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

作者： Pouya Ahmadian Rainier F. Natividad Chen-Hua Yeow Department of Mechanical and Industrial Engineering University of Toronto (UofT) Canada Department of Biomedical Engineering National University of Singapore (NUS) Singapore Advanced Robotics Center NUS

Soft robots are a burgeoning archetype in robotics due to their ability to perform intricate movements easily and seamlessly. They serve as an ideal concept for realistically emulating animal movements. However, the majority of soft robots today are unable to vary their motions due to the coupled interaction of the nature of their kinematics and structural composition. We therefore created Carpie, a robotic caterpillar adapted from a modular, pneumatic actuator. Carpie is designed to perform a variety of caterpillar movements by tuning its mechanical structure through physical reconfiguration. The robot has a completely soft body that enables a variety of movements and contortions into different shapes, making Carpie is perhaps the perfect example to showcase a soft robot's aptness for animal mimicry. We analyzed the robot's control aspect. Its capabilities were measured by performing gait velocity studies on three different configurations. Each configuration was executed by applying various modules on Carpie's structure without fully refabricating the entire assembly. We also analyzed the accompanying change in the robot's maximum height during gait. Finally, we demonstrate how physical reconfiguration was able to radically alter Carpie's movement, allowing it to perform a turning motion.

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Factors affecting use of ballistics gelatin in laboratory studies of bacterial contamination in projectile wounds

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Military Medical Research 2018年第4期5卷 304-313页

作者： Jessica J. Evans Aaron Bost Karim H. Muci-Küchler Linda C. DeVeaux Biomedical Engineering Program South Dakota School of Mines and Technology Mechanical Engineering Department South Dakota School of Mines and Technology Department of Biology New Mexico Institute of Mining and Technology

Background: Ballistics gelatin is a common tissue surrogate used in bacterial contamination models for projectile wounds. Although these studies have demonstrated that bacteria are transferred from the surface of the gelatin to the wound track by a projectile, quantifiable results have been inconsistent and not repeatable in successive ***: In this study, five areas of a typical contamination model in which bacterial recovery or survival are affected were identified for optimization. The first was a contaminated "skin" surrogate, where the novel use of vacuum filtration of a bacterial culture and buffer onto filter paper was employed. The other possibly problematic areas of the bacterial distribution model included the determination of bacterial survival when the contamination model is dried, survival in solid and molten gelatin, and the effect of high-intensity lights used for recording high-speed ***: Vacuum filtration of bacteria and buffer resulted in a consistent bacterial distribution and recovery. The use of phosphate buffer M9(pH 7) aided in neutralizing the ballistics gelatin and improving bacterial survival in solid gelatin. Additionally, the use of high-intensity lights to record high-speed video and the use of a 42℃ water bath to melt the gelatin were found to be bactericidal for gram-positive and gram-negative ***: Multiple areas of a typical contamination model in which bacterial survival may be impeded were identified, and methods were proposed to improve survival in each area. These methods may be used to optimize the results of bacterial contamination models for medical applications, such as understanding the progression of infection in penetrating wounds and to identify possible sources of contamination for forensic purposes.

关键词： Ballistics gelatin Wound Contamination Bacterial model

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Hysteresis Compensator with Learning-based Pose Estimation for a Flexible Endoscopic Surgery Robot

Hysteresis Compensator with Learning-based Pose Estimation f...

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

作者： Donghoon Baek Ju-Hwan Seo Joonhwan Kim Dong-Soo Kwon robotics program Korea Advanced Institute of Science and Technology Daejeon South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

