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IEEE Conference on Aerospace

作者： Alexis Lopez Olaoluwayimika Olugbenle Michael C.F. Bazzocchi Department of Mechanical and Aerospace Engineering Astronautics and Robotics Laboratory (ASTRO Lab) Clarkson University Potsdam NY USA Department of Electrical and Computer Engineering Astronautics and Robotics Laboratory (ASTRO Lab) Clarkson University Potsdam NY USA Department of Mechanical and Aerospace Engineering Astronautics and Robotics Laboratory (ASTRO Lab) Clarkson University Potsdam NY Department of Earth and Space Science and Engineering York University Toronto Canada

The investigation and development of space-based food production systems are essential to improve the reliability and availability of fresh sustenance for astronauts. With their compact size and low-cost production, CubeSats can provide a unique platform for plant-based in-space experiments. Additionally, the combination of CubeSats and computer vision can allow for monitoring the health of plants during their growth cycles. This paper investigates the electronics and data handling of a crop growth module, otherwise referred to as an environmental monitoring and control subsystem (EMCS), as well as the integration of computer vision techniques for plant growth and development. Using the Otsu thresholding and holistically-nested edge detection algorithms, image segmentation and edge detection were performed, respectively. A support vector machine (SVM) was also employed to classify foliage and provide feedback on the plant’s health. The results from the system show that the computer vision approach can accurately predict the health of the plants based on color and texture. This study builds a foundation for future plant health monitoring research in deep space environments.

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Nonlinear Model Predictive Control using sampling and goal-directed optimization

Nonlinear Model Predictive Control using sampling and goal-d...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Damion D. Dunlap Charmane V. Caldwell Emmanuel G. Collins Department of Mechanical Engineering and the Center for Intelligent Systems Control and Robotics (CISCOR) Florida Agricultural and Mechanical University Tallahassee FL USA Department of Electrical and Computer Engineering CISCOR of the FAMU-FSU COE USA Department of Mechanical Engineering CISCOR of the FAMU-FSU COE USA

In this paper a novel method called Sampling-Based Model Predictive Control (SBMPC) is proposed as an efficient MPC algorithm to generate control inputs and system trajectories. The algorithm combines the benefits of sampling-based motion planning with MPC while avoiding some of the major pitfalls facing both traditional sampling-based planning algorithms and traditional MPC. The method is based on sampling (i.e., discretizing) the input space at each sample period and implementing a goal-directed optimization method (e.g., A*) in place of standard numerical optimization. This formulation of MPC readily applies to systems with nonlinear dynamics and avoids the local minima which can limit the performance of MPC algorithms implemented using traditional, derivative-based, nonlinear programming. The SBMPC algorithm is compared with a more standard online MPC algorithm using cluttered environment navigation for an Ackerman steered vehicle and a set point problem for a nonlinear, continuous stirred-tank reactor (CSTR).

关键词： Optimization Planning Vehicles Prediction algorithms Trajectory Heuristic algorithms Predictive models

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Integration of mechatronics design approach into teaching of modeling practices 122

Integration of mechatronics design approach into teaching of...

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2015 122nd ASEE Annual Conference and Exposition

作者： Jovanovic, Vukica M. Goris, Tatiana V. Djuric, Ana M. Katsioloudis, Petros J. Luetke, Nathan John Moustafa, Moustafa R. Matrood, Basim Department of Engineering Technology Frank Batten College of Engineering and Technology Old Dominion University United States Purdue University College of Technology ColumbusIN United States Wayne State University Department of Engineering Technology United States Industrial Technology Program Department of STEM Education and Professional Studies Old Dominion University NorfolkVA United States Engineering Technology Department Old Dominion University United States Old Dominion University Mechanical Engineering Technology Department United States Old Dominion University United States

