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Remote Controlled Pick and Place Robot

IOP Conference Series: Materials Science and engineering 2021年第1期1012卷

作者： Meenakshi Prabhakar Valenteena Paulraj Dhusyant Arumukam Karthi Kannappan Joshuva Arockia Dhanraj Deenadayalan Ganapathy Centre for Automation & Robotics (ANRO) Department of Mechanical Engineering Hindustan Institute of Technology and Science Chennai 603103 Tamilnadu India.

In today's world sales and demand for products has grown exponentially. There is always a need of the products in a huge count in terms of production, handling of such a huge count of products is not possible without automation process but the instruments used of such automation process is of high cost which is not feasible for the small scale industries to implement such a high-cost machine for their use cases. To overcome the above problem of handling the products, a low-cost pick and place robot has been designed for handling the products, this robot is designed based on RRT:R configuration for the robot body, with this configuration this robot can handle products in complex positions. This robot is featured with the six DOF (degrees of freedom) for its movement. This robot is a tele-operated robot that can be controlled using a specialized mobile application developed using MIT APP INVENTOR 2 which makes the user use this robot without any special support for controlling, this robot gives a hassle-free experience for the user who is controlling the robot. By using this robot pick and place tasks can be simplified and the process can be automated and the rate of product handling can be increased.

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Development of a methodology and research results for comparing the wear of friction surfaces for disc brakes of passenger cars

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AIP Conference Proceedings 2024年第1期3104卷

作者： Alexander Nazarov Sergey Krivoshapov Nikolay Sergienko Volodymyr Kulay Department of “Technical Operation and Service of Vehicles” named after Professor Govorushchenko N.Ya. Faculty of Automotive Kharkov National Automobile and Highway University 25 Yroslava Mudrogo Str. Kharkov Ukraine Department of “Automobile and tractor construction” named after Professor Govorushchenko N.Ya. Institute of Mechanical Engineering and Transport National Technical University "Kharkov Polytechnic Institute" 2 Kirpychova Str. Kharkov Ukraine Department of "Industrial mechanical engineering and mechatronics" Educational and Scientific Institute of Information Technologies and Robotics by "Poltava Polytechnic named after. Y. Kondratyuk" 24 Pershotravnevy prospect. Poltava Ukraine

It was not sufficient to merely establish the amount of wear on friction surfaces in brake mechanisms for a certain period of time. The principal objective is to determine the intensity of wear on the friction mating surfaces in general, as this will enable us to evaluate the reliability of the braking systems in passenger vehicles under operating conditions. The main purpose of the paper is to substantiate a methodology for assessing the wear intensity in frictional interfaces specifically for disc brakes that are installed in passenger vehicles. The primary objectives of the research work were identified. Conducted, accordingly, is the analysis to determine the extent to which various parameters for braking vehicles influence the wear on friction surfaces in disc brakes. Our substantiation is based on observed patterns of friction surfaces wear for disc brake mechanisms. A mathematical method was developed for estimating the intensity of wear on friction surfaces in disc brake mechanisms. Devised, additionally, was a technique for experimental research involving cyclic emergency braking of a vehicle on a dry horizontal asphalt concrete road. An analytical-graphical method was adopted to simulate the wear process on the friction surfaces of disc brakes for such passenger vehicles as: Daewoo Lanos, Lada Priora, Chevrolet Aveo and Forza. Each braking cycle consists of 30 emergency braking sequences, with initial braking speeds ranging from 10 to 35 m / s. The vehicle used was fully loaded and the aerodynamic force of air resistance was taken into account. The wear intensity of the friction interface during the braking cycle was evaluated by a special criterion. This criterion was calculated as the average sum of the friction interface wear ratios (as the difference between the disc and the friction lining wear) and the corresponding braking distance at which the wear occurred. For clarity, all measurement results were presented in both graphical and tabular formats.