The use of the tendon-sheath mechanism (TSM) is common in flexible surgery robots, because it can flexibly work in limited spaces and provides efficient power transmission. However, hysteresis from nonlinearities such as friction and backlash poses a challenge in controlling precise motion in the surgical instrument. Moreover, this hysteresis is also affected by changes in the various configurations of sheath which limits traditional model-based compensation approaches. Recently, feedback approach using an endoscopic camera is presented, but they use markers which are not appropriate for applying to a real surgical instruments. In this paper, a novel hysteresis compensator with learning-based pose estimation is proposed. Unlike previous studies, the proposed compensator can reduce hysteresis of the surgical instrument in various sheath configurations without using markers. In order to estimate an actual angle of the surgical instrument's joint, we employ the learning-based pose estimation using a siamese convolutional neural network (SCNN). The proposed compensator reduces hysteresis by partially controlling the position command, similar to the instinctive adjustments that physicians make with their visual feedback. To validate the proposed method, a testbed was constructed considering several requirements of flexible surgery robots. As a result, the results show the proposed method reduces hysteresis to less than 10°, for various configurations of sheath. In addition, we confirmed that the learning-based pose estimation is sufficient to apply to the proposed compensator for reducing hysteresis in real-time.

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Emergent spaces for coupled oscillators

arXiv

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arXiv 2020年

作者： Thiem, Thomas N. Kooshkbaghi, Mahdi Bertalan, Tom Laing, Carlo R. Kevrekidis, Ioannis G. Department of Chemical and Biological Engineering Princeton University United States Program in Applied and Computational Mathematics Princeton University United States Department of Mechanical Engineering Massachusetts Institute of Technology United States School of Natural and Computational Sciences Massey University New Zealand Department of Applied Mathematics and Statistics Johns Hopkins University United States

Systems of coupled dynamical units (e.g. oscillators or neurons) are known to exhibit complex, emergent behaviors that may be simplified through coarse-graining: a process in which one discovers coarse variables and derives equations for their evolution. Such coarse-graining procedures often require extensive experience and/or a deep understanding of the system dynamics. In this paper we present a systematic, data-driven approach to discovering "bespoke" coarse variables based on manifold learning algorithms. We illustrate this methodology with the classic Kuramoto phase oscillator model, and demonstrate how our manifold learning technique can successfully identify a coarse variable that is one-to-one with the established Kuramoto order parameter. We then introduce an extension of our coarse-graining methodology which enables us to learn evolution equations for the discovered coarse variables via an artificial neural network architecture templated on numerical time integrators (initial value solvers). This approach allows us to learn accurate approximations of time derivatives of state variables from sparse flow data, and hence discover useful approximate differential equation descriptions of their dynamic behavior. We demonstrate this capability by learning ODEs that agree with the known analytical expression for the Kuramoto order parameter dynamics at the continuum limit. We then show how this approach can also be used to learn the dynamics of coarse variables discovered through our manifold learning methodology. In both of these examples, we compare the results of our neural network based method to typical finite differences complemented with geometric harmonics. Finally, we present a series of computational examples illustrating how a variation of our manifold learning methodology can be used to discover sets of "effective" parameters, reduced parameter combinations, for multi-parameter models with complex coupling. We conclude with a discussion of possible ext

关键词： Neural networks

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Effects of Motion Parameters on Acceptability of Human-Robot Patting Touch

Effects of Motion Parameters on Acceptability of Human-Robot...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Naghmeh Zamani Pooja Moolchandani Naomi T. Fitter Heather Culbertson Department of Computer Science University of Southern California Los Angeles CA Institute of Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA Collaborative Robotics and Intelligent Systems (CoRIS) Institute Oregon State University Corvallis OR Departments of Computer Science and Aerospace and Mechanical Engineering University of Southern California Los Angeles CA

The following topics are dealt with: haptic interfaces; touch (physiological); vibrations; force feedback; virtual reality; skin; tactile sensors; feedback; biomechanics; and actuators.

ISBN: (数字)9781728102344

ISBN: (纸本)9781728102351

The following topics are dealt with: haptic interfaces; touch (physiological); vibrations; force feedback; virtual reality; skin; tactile sensors; feedback; biomechanics; and actuators.