engineering design has transformed significantly due to advances in embedded system design and computer technologies. Almost every mechanical design today has some electrical and electronic components. Many products manufactured today contain both electrical and mechanical components and systems. Mechatronics is a design process that is multi-disciplinary in nature and integrates principles of many engineering disciplines including, but not limited to, mechanical engineering and mechanical engineering technology, electrical engineering and electrical engineering technology, and controls engineering. Mechatronic systems can be found in many different places today. These range from computer hard drives and robotic assembly systems, to washing machines, coffee makers, printers, and medical devices, as well as to various advanced manufacturing machines and devices that are numerically controlled, such as additive manufacturing machines, rapid prototyping machines and multi-axis CNC machines. The main purpose for integrating a mechatronics themed activity into a computer-modeling course is to engage students in project-based learning through hands-on activities related to modeling a mechatronic device. Students learn the basics of electromechanical systems, the integration of machine elements (gear reducer) and the basics of actuators (electrical motor), all of which are fundamental to understanding mechatronic systems through activities related to the mechatronic design principles. Hence, engineering design for mechanical engineers and mechanical engineering technologists have to involve embedded multi-disciplinary knowledge with the understanding of both mechanical and electrical systems. This paper will focus on presenting the use of modeling as a vehicle to teaching more complex engineering concepts, such as gears, linkage analysis, animation and the solid modelling course content. © American Society for engineering Education, 2015.

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Nano-modified hybrid recycled composite: An alternative for ballistic shields 30

Nano-modified hybrid recycled composite: An alternative for ...

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30th Annual Technical Conference of the American Society for Composites, ASC 2015

作者： Oliveira, A. Munhoz, V. Monteiro, E. Ávila, A. Universidade Federal de Minas Gerais Graduate Studies Program in Mechanical Engineering 6627 Antonio Carlos Avenue Belo Horizonte Minas Gerais31270-901 Brazil Universidade Federal de Minas Gerais Mechanical Engineering Department 6627 Antonio Carlos Avenue Belo Horizonte Minas Gerais31270-901 Brazil

ISBN: (纸本)9781605952253

A critical issue on ballistic materials, in addition to the impact resistance is weight. One class of fibers that combines a good weight/impact resistant ratio is aramid fibers. The usage of aramid fibers into bulletproof vests takes the advantage of such good properties. However, the high cost of these fibers is a disadvantage and these vests cannot be discarded without proper treatment, thus a recycling procedure is urgent. This paper investigates new applications for aramid fabrics from discarded bulletproof vests and its application as ballistic shield. The new ballistic composite material is a hybrid laminate, where recycled aramid fibers are consolidated by epoxy resin and a shear thickening fluid (STF) reinforcement. The aramid fibers from bulletproof vests have an areal density of approximately 300 g/m2 (12.6 oz./yd2) and were intercalated to form a symmetric and balanced laminate. The epoxy system is an amine-cured bisphenol-A-diglycidyl ether epoxy resin from Barracudatec Inc., while the nano-reinforcements are colloidal silica and powder of organically modified montmorillonite nanoclay (Cloisite 30B). As this research deals with two different levels of analysis, i.e. the first one on nanoscale and the second one on macro scale, the experimental investigation must be divided in two different time frames. At nanoscale, the nanostructures are investigated by SEM and FTIR. At macro scale, ballistic tests are based on the NIJ Standard-0101.04. Two types of ammunition are considered, i.e. 9 mm Full Metal Jacketed (FMJ) and 357 Magnum Jacketed Soft Point (JSP). The results demonstrated a significant enhancement (close to 25%) in ballistic penetration resistance due to the addition of shear thickening fluid to the recycled fabric, without any loss in material flexibility. Moreover, the new system can be applied to shield and patrol cars protection system at low cost with the same efficiency of the new aramid fibers. Copyright © 2015 by DEStech Publications, Inc.

关键词： Aramid fibers

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Kinematic compatibility of a wrist robot with cable differential actuation: Effects of misalignment compensation via passive joints

TechRxiv

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TechRxiv 2021年

作者： Chishty, Haider A. Zonnino, Andrea Farrens, Andria J. Sergi, Fabrizio Human Robotics Laboratory Department of Biomedical and Mechanical Engineering University of Delaware NewarkDE19713 United States Haexel Robotics Rome Italy

We present the UDiffWrist (UDW), a low-impedance 2-DOF wrist exoskeleton featuring a cable-differential transmission. To investigate the effect of different design strategies for achieving kinematic compatibility, we developed two versions of this robot: One version (UDW-C) achieves kinematic compatibility only in the case of perfect alignment between human and robot joints. The second version (UDW-NC) connects the human and robot via passive joints to achieve kinematic compatibility regardless of alignment between human and robot joints. Through characterization experiments, we found that the UDW-NC was more robust to misalignments than the UDW-C: the increase in maximum interaction torque associated with misalignments was greater for the UDW-C than the UDW-NC robot (p = 0.003). However, the UDW-NC displayed greater Coulomb friction (p © 2021, CC BY.

