We investigate the structural, vibrational, and mechanical properties of jammed packings of deformable particles with shape degrees of freedom in three dimensions (3D). Each 3D deformable particle is modeled as a surf...
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We present an approach for approximately solving discrete-time stochastic optimal-control problems by combining direct trajectory optimization, deterministic sampling, and policy optimization. Our feedback motion-plan...
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Fontan surgery is performed for a wide range of patients with congenital cardiac defects. This palliative treatment connects the systemic and pulmonary vasculature in series which results in severe pathophysiological ...
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ISBN:
(数字)9781728159072
ISBN:
(纸本)9781728159089
Fontan surgery is performed for a wide range of patients with congenital cardiac defects. This palliative treatment connects the systemic and pulmonary vasculature in series which results in severe pathophysiological consequences. Mock circulatory flow loops for the Fontan circulation aim to better understand the complex physiology and provide a benchtop platform for device testing. In this work we describe the design and fabrication of a biomechatronic Fontan mock circulatory loop, guided by anatomy. We recreate Fontan flow by mimicking both respiratory and flow biomechanics. First, we build a respiratory simulator comprised of a thorax, abdomen, and a soft robotic diaphragm. Next, we design an electromechanical control system to activate the diaphragm and recreate pressure changes mimicking regular breathing. Then we overlay the respiratory simulator with a lumped parameterfluid model. The fluid model includes constant pressure head reservoirs as flow sources, a blood analog, compliance vessels, resistance valves, and a total cavompulmonary connection that is 3D printed from patient data. We achieve physiologic fluid dynamics, ranging from 0-2.3 l/min and pressures of 14-26 mmHg. A rigid windkessel compliance vessel was used to represent the upper body vasculature. Pulmonaty and abdominal vasculatures are subject to changing breathing pressures, to recreate this vasculature we designed elastic compliance vessels made of silicone membranes. Effective vessel compliance was characterized to be 50 ml/mmHg. Upon overlaying breathing mechanics with the flow system, which in Fontan patients accounts for up to 30 % of venous return, we see an impact of breathing pressures on flow in the inferior vena cava, which is representative of a Fontan patient.
Parkinson's Disease (PD) is considered to be the second most common age-related neuroegenerative disorder, and it is estimated that seven to ten million people worldwide have PD. One of the symptoms of PD is tremo...
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ISBN:
(数字)9781728119908
ISBN:
(纸本)9781728119915
Parkinson's Disease (PD) is considered to be the second most common age-related neuroegenerative disorder, and it is estimated that seven to ten million people worldwide have PD. One of the symptoms of PD is tremor, and studies have shown that wearable assistive devices have the potential to assist in suppressing it. However, despite the progress in the development of these devices, their performance is limited by the tremor estimators they use. Thus, a need for a tremor model that helps the wearable assistive devices to increase tremor suppression without impeding voluntary motion remains. In this work, a user-independent and task-independent tremor and voluntary motion detection method based on neural networks is proposed. Inertial measurement units (IMUs) were used to measure acceleration and angular velocity from participants with PD, these data were then used to train the neural network. The achieved estimation percentage accuracy of voluntary motion was 99.0%, and the future prediction percentage accuracy was 97.3%, 93.7%, 91.4% and 90.3% for 10 ms, 20 ms, 50 ms and 100 ms ahead, respectively. The root mean squared error (RMSE) achieved for tremor estimation was an average of 0.00087 ° /s on new unseen data, and the future prediction average RMSE across the different tasks achieved was 0.001 ° /s, 0.002 ° /s, 0.020 ° /s and 0.049 ° /s for 1 ms, 2 ms, 5 ms, and 10 ms ahead, respectively. Therefore, the proposed method shows promise for use in wearable suppression devices.
A wearable ankle robot prototype for assistance to foot drop is presented in this work. This device is built with soft and hard materials and employs one inertial sensor. First, the ankle robot uses a high-level metho...
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ISBN:
(纸本)9781728145709
A wearable ankle robot prototype for assistance to foot drop is presented in this work. This device is built with soft and hard materials and employs one inertial sensor. First, the ankle robot uses a high-level method, developed with a Bayesian formulation, for recognition of walking activities and gait periods. Second, a low-level method, with a proportional-integral-derivative controller (PID), controls the wearable device to operate in assistive and transparent modes. In an assistive mode, activated by the toe-off detection, the wearable device assists the human foot in dorsiflexion orientation to reduce the effect of foot drop abnormality. In a transparent mode, activated by the heel-contact detection, the robot device follows the movements performed by the human foot. The wearable prototype is validated with experiments, in simulation and real-time modes, for recognition of walking activity and control of assistive and transparent modes during walking. Experiments achieved 99.87% and 99.20% accuracies for recognition of walking activity and gait periods. Results also show the ability of the wearable robot to operate according to the gait period recognised during walking. Overall, this work offers a wearable robot prototype with the potential to assist the human foot during walking, which is important to allow subjects to recover their confidence and quality of life.
A decision situation often encountered by a company is whether an existing asset should be retired from use, continued in service, or replaced with new technology to improve productivity and competitiveness. The purpo...
A decision situation often encountered by a company is whether an existing asset should be retired from use, continued in service, or replaced with new technology to improve productivity and competitiveness. The purpose of this paper is to present an equipment replacement analysis, an electronic components company. This study aims to analyze three proposed robots to automate the production line as a challenger versus an old manual production line as a defender in palletizing activities. We offered both Market and Technical analysis as well as investment analysis for evaluating an automatic line. Data are analyzed, and four methods are considered for determining project feasibility, namely NPV, IRR, Payback Period, and CBA. According to the data analysis, it is found that Borunte's robot is the best alternative compare with the others. The proposed framework of equipment analysis seems to be helpful to the company to solve equipment replacement studies.
To shorten the time required to find effective new drugs, like antivirals, a key parameter to consider is membrane permeability, as a compound intended for an intracellular target with poor permeability will have low ...
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Lattices and their underlying symmetries play a central role in determining the physical properties and applications of many natural and engineered materials. This research offers a comprehensive solution to a long-st...
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Lattices and their underlying symmetries play a central role in determining the physical properties and applications of many natural and engineered materials. This research offers a comprehensive solution to a long-standing challenge regarding the lattice-based materials: how to systematically construct a lattice and transform it among different symmetric configurations in a predictable, scalable, and reversible way. By bridging the lattice geometry and rigid-folding kinematics of a group of origamis consisting of generic degree-4 vertices, we successfully construct all types of two- and three-dimensional Bravais lattices, and demonstrate that they can undergo all diffusionless phase transformations via rigid folding (i.e., dilation, extension, contraction, shear, and shuffle). Such folding-induced lattice transformations can trigger fundamental lattice-symmetry switches, which can either maintain or reconstruct the nearest-neighbor relationships according to a continuous symmetry measure. This study can foster the next generation of transformable lattice structures and materials with on-demand property tuning capabilities.
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