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Systems thinking on renewable energy: A bibliometric analysis

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AIP Conference Proceedings 2023年第1期2734卷

作者： Dindin Nasrudin Agus Setiawan Dadi Rusdiana Liliasari Science Education Doctoral Program Universitas Pendidikan Indonesia Bandung Indonesia Physics Education Study Program UIN Sunan Gunung Djati Bandung Indonesia Department of Mechanical Engineering Education Universitas Pendidikan Indonesia Bandung Indonesia Department of Physics Education Universitas Pendidikan Indonesia Bandung Indonesia Department of Chemistry Education Universitas Pendidikan Indonesia Bandung Indonesia

Energy is a systematic problem involving many fields and disciplines. Discourse about it requires systems thinking. This research aims to reveal trends and future work related to system thinking on renewable energy. The method used is a bibliometric analysis of the Scopus database using VOSviewer software. Through the selection process, 284 documents deemed relevant were selected from journal articles and conference proceedings. Through VOSviewer analysis, 4 clusters of related keyword groups are shown. Four very influential words in this research theme are systems theory with 224 occurrences, renewable energy resources with 142 occurrences, renewable energy with 112 occurrences, and system dynamics with 102 occurrences. Through network visualization, the relationship between concepts both within one cluster and between clusters is shown. The visualization overlays is used as a basis of mapping the future work related to system thinking on renewable energy which include renewable energy resources, system theory, system dynamics, alternative energy, sustainable development, decision making, and renewable energy technology. This study concludes that bibliometric analysis through VOSviewer is proven to be able to show trends and future work for systems thinking on renewable energy research.

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Electromagnetically actuated soft hydrogel microrobots for biomedical applications

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Journal of Institute of Control, robotics and Systems 2019年第2期25卷 156-162页

作者： Choi, Hyunchul Lee, Hyoryong Go, Gwangjun Park, Jong-Oh Park, Sukho Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology Korea Republic of School of Mechanical Engineering Chonnam National University Korea Republic of

This paper introduces electromagnetically actuated biomedical microrobots using external stimulus responsive hydrogels. We briefly summarize several research trends using representative magnetic actuated hydrogel microrobots developed to date and introduce our three developed types of magnetic actuated hydrogel microrobots. First, we propose a selective microrobots control method using microclampers consisting of temperature-responsive hydrogel (NIPAAM) blocks and microheaters. Using the selective microrobots control method, multiple microrobots can be independently controlled by an electromagnetic actuation (EMA) system. Second, we developed a self-folding magnetically driven microrobot in which a layer containing magnetic nanoparticles (MNPs) and a temperature-responsive hydrogel layer are laminated. The motion of the magnetically driven microrobot is controlled precisely using magnetic field control and the microrobot performs self-(un)folding motion due to the temperature change. Additionally, the microrobot is able to grab a bead containing a drug and to manipulate it precisely to a desired position. Finally, we developed a spring-shaped hydrogel (NIPAAM) microrobot using drugs and MNPs. By using an integrated system containing an EMA system and a near-infra-red (NIR) light generating device, we demonstrated that the spring-type hydrogel microrobot can move to a desired position and actively release the loaded drug. Thus, it is shown that a variety of magnetically actuated hydrogel microrobots were developed and further in-depth studies are necessary for the development and use of these microrobots in biomedical applications. © ICROS 2019.

关键词： Hydrogels

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Rochester's rivers, lake, and waste: teaching local environmental history using water case studies

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Water history 2020年第3期12卷 345-359页

作者： Kristina Chomiak David Connell Devin Cooley Hannah Saxena Sydney Van Winkle Kaitlin Stack Whitney Environmental Sciences Program Rochester Institute of Technology Rochester USA. Mechanical Engineering Rochester Institute of Technology Rochester USA. Science Technology & Society Department Rochester Institute of Technology Rochester USA.

In a non-majors upper-level undergraduate environmental history course focused on the Laurentian Great Lakes, students researched and wrote micro-histories of the Rochester, NY area. Many were focused on water-quantity, quality, recreation, and pollution. This article briefly explains the approach and its potential applications to other interdisciplinary water courses. Then five of the original micro-water history cases are presented. It concludes with the lessons learned as a class and for teaching local water history in the future incorporating the previous class' findings.