关键词： Kinematics

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AN EXPERIMENTAL SYSTEM TO EXPOSE PERFUSED VASCULAR SEGMENTS TO CYCLIC BENDING EX-VIVO

AN EXPERIMENTAL SYSTEM TO EXPOSE PERFUSED VASCULAR SEGMENTS ...

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ASME 1997 International mechanical engineering Congress and Exposition, IMECE 1997 - Advances in Bioengineering

作者： Vorp, David A. Scveryn, Donald A. Mears, Jon R. Department of Surgery University of Pittsburgh PittsburghPA15213 United States Department of Mechanical Engineering University of Pittsburgh PittsburghPA15213 United States Department of Bioengineering Program University of Pittsburgh PittsburghPA15213 United States

ISBN: (纸本)9780791818237

Portions of coronary and other blood vessels undergo cyclic bending due to attachment to the heart or crossing of joints [1,4,9]. Bending of a vascular segment alters the local transmural stresses and strains [5,13] as well as the shear stresses acting on the endothelial surface [8,11]. Fluctuations in both shear stress and in-plane stretch have been shown to influence endothelial cell and smooth muscle cell biology [12]. The purpose of the present work was to create a model to expose perfused, intact vascular segments to cyclic bending in-vitro. Such a system would enable the assessment of the biologic response of vascular tissue to combined alterations in transmural stress and shear stress produced by cyclic bending. © 1997 American Society of mechanical Engineers (ASME). All rights reserved.

关键词： Shear stress

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Experimental performance evaluation on piezo-hydraulic pump using flexurally amplified piezoelectric actuators

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Materials Today: Proceedings 2023年 92卷 84-91页

作者： Nayak S. Muralidhara R. Department of Mechanical Engineering NMAM Institute of Technology (Visvesvaraya Technological University Belagavi) Nitte 574110 Karkala Taluk Karnataka Udupi District India Nitte (Deemed to be University) NMAM Institute of Technology (NMAMIT) Department of Robotics and Artificial Intelligence Nitte 574110 Karkala Taluk Karnataka Udupi District India

This paper presents an experimental study on a piezo-hydraulic pump using two different flexurally amplified piezoelectric (FAP) actuators. FAP actuators produce amplified displacement using piezoelectric stack actuators as prime mover. FAP376 and FAP640, having different characteristics are used as pumping actuator to pump the fluid from the piezo-hydraulic pump. The pumping chamber is made of stainless-steel metallic bellows and unidirectional valves are connected to the inlet and outlet port of the piezo-hydraulic pump. Mathematical model is developed for theoretical calculations on the flowrate of piezo-hydraulic pump. Also, pump flowrate is determined experimentally using flowmeter for two different FAP actuators and compared with the respective theoretical values. Further, performance evaluation is done by comparing the flowrate developed by the piezo-hydraulic pump at different actuation frequencies using two different FAP actuators. © 2023

关键词： Flowmeter Flowrate Piezo-hydraulic pump Piezoelectric actuators

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The anatomic determinants of conductive hearing loss secondary to tympanic membrane perforation

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Journal of Otology 2017年第3期12卷 125-131页

作者： David J.Carpenter Debara L.Tucci David M.Kaylie Dennis O.Frank-Ito Division of Head and Neck Surgery & Communication Sciences Department of Surgery Duke University Medical Center Durham NC USA Computational Biology & Bioinformatics PhD Program Duke University Durham NC USA Department of Mechanical Engineering and Materials Science Duke University Durham NC USA