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Correction to: The formation of new (Al, Zn)3Zr precipitates in an Al–Zn–Mg–Cu aluminum alloy after aging treatment and their response to dynamic compression

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Archives of Civil and mechanical engineering 2022年第1期23卷 1-1页

作者： Khan, Muhammad Abubaker Wang, Yangwei Afifi, Mohamed A. Tabish, Mohammad Hamza, Muhammad Yasin, Ghulam Ahmad, Tahir Liao, Wei-Bing College of Physics and Optoelectronic Engineering Shenzhen University Shenzhen China School of Materials Science and Engineering Beijing Institute of Technology Beijing China Mechanical Engineering Program School of Engineering and Applied Sciences Nile University Giza Egypt Smart Engineering Systems Research Centre (SESC) Nile University Giza Egypt School of Materials Science and Engineering Beijing University of Chemical Technology Beijing China Institute of Advanced Materials Bahauddin Zakariya University Multan Pakistan Department of Metallurgy and Materials Engineering College of Engineering and Emerging Technologies University of the Punjab Lahore Pakistan

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Research and Experimental Verification on Coupling mechanical Characteristics of Surrounding Rock of Hydraulic Support Group in Comprehensive Working Face

Research Square

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Research Square 2021年

作者： Zhang, Kun Chi, Zengxian Ma, Ying Li, Yu-Xia Feng, Long Li, Teng-Da Xu, Ya-Jun Chen, Hong-Yue Zhang, De-Sheng Huang, Liang-Song Shandong Provincial Key Laboratory of Robotics and Intelligent Technology Shandong University of Science and Technology Qianwangang Road 579 Shandong Province Qingdao266590 China Coal Mining Technology Department Tiandi Science and Technology Co． Ltd． Qingniangou Road 5 Beijing100013 China College of Mechanical Engineering Liaoning Technical University Yulong Road 88 Liaoning Province Fuxin123000 China

The hydraulic support group and the surrounding rock in fully mechanized mining faces often do not exist in isolation;rather, they compose in a mutually coupled system. Research on the mechanical characteristics of roofs under the support of group supports can lay a foundation for the determination of the ideal support strength of group support equipment. This paper establishes a coupled mechanical model of the surrounding rock of hydraulic support groups in a fully mechanized mining face. Through variable parameter calculations, the influence of different roof elastic moduli, mining heights, working face lengths, end face distances, support stiffnesses, coal wall stiffnesses and direct roof thicknesses on roof deformation is analyzed, and the corresponding ideal support strength of a hydraulic support is given. The results show that: the deformation of the roof and the ideal support strength of the hydraulic support group decrease as the elastic modulus of the roof increase;the deformation amount of the roof and the ideal support strength of the hydraulic support group increase as the mining height increases;the deformation amount of the roof and the ideal support strength of the hydraulic support group increase as the working face length increases;the deformation amount of the roof and the hydraulic support group also increase. The results also show that the ideal support strength of the support group decreases as the face distance of the top beam end increases;the deformation of the roof decreases significantly as the equivalent stiffness of the hydraulic support group increases, but the ideal support strength of the hydraulic support group increases significantly;the deformation amount of the roof and the ideal support strength of the hydraulic support group decrease significantly as the equivalent stiffness of the coal wall increases;and the deformation amount of the roof and the hydraulic support are significantly reduced. The ideal support strength of the sup

关键词： Roofs

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Multi-objective Optimization of Aluminum Anode Baking Process Employing a Response Surface Methodology

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Energy Procedia 2019年 158卷 5541-5550页

作者： Abdul Raouf Tajik Tariq Shamim Ahmed F. Ghoniem Rashid K. Abu Al-Rub Department of Mechanical Engineering Masdar Institute Khalifa University Masdar City P.O.Box 127788 Abu Dhabi United Arab Emirates Mechanical Engineering Program University of Michigan-Flint Flint Michigan 48502 USA Department of Mechanical Engineering Massachusetts Institute of Technology Massachusetts 02139 USA