关键词： Case studies Great lakes Pedagogy Pollution Recreation

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Application of Threaded System, Rice Husk Ash Addition, Filtering, and Geomembrane to Increase Salt Production in Ambulu Village, Cirebon

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IOP Conference Series: Earth and Environmental Science 2021年第1期940卷

作者： M Gozan M I Alhamid N Amir M Efendy Bioprocess Engineering Program Department of Chemical Engineering Faculty of Engineering Universitas Indonesia Depok 16424 Indonesia. Mechanical Engineering Department Faculty of Engineering Faculty of Engineering Universitas Indonesia Depok 16424 Indonesia. Department of Mechanical Engineering University of Trunojoyo Madura 69162 Indonesia. Department of Marine Science University of Trunojoyo Madura 69162 Indonesia

Salt farmers in Indonesia generally carry out simple land processing to produce NaCl levels below 90% and productivity below 80 tons/ha. Several separate efforts have been made to increase the quantity and quality of salt in traditional salt production systems. This work examines the threaded system, additive addition, and geomembrane to increase salt production in Ambulu Village, Cirebon, West Java, Indonesia. The result showed that the quality of salt increases compared to the traditional process. The quality of the salt can be improved. The traditional method of observation contains 91% NaCl. Using a combination of Threaded applications and additives increases the NaCl content by up to 94%. Adding Geomembrane technology from the two previous technologies resulted in salt with a NaCl content of 96%. At the same time, the amount of salt production from Indonesia has also increased to 155 tons/ha, compared to the traditional method, which is 80-90 tons/ha.

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Adaptive Gait Phase Segmentation Based on the Time-Varying Identification of the Ankle Dynamics: Technique and Simulation Results

Adaptive Gait Phase Segmentation Based on the Time-Varying I...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Juan C. Pérez-Ibarra Adriano A. G. Siqueira Hermano I. Krebs Department of Mechanical Engineering University of São Paulo at São Carlos Brazil Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA Center for Advanced Studies in Rehabilitation and the Center for Robotics of São Carlos University of São Paulo SP Brazil Department of Neurology University of Maryland School of Medicine Baltimore MD USA Department of Rehabilitation Medicine I Fujita Health University Toyoake Aichi Japan Institute of Neuroscience University of Newcastle Newcastle Tyne UK Department of Mechanical Engineering Osaka University Osaka Japan The Wolfson School of Mechanical Loughborough University Loughborough UK

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Gait abnormalities introduce undesired patterns that limit stability, efficiency, and finally, walker independence. Most of the current algorithms for the identification of gait events using kinematic and inertial data have obtained high performance in healthy subjects. However, most of them showed limited performance when tested with impaired subjects. We hypothesize that to improve gait event detection one must take into consideration the differences between the dynamics of each phase. In this paper, we developed and evaluated a novel methodology for adaptation of a set of parameters for gait event detection using mechanical perturbations. Our proposal employs an ensemble-based procedure for the characterization of the ankle dynamics. We based our proposal on a hybrid model of the human dynamics during gait where the parameters of the dynamics model are abruptly changed according to a Markov chain. In this document, we described the adaptive algorithm and presented preliminary results on a gait simulator. We demonstrated the ability of the algorithm to adapt the parameters according to the changes in human walking.

关键词： Hidden Markov models Legged locomotion Heuristic algorithms Event detection Medical treatment Torque Time-varying systems

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Short-range order and origin of the low thermal conductivity in compositionally complex rare-earth niobates and tantalates

arXiv

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arXiv 2021年

作者： Wright, Andrew J. Wang, Qingyang Yeh, Yi-Ting Zhang, Dawei Everett, Michelle Neuefeind, Joerg Chen, Renkun Luo, Jian Department of NanoEngineering University of California San Diego San diegoCA92093 United States Department of Mechanical and Aerospace Engineering University of California San Diego San diegoCA92093 United States Program of Materials Science and Engineering University of California San Diego San diegoCA92093 United States Oak Ridge National Laboratory One Bethel Valley Road Oak RidgeTN37831 United States

Rare-earth niobates and tantalates possess low thermal conductivities, which can be further reduced in high-entropy compositions. Here, a large number of 40 compositions are synthesized to investigate the origin of low thermal conductivity. Amongst, 29 possess single (nominally cubic) fluorite phases and most of them are new compositionally complex (medium-or high-entropy) compositions. One new finding is that doping 2 % of light element cations can further reduce thermal conductivity. This large data set enables the discovery of a negative correlation between the thermal conductivity and averaged radius ratio of the 3+/5+ cations. While this ratio is still below the threshold for forming long-range ordered weberite phases, this correlation suggests the reduced thermal conductivity is related to short-range weberite order, which is indeed revealed by diffuse scattering in X-ray and neutron diffraction. Specifically, neutron diffraction is used characterize five selected specimens. A better fit to a weberite structure is found at nanoscale (1 nm). The characteristic length (domain size) is smaller but with stronger short-range ordering in more insulative materials. As it approaches the Ioffe-Regel limit, the phonon limit breaks down and "diffusons" give rise to the observed amorphous-like thermal conductivity. Disordered oxygen sublattices are also confirmed by neutron diffraction. © 2021, CC BY.