Objectives: Recent studies have introduced middle ear volume(MEV) as a novel determinant of perforation-induced conductive hearing loss(CHL) in a mechanism driven by trans-tympanic membrane pressure differences. The primary aims of this preliminary report are to: 1) correlate CHL with perforation size; 2) describe the relationship between CHL and MEV; and 3) compare CHL across a range of cholesteatoma ***: A retrospective pilot study was performed in 31 subjects with audiometry indicative of conductive hearing loss, temporal bone CT scans,and no prior middle ear surgery. Perforation size and MEV were analyzed with respect to CHL in a cohort of 10 perforated ears with no cholesteatoma. CHLs were compared in 3 groups defined by extent of cholesteatoma ***: Ears with large and small perforations showed mean ABG values of 32.0 ± 15.7 dB and 16.0 ± 16.4 dB, respectively. A direct relationship was observed between MEV and CHL for ears with large perforations across all frequencies, whereas this relationship for small perforations was frequency-dependent. Finally, a statistically significant increase in CHL was found across ears with increasing cholesteatoma involvement at 1000 Hz(X^2(2) = 9.786, p = 0.008),2000 Hz(x^2(2) = 8.455, p = 0.015),and 4000 Hz(x^2(2)= 8.253, p = 0.016).Conclusions: These pilot data suggest that greater perforation-induced conductive hearing losses may be associated with larger perforation sizes and cholesteatoma. The correlation between MEV and CHL may require additional study.

关键词： Perforation-induced hearing loss Conductive hearing loss Middle ear volume Three-dimensional volume reconstruction

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Bedside Admittance Control of a Dual-Segment Soft Robot for Catheter-Based Interventions 46

Bedside Admittance Control of a Dual-Segment Soft Robot for ...

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46th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2024

作者： Barnes, Noah Jiang, Shaopeng Di, Lingyun Qu, Hannah Janowski, Miroslaw Berul, Charles I. Colton, Adira Young, Olivia Sochol, Ryan D. Brown, Jeremy D. Krieger, Axel Johns Hopkins University Department of Mechanical Engineering BaltimoreMD United States Johns Hopkins University Laboratory for Computational Sensing and Robotics BaltimoreMD United States Johns Hopkins University Department of Biomedical Engineering BaltimoreMD United States University of Maryland Baltimore Department of Diagnostic Radiology and Nuclear Medicine BaltimoreMD United States George Washington University School of Medicine Children's National Hospital Department of Pediatrics WashingtonDC United States University of Maryland Department of Mechanical Engineering College ParkMD United States

ISBN: (纸本)9798350371499

Robotic catheters enable precise steering of their distal tip while inside the body's blood vessels, and with this ability comes the need for control systems that fit into the clinical workflow. In this study, we propose a novel bedside admittance controller composed of a force/torque sensor with a 3D-printed handle and a low-profile table mount. The controller is intended to be placed at the insertion site to the body and allows simultaneous insertion and steering of a dual-segment fluid-actuated soft robot catheter. This teleoperated system is characterized and evaluated in a simulated cardiac ablation task using a two dimensional 3D-printed atrium-like cavity. Four novices controlled the soft robot catheter with an average position error of 0.4 mm and angle error of 4.6 degrees, as compared to position error of 1.0 mm and angle error of 18.2 degrees attained by an expert cardiologist using a standard ablation catheter. The controller enables intuitive control of a dual channel soft robot and the preliminary results indicate the potential advantage of such an approach in catheter-based interventions with increasingly complex catheter robots. © 2024 IEEE.

关键词： Ablation

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Simulation platform for autonomous aerial manipulation in dynamic environments

arXiv

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arXiv 2021年

作者： Quan, Fengyu Huang, Huisheng Zeng, Hongjie Chen, Haoyao Liu, Yunhui Department of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive results. In this paper, a new modular simulation platform is designed to evaluate aerial manipulation related algorithms before deploying. In addition, to realize a fully autonomous aerial grasping, a series of algorithm modules consisting a complete workflow are designed and integrated in the simulation platform, including perception, planning and control modules. This framework empowers the AM to autonomously grasp remote targets without colliding with surrounding obstacles relying only on on-board sensors. Benefiting from its modular design, this software architecture can be easily extended with additional algorithms. Finally, several simulations are performed to verify the effectiveness of the proposed system. Copyright © 2021, The Authors. All rights reserved.

关键词： Antennas

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