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An Inchworm-inspired Robot Based on Modular Body, Electronics and Passive Friction Pads Performing the Two-anchor Crawl Gait

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Journal of Bionic engineering 2018年第5期15卷 820-826页

作者： Flavio Moreira Anthony Abundis Michael Aguirre Justin Castillo Pranav A. Bhounsule Robotics and Motion Laboratory Department of Mechanical Engineering The University of Texas at San Antonio One UTSA Circle San Antonio rX78249 USA

We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm：（1） three-part body that is 3D printed and actuated by two servo motors to allow a looping and lengthening action, （2） passive friction pads to anchor the feet, each of which may be disengaged using a servo motor actuated lever arm, and （3） modular body and electronics. The robot is about 2 feet （61 cm） in length, has a mass of about 4 kg, and uses an open-loop controller to achieve steady crawling gait. The inchworm robot achieved a speed of 2.54 *** on level ground as well as on an incline plane of 19~. The energy usage as measured by the mechanical Cost of Transport （a non-dimensional number defined as the energy used per unit weight per unit distance moved） is 3.34. Our results indicate that simple robotic designs that copy the basic features of natural organisms provide a promising alternative over conventional wheeled robots.

关键词： inchworm bioinspiration two-anchor crawl gait 3D printing sliding locomotion cost of transport

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Correction to: Identifying Abnormal CFRP Holes Using Both Unsupervised and Supervised Learning Techniques on In-Process Force, Current, and Vibration Signals

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International Journal of Precision engineering and Manufacturing 2022年第10期23卷 1225-1225页

作者： Svinth, Christian N. Wallace, Scott Stephenson, Daniel B. Kim, Dave Shin, Kangwoo Kim, Hyo-Young Lee, Seok-Woo Kim, Tae-Gon Computer Science Program School of Engineering and Computer Science Washington State University Vancouver USA Mechanical Engineering Program School of Engineering and Computer Science Washington State University Vancouver USA Korea Institute of Industrial Technology (KITECH) Cheonan‑si Republic of Korea Department of Mechatronics Engineering Tech University of Korea (TU Korea) Siheung-si Korea

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Esophageal virtual disease landscape using mechanics-informed machine learning

arXiv

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arXiv 2021年

作者： Halder, Sourav Yamasaki, Jun Acharya, Shashank Kou, Wenjun Elisha, Guy Carlson, Dustin A. Kahrilas, Peter J. Pandolfino, John E. Patankar, Neelesh A. Theoretical and Applied Mechanics Program Northwestern University EvanstonIL60208 United States Department of Mechanical Engineering Northwestern University EvanstonIL60208 United States Division of Gastroenterology and Hepatology Feinberg School of Medicine Northwestern University ChicagoIL60611 United States

The pathogenesis of esophageal disorders is related to the esophageal wall mechanics. Therefore, to understand the underlying fundamental mechanisms behind various esophageal disorders, it is crucial to map the esophageal wall mechanics-based parameters onto physiological and pathophysiological conditions corresponding to altered bolus transit and supraphysiologic IBP. In this work, we present a hybrid framework that combines fluid mechanics and machine learning to identify the underlying physics of the various esophageal disorders and maps them onto a parameter space which we call the virtual disease landscape (VDL). A one-dimensional inverse model processes the output from an esophageal diagnostic device called endoscopic functional lumen imaging probe (EndoFLIP) to estimate the mechanical "health" of the esophagus by predicting a set of mechanics-based parameters such as esophageal wall stiffness, muscle contraction pattern and active relaxation of esophageal walls. The mechanics-based parameters were then used to train a neural network that consists of a variational autoencoder (VAE) that generates a latent space and a side network that predicts mechanical work metrics for estimating esophagogastric junction motility. The latent vectors along with a set of discrete mechanics-based parameters define the VDL and form clusters corresponding to the various esophageal disorders. The VDL not only distinguishes different disorders but can also be used to predict disease progression in time. Finally, we also demonstrate the clinical applicability of this framework for estimating the effectiveness of a treatment and track patient condition after a treatment. Copyright © 2021, The Authors. All rights reserved.