In the aluminum anode baking furnace, the operational parameters have a significant influence on the furnace performance and the resulting anode quality. For this furnace, an important parameter is the fire-cycle, which determines the production rate of the baking kiln and the anodes quality. Shorter fire-cycle results in a higher furnace production rate and a higher fuel consumption (same anode temperature should be obtained in a shorter time). For a particular fire-cycle, flue-gas soaking temperature and soaking time are the other two key parameters that affect anode temperature distribution and furnace energy consumption. Limited studies in the literature focused on employing the traditional one-factor-a-time (OFAT) method to investigate the effect of these factors. Based on a simplified multi-physics model, a high-fidelity computational tool named ABKA (anode baking kiln analysis) software is developed to investigate the effects of these key operational parameters on the anode baking furnace heating performance. ABKA is employed to conduct a three-factors, two-level full factorial design, with a center point, to investigate the effects of varying fire-cycle, soaking temperature, and soaking time on furnace production rate, fuel consumption, and anode maximum, minimum and average temperature. The advantage of the present approach compared to the traditional one-factor-a-time (OFAT) method is that it can provide adequate information on interactions of different input variables, to effectively estimate the significance level of each factor, and to identify clear optimal settings of the three variables. Using ANOVA (analysis of variance), the effect and significance level of each factor and their interactions are effectively estimated. It is observed that soaking temperature has the highest impact on the final anode temperature distribution. Considering the furnace fuel consumption as a response, it is perceived that soaking time and soaking temperature jointly are

关键词： Anode baking furnace factorial design multi-objective optimization fire-cycle time soaking temperature soaking time

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Analyzing the Implications of New Technologies to the Management of Operations – Protocol Proposal and Application Illustration

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Procedia Manufacturing 2019年 39卷 904-912页

作者： Paulo Henrique Brunheroto Cassiano Souza Beller Fernando Deschamps Manufacturing Engineering Graduate Program Department of Mechanical Engineering Federal University of Parana Curitiba PR Brazil Industrial and Systems Engineering Graduate Program Polytechnic School Pontifícia Universidade Católica do Paraná Curitiba PR Brazil

The increasing adoption of new automation and information technologies are transforming production systems into cyber-physical systems (CPS). Although consulting companies have developed management frameworks to better characterize the implications of these technologies to how operations are managed, mainly focusing on new business models, efficiency, and effectiveness, the real impacts on decision areas (e.g., quality management) and performance objectives (e.g., flexibility) are still unclear. How are management systems being transformed? Are new managerial approaches emerging that address the particularities of new technologies? What are the critical success factors for conducting this transformation? To address these questions, a more systematic approach needs to be undertaken. This paper contributes to this by presenting a protocol to be used in systematic studies of the implications of the adoption of new technologies to the management of operations, and by illustrating its application to the analysis of the adoption of a cognitive vision system in an automotive manufacturer primarily deployed for improving product quality. The analysis protocol is based on Pettigrew’s dimensions of context, content, and process for change initiatives and is further subdivided into information requirements, variables to be analyzed and its potential sources of data. The case shows that the application of the protocol was able to reveal that besides expected effects on quality and productivity, new forms of interaction among workers and between workers and supervisors emerged that need further investigation. From the results of the case, future applications of the protocol are discussed.

关键词： management of operations transformation quality management cognitive vision system

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Expanded Diameter of Coronary Metal Stent: Simulation and Experiment

Expanded Diameter of Coronary Metal Stent: Simulation and Ex...

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International Conference on Bioinformatics, Biotechnology, and Biomedical engineering - Bioinformatics and Biomedical engineering (BioMIC)

作者： Alva Edy Tontowi Ogy Satria Ramadhani Sukiman Nurul Aulia Dewi Nahar Taufiq Department of Mechanical and Industrial Engineering Universitas Gadjah Mada Yogyakarta Indonesia Department of Mechanical Universitas Khairun Ternate Indonesia Department of Mechanical and Industrial Engineering Faculty of Engineering Yogyakarta Indonesia Biomedical Engineering Biotechnology Program Study Universitas Gadjah Mada Yogyakarta Indonesia

The following topics are dealt with: biomedical materials; diseases; finite element analysis; medical image processing; medical disorders; medical signal processing; electroencephalography; cellular biophysics; biolog... 详细信息

ISBN: (数字)9781728147116

ISBN: (纸本)9781728147123

关键词： Stress Numerical models Simulation Hydraulic systems Steel Scanning electron microscopy

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