supply problems, they're utilized in numerous industries, which includes aerospace, automotive, and navy projects. Titanium and its alloys have unique properties, indicating that they are cost-effective components that require special manufacturing techniques. This study aims to explore the potential of titanium and its alloys to replace iron in various engineering applications. Addressing the critical need for materials with superior performance characteristics is essential for advancing technological development.

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The mechatronic device for the hand and forearm rehabilitation 22nd

The mechatronic device for the hand and forearm rehabilitati...

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22nd International Seminar of Metrology Methods and Techniques of Signal Processing in Physical Measurements, MSM 2018

作者： Tutak, Jacek S. Klos, Wojciech Faculty of Mechanical Engineering and Aeronautics Department of Applied Mechanics and Robotics Rzeszow University of Technology Al. Powstańców Warszawy 8 Rzeszow35-959 Poland

ISBN: (纸本)9783030111861

The mechatronic device has been designed and implemented based on the comprehensive rehabilitation of the paretic upper limb. This system has been prepared for an individual approach to the recovery process including diagnostics, passive or active exercises with biofeedback and reports. The mechatronic device consists of a three basic cooperating parts: mechatronic frame with module for hand and forearm rehabilitation, glove for the hand rehabilitation and module for health hand. This mechatronic device was developed in order to realize a passive exercises and active exercises with paralysed limb using the healthy limb to conduct these exercises. A very important part of rehabilitation is to introduce biofeedback (e.g. visual and auditory) to motion exercises. This paper presents the main technical characteristics of the project, especially design, kinematics and dynamics of the device and the details of the hardware/software system. This paper suggests a new approach to the rehabilitation device for the spastic upper limb of stroke survivors. The functionality of the mechatronic device for hand and forearm rehabilitation have been presented during the first tests, and preliminary assessment of usability and acceptance is promising. © Springer Nature Switzerland AG 2019.

关键词： Biofeedback

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Nanoscale synthesis of nickel oxide@carboxy methyl cellulose@nitrogen doped carbon nanotubes supported metal organic frameworks ternary composite for use symmetric supercapacitor

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International Journal of Biological Macromolecules 2025年 318卷 144901页

作者： Sivalingam Ramesh Iqra Rabani Indumathi Thangavelu H.M. Yadav Manickam Selvaraj Appukuttan Saritha Young-Soo Seo Joo-Hyung Kim Heung Soo Kim Department of Mechanical Robotics and Energy Engineering Dongguk University 30 Pil-dong Jung-gu Seoul 04620 Republic of Korea Antwerp engineering Photo electrochemistry and Sensing (APECS) University of Antwerp Groenenborgeriaan171 2020 Antwerp Belgium Department of Chemistry CHRIST (Deemed to be University) Bangalore Karnataka 560029 India School of Nanoscience and Bio-Technology Shivaji University Kolhapur 416004 India Department of Chemistry Faculty of Science King Khalid University Abha 61413 Saudi Arabia Research Center for Advanced Materials Science (RCAMS) King Khalid University AlQura'a P.O. Box 960 Abha Saudi Arabia Department of Chemistry Amrita Vishwa Vidyapeetham Amritapuri Kollam Kerala India Interface Lab Department of Nanotechnology and Advanced Materials Engineering Sejong University Seoul 05006 Republic of Korea Department of Mechanical Engineering Inha University Inha-ro100 Namgu Incheon 22212 Republic of Korea

Metal-organic frameworks (MOFs) are a novel class of porous materials that combine organic linkers and inorganic metal ions. Supercapacitors use a large specific surface area, adjustable architecture, and tunable porosity and pore diameters to improve the electrochemical performances with metal sulfides. The main goal of this study was to make a nickel oxide ternary composite using a hydrothermal method with urea as a catalyst for electrochemical uses. We characterized these fabricated composite materials using analytical and morphological characterization for their confirmation. These results show that the composite electrode had a great specific capacitance of 464 F/g at 0.5 A/g in a 1 M KOH electrolyte when set up with three electrodes. The symmetric two-electrode system showed 52.83 F/g at 0.5 A/g with an excellent energy density of 13.14 Whkg −1 and a power density of 616 Wkg −1 via 1 M KOH electrolyte. The fabricated ternary composite electrode demonstrated cyclic stability, with an excellent retention rate of 89 % after 7000 cycles. Therefore, the fabricated ternary composite electrode materials have enormous potential for electrochemical storage properties.

关键词： Carboxymethyl cellulose (CMC) Electrochemical supercapacitor MOF-67 N-MWCNT Nickel oxide (NiO) Ternary composite

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Comparative study on the machine learning-based techniques for magnetorheological elastomer dynamic properties prediction

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AIP Conference Proceedings 2024年第1期3124卷

作者： Kasma Diana Saharuddin Mohd Hatta Mohammed Ariff Irfan Bahiuddin Saiful Amri Mazlan Nurhazimah Nazmi Ubaidillah Ubaidillah Advanced Vehicle System (AVS) Research Group Malaysia Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Mechanical Engineering Vocational College Universitas Gadjah Mada Yogyakarta Indonesia Engineering Materials & Structures (eMast) ikohza Malaysia Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Pattern Recognition and Robotics Automation iKohza Malaysia Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Mechanical Engineering Department Faculty of Engineering Universitas Sebelas Maret JI. Ir. Sutami 36A Kentingan Surakarta 57126 Indonesia

Magnetorheological elastomers (MRE) have gained popularity due to their ability to control viscoelastic properties by varying the strength of the magnetic field. Due to the obvious nonlinear and complex behavior of MRE, machine learning approaches were used to predict the MRE viscoelastic properties, which are storage and loss modulus. In comparison to the traditional viscoelastic model, which is complex in mathematical derivation, machine learning method easily identifies trends and patterns by mapping the input-output relationship. It can also handle nonlinear problems by training on data. Support vector regression (SVR), Gaussian process regression (GPR), Backpropagation neural network (BP-ANN), and Extreme learning machine (ELM) were introduced and compared to simulate the field-dependent viscoelastic behavior of MRE with frequency and magnetic field strength as model input. As a result, the ELM model produced the highest accuracy, with more than 98 percent accuracy on model generalization capability. Therefore, this demonstrates that machine learning can replace traditional modelling approaches and serve as a basis for material and device development.

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