关键词： Elastic moduli

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Modeling crystallographic anisotropy in interfacial sliding phenomenon in nanoindentation of nanoscale Cu/Nb accumulated rolling bonding (ARB) multilayered materials

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AIP Conference Proceedings 2023年第1期2594卷

作者： A. S. Budiman R. Sahay F. E. Gunawan C. Harito H. Gunawan I. Radchenko E. Navarro S. Escoubas T. Cornelius O. Thomas N. Raghavan Industrial Engineering Department BINUS Graduate Program – Master of Industrial Engineering Bina Nusantara University Jakarta Indonesia Xtreme Materials Lab Engineering Product Development Singapore University of Technology and Design (SUTD) Singapore Industrial Engineering Department Faculty of Engineering Bina Nusantara University Jakarta Indonesia 11480 Center for Advancing Materials Performance from the Nanoscale (CAMP-nano) State Key Laboratory for Mechanical Behavior of Materials Xi'an Jiaotong University (XJTU) Xi'an China Aix-Marseille Université CNRS IM2NP UMR 7334 Marseille France

Nanoindentation is widely used to investigate mechanical properties of materials at small scales. In this work, owing to the presence of contrasting interfaces along rolling (RD) and transverse direction (TD), a 16 nm accumulative roll bonding (ARB) Cu/Nb nanolaminate as a test material due to its crystallographic anisotropy was used. Nanoindentation was performed and then Scanning Probe Microscopy (SPM) data was conducted to measure the pile-up height along RD and TD in the nanoscale Cu/Nb multilayered materials. It was found that the 16 nm Cu/Nb ARB nanolayered material along RD showed higher surface pile-up than TD attributed the observation to the variation in the Cu/Nb interface plasticity along RD and TD. Further, a comparation and validation of experimental indentation data by performing 2D axisymmetric Finite Element Analysis (FEA) indicated that the simulation compares well with the experimentally generated load-displacement curves, while qualitative agreement was obtained with the pileup data. It is believed that the characterization of surface pile-up is very important for enabling the nanoscale Cu/Nb ARB nanolaminates as the novel stretchable/flexible metallic conductor materials (with emerging applications such as e-skins, human-computer interaction, and soft robotics) that may prove crucial for the global green and sustainability efforts (soft robots for collecting plastic trashes in ocean).

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Development of a low-cost balance assessment system for use in an affordable robot gym in low and middle income countries

Development of a low-cost balance assessment system for use ...

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IEEE Latin American Symposium on Circuits and Systems (LASCAS)

作者： Samuel Gaardsmoe Maria Ovando Kevin Bui Michelle J Johnson Mechanical Engineering University of Pennsylvania Philadelphia PA USA Department of Bioengineering University of Pennsylvania She directs the rehabilitation robotics Lab Philadelphia PA USA Departments of Physical Medicine and Rehabilitation and Bioengineering University of Pennsylvania She directs the rehabilitation robotics Lab Philadelphia PA USA

ISBN: (数字)9781728134277

ISBN: (纸本)9781728134284

Stroke results in adult disability worldwide with 80% of the occurrences in low and middle income countries (LMIC). There is a need for affordable and accessible rehabilitation to support functional recovery of these stroke survivors. Hemiplegia affects most stroke survivors and frequently can result in asymmetric gait and impaired balance. Low cost force boards using the Wii balance board have been shown to be an acceptable replacement to expensive clinical force plates. Center of pressure, velocity and step length are key gait and balance metrics that are measurable using low cost force boards. This paper describe two attempts to design and develop a low-cost gait assessment and training station within a novel robot gym for stroke neurorehabilitation of the upper and lower limbs. The final design will consist of low-cost two board force platform is now a part of the Rehab C.A.R.E.S (Community-based Affordable Robotic Exercise System).

关键词： Task analysis Force Legged locomotion Games Force measurement

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