关键词： Diagnosis

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Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions

Enhancing Game-Theoretic Autonomous Car Racing Using Control...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Gennaro Notomista Mingyu Wang Mac Schwager Magnus Egerstedt Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA USA Department of Mechanical Engineering Stanford University Stanford CA USA Department of Aeronautics and Astronautics Stanford University Stanford CA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, we consider a two-player racing game, where an autonomous ego vehicle has to be controlled to race against an opponent vehicle, which is either autonomous or human-driven. The approach to control the ego vehicle is based on a Sensitivity-ENhanced NAsh equilibrium seeking (SENNA) method, which uses an iterated best response algorithm in order to optimize for a trajectory in a two-car racing game. This method exploits the interactions between the ego and the opponent vehicle that take place through a collision avoidance constraint. This game-theoretic control method hinges on the ego vehicle having an accurate model and correct knowledge of the state of the opponent vehicle. However, when an accurate model for the opponent vehicle is not available, or the estimation of its state is corrupted by noise, the performance of the approach might be compromised. For this reason, we augment the SENNA algorithm by enforcing Permissive RObust SafeTy (PROST) conditions using control barrier functions. The objective is to successfully overtake or to remain in the front of the opponent vehicle, even when the information about the latter is not fully available. The successful synergy between SENNA and PROST-antithetical to the notable rivalry between the two namesake Formula 1 drivers-is demonstrated through extensive simulated experiments.

关键词： Collision avoidance Trajectory Robots Acceleration Safety Bicycles Automobiles

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Optimization of low-temperature torrefaction for rice straw upgrading

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AIP Conference Proceedings 2022年第1期2681卷

作者： Sirinya Kaewmahawong Varinrumpai Seithtanabutara Tanakorn Wongwuttanasatian 1Energy Engineering Program Faculty of Engineering Khon Kaen University Muang Khon Kaen 40002 Thailand 2Department of Mechanical Engineering Khon Kaen University Muang Khon Kaen 40002 Thailand 3Department of Chemical Engineering Khon Kaen University Muang Khon Kaen 40002 Thailand

Rice straw is an agricultural waste most left in the field and is burned prior to the next crop. It is a biomass resource which has high potential to be used as an alternative fuel. However, it contains low fixed carbon and high volatile matters, giving low fuel characteristics. Hence, upgrading rice straw via low temperature torrefaction is of interest. Torrefaction is a thermal chemical process similar to drying, but it requires higher temperature with air absence environment. In this present work, central composite design is used for experimental plan. Two pertinent parameters, temperature and reaction time vary in ranges of 200-300 °C and 25.7-54.3 minutes, respectively. Optimization of the torrefaction is made by considering energy yield (%) and specific energy consumption (Wh/g) used during the process. The results show that at 200°C, 40 min, the test gives the best energy yields and specific energy consumption by 96.16% and 23.73 Wh/g and at 215°C, 30 min, the second best of 94.06% and 25.50 Wh/g are obtained. These two conditions are recommended for rice straw torrefaction.

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Modelling and simulation of a hydraulic system used for wind turbines 22

Modelling and simulation of a hydraulic system used for wind...

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22nd National Conference on Thermodynamics with International Participation, NACOT 2019

作者： Pelin, R.-I. Tia, I. Technical University Gheorghe Asachi Iai Department of Mechanical Engineering Mechatronics and Robotics Iasi Romania Technical University gheorghe Asachi Iai Department of Fluid Mechanics Hydraulic and Pneumatic Machines and Systems Iasi Romania

For wind turbines, pitch control is essential. In some cases, especially in the case of large scale wind turbines, hydraulic control is used. In this paper a hydraulic system used in wind turbine pitch control is analysed. Modelling and simulation of hydraulic systems is necessary in order to acknowledge the drawbacks and advantages before starting the design of the system. By acknowledging, the differences between the model of a physical system and a system in a virtual environment, one can handle the improvement, in terms of price or time-consumption. Considering the proposed diagram of the pitch control hydraulic system, it is presented the block diagram created in MATLAB Simscape Fluids. Some results of the simulation are presented. There are included conclusions and plans for future work. © Published under licence by IOP Publishing Ltd.

关键词： Wind turbines

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A Comparative Study of Dimensional Tolerancing Capabilities and Microstructure Formation between Binder Jet Additively Manufactured Sand Molds and Olivine Green Sand Molds for Metalcasting of A356.0

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Procedia Manufacturing 2020年 48卷 338-348页

作者： C.R. Hasbrouck Joseph W. Fisher Manuel Rudy Villalpando Paul C. Lynch Department of Industrial and Manufacturing Engineering Pennsylvania State University University Park PA 16802 USA Department of Mechanical Engineering Pennsylvania State University University Park PA 16802 USA Additive Manufacturing and Design Graduate Program Pennsylvania State University University Park PA 16802 USA Department of Industrial Engineering Penn State Erie The Behrend College Erie PA 16563 USA

The development of additive manufacturing in the 1980s led to a revolution in various metalcasting processes as early as the 1990s, including the use of polymer 3D printing for the manufacture of sand casting patterns. While additive manufacturing has entered many metalcasting processes, including both expendable and permanent mold processes, this paper specifically examines the sand casting process. ExOne’s development of binder jetting technology over the last 20 years has allowed designers in the sand casting field to directly 3D print sand molds for metalcasting. Use of binder jet additively manufactured sand molds allows for quicker turnaround time for testing prototypes, new gating designs, and for producing one-off parts. Additive manufacturing of sand molds for metalcasting may implement any of the same foundry sands as green sand processes, but uses a furan binder instead of the traditional mixture of bentonite clay and water. The use of a chemical binder had led to questions about the resulting dimensional capabilities and mechanical properties of the castings produced by the mold. This study investigated the dimensional tolerancing capabilities, surface finish, mechanical properties, microstructure, and defects present in identical castings made from both a traditional olivine green sand molding process and a binder jet additively manufactured silica sand molding process. It was concluded that binder jet additively manufactured sand molds are capable of either equal or better dimensional accuracy and tolerance capabilities than traditional olivine green sand molds. The olivine green sand parts had an average of approximately 1 μm better surface finish than the binder jet sand molds; however, it is likely that both the addition of sea coal to the green sand and the difference in final part color significantly affected this result. The mean hardness of the binder jet parts was 58.9 HBW with a standard deviation of 5.6 HBW, compared to the mean of the green

关键词： Hybrid Manufacturing Additive Manufacturing Metalcasting Binder Jetting Metallurgy Tolerancing Microstructure Cooling Rate

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Prospective study of robot-assisted brain biopsies performed on 32 patients by using the RONNA G4 system

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Brain and Spine 2021年 1卷 100806-100806页

作者： Dlaka, D. Švaco, M. Chudy, D. Jerbić, B. Šekoranja, B. Šuligoj, F. Vidaković, J. Almahariq, F. Romić, D. Raguž, M. University hospital Dubrava Department of Neurosurgery Zagreb Croatia Faculty of Mechanical Engineering and Naval Architecture Department of Robotics Zagreb Croatia

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Opportunistic Synthesis in Reactive Games under Information Asymmetry

Opportunistic Synthesis in Reactive Games under Information ...

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IEEE Annual Conference on Decision and Control

作者： Abhishek N. Kulkarni Jie Fu Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Faculty of the Department of Electrical and Computer Engineering with affiliation to Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Reactive synthesis is a class of methods to construct a provably-correct control system, referred to as a robot, with respect to a temporal logic specification in the presence of a dynamic and uncontrollable environment. This is achieved by modeling the interaction between the robot and its environment as a two-player zero-sum game. However, existing reactive synthesis methods assume both players to have complete and symmetrical information, which is not the case in many strategic interactions. In this paper, we use a variant of hypergames to model the interaction between the robot and its environment;where the latter has incomplete information about the specification of the robot. We propose a novel method of opportunistic synthesis defined over the hypergame model to identify a subset of hypergame states from where the robot can leverage the asymmetrical information to achieve a better outcome, which is not possible if both players have symmetrical and complete information. By assuming the environment to play a stochastic strategy in its perceived sure-winning and sure-losing regions of the game, we show that by following the opportunistic strategy, the robot is ensured to only improve the outcome of the game-measured by satisfaction of sub-specifications-whenever an opportunity becomes available. We demonstrate the correctness and optimality of this method using a robot motion planning example in the presence of an adversary.

关键词： Robots Games Task analysis Computational modeling Game theory Planning Stochastic processes

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A fully resolved multiphysics model of gastric peristalsis and bolus emptying in the upper gastrointestinal tract

arXiv

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arXiv 2021年

作者： Acharya, Shashank Halder, Sourav Kou, Wenjun Kahrilas, Peter J. Pandolfino, John E. Patankar, Neelesh A. Department of Mechanical Engineering Northwestern University EvanstonIL60208 United States Theoretical and Applied Mechanics Program Northwestern University EvanstonIL60208 United States Division of Gastroenterology and Hepatology Feinberg School of Medicine Northwestern University ChicagoIL60611 United States

Over the past few decades, in silico modeling of organ systems has significantly furthered our understanding of their physiology and biomechanical function. In this work, we present a detailed numerical model of the upper gastrointestinal (GI) tract that not only accounts for the fiber architecture of the muscle walls, but also the multiphasic components they help transport during normal digestive function. Construction details for 3D models of representative stomach geometry are presented along with a simple strategy for assigning circular and longitudinal muscle fiber orientations for each layer. Based on our previous work that created a fully resolved model of esophageal peristalsis, we extend the same principles to simulate gastric peristalsis by systematically activating muscle fibers embedded in the stomach. Following this, for the first time, we simulate gravity driven bolus emptying into the stomach due to density differences between ingested contents and fluid contents of the stomach. This detailed computational model of the upper gastrointestinal tract provides a foundation on which future models can be based that seek to investigate the biomechanics of acid reflux and probe various strategies for gastric bypass surgeries to address the growing problem of adult obesity. Copyright © 2021, The Authors. All rights reserved.

关键词： Biomechanics

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