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SICE Annual Conference

作者： Ahmed Khalifa Mohamed Fanni Toru Namerikawa Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Department of System Design Engineering Keio University Yokohama Japan Department of Production Engineering and Mechanical Design Mansoura University Mansoura Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology

ISBN: (纸本)9781509009374

Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that this system is very susceptible to actuators' faults. In this paper, a Passive Fault Tolerant Control System is proposed to address this issue with robust and optimal performance. The robustness is achieved using a linear Disturbance Observer (DOb) loop. Based on the linearization capability of DOb, a standard Model Predictive Control (MPC) is then used and the resulting control scheme is characterized by both a low computational load and optimal actuators' efforts with respect to conventional nonlinear robust solutions. This controller is tested to achieve the tracking of a point-to-point task space references under the effect of actuators' faults, picking/releasing a payload, changing the operating region, and measurement noise. Efficacy of the proposed technique is verified via numerical simulations.

关键词： Manipulators Actuators Robustness Payloads Mathematical model

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Behavior-Based Control with Learning from Demonstration for Path Following Applied to Mobile Robots Soccer

Behavior-Based Control with Learning from Demonstration for ...

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IEEE Latin American robotics Symposium, LARS

作者： Matheus de S. Luiz M. A. Pastrana Guilherme Achilles de Oliveira e Aguiar R. B. Costa Luiz F. Rodrigues e Silva Faculty of Gama Electronics Engineering Undergraduate Program Department of Mechanical Engineering Mechatronics Graduate Program Faculty of Technology Mechatronics Engineering Undergraduate Program Faculty of Gama Aerospace Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

Learning from Demonstration (LfD) enables robots to learn new tasks through an imitation process. This methodology can be combined with Behavior-Based Control (BBC), which facilitates the abstraction of behaviors for the robot by dividing them into micro-behaviors. These can be implemented using Artificial Neural Networks trained by bio-inspired algorithms. In this work, a novel methodology based on the LfD and BBC methods is proposed for controlling soccer robots, specifically for the Very Small Size Soccer (VSSS) category, which demands quick and dynamic responses. Simulations using CoppeliaSim were conducted to demonstrate how the proposed methodology can be used for path planning and path-following problems in the IEEE VSSS category.

关键词： Measurement Training Heuristic algorithms Artificial neural networks Turning Robustness Path planning Robots Optimization Sports

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Prediction of chip back-flow angle in machining with restricted contact grooved tools

American Society of Mechanical Engineers, Manufacturing Engi...

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American Society of mechanical Engineers, Manufacturing engineering Division, MED 2000年 11卷 891-898页

作者： Fang, N. Jawahir, I.S. Ctr. for Robotics and Mfg. Systems Department of Mechanical Engineering University of Kentucky Lexington KY 40506-0108 United States

This paper presents a new predictive model for chip back-flow angle in machining with restricted contact grooved tools. This model is derived from the recently established universal slip-line model for machining with restricted contact cut-away tools. A comprehensive definition of the chip back-flow angle is first developed, and based on this, a quantitative analysis of the effect of chip back-flow is presented for the given set of cutting conditions, tool geometry and variable tool-chip interfacial stress state. This model also predicts cutting forces, chip thickness ratio and chip up-curl radius. A full experimental validation of the predictive model involving the use of high speed filming techniques is then presented for chip back-flow angle and this validation provides a range of feasible/prevalent tool-chip interfacial frictional conditions for a given set of input conditions.

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Microfluidic Devices for Nanoparticle Targeted Delivery and Permeability Evaluation

Microfluidic Devices for Nanoparticle Targeted Delivery and ...

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2016年大连国际微纳流体和微流控芯片大会(2016 International Conference of Microfluidics, Nanofluidics and Lab-On-A-Chip

作者： Yaling Liu Antony Thomas Chris Uhl Department of Mechanical Engineering and Mechanics Bioengineering Program Lehigh University Bethlehem USA

This talk covers characterization and evaluation of nanoparticle targeted delivery and permeability *** systems have been widely used in diagnostic imaging and targeted therapeutic applications in recent *** of the major challenges in nanomedicine is to improve particle selectivity and adhesion efficiency under complex vascular flow *** developed an integrated microvascular mimetic microfluidic testing platform to evaluate nanoparticle targeted delivery under vascular flow.A monolayer of endothelium cell is formed in the channel and activated locally through TNF-α to mimic the physiological diseased *** binding dynamics and permeability under a range of shear rates are characterized to evaluate the targeting *** aim to provide a systematic design and evaluation tool toward a virtual vascular platform for nanomedicine testing.

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Transcriptomic Investigation of Bioeffects from Microbubble and Focused Ultrasound Assisted Blood Brain Barrier Opening

Transcriptomic Investigation of Bioeffects from Microbubble ...

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2023 IEEE International Ultrasonics Symposium, IUS 2023

作者： Song, Jane J. Martinez, Payton J. Song, Kang-Ho Garay, Francis Mufford, Toni Green, Adam Serkova, Natalie Borden, Mark University of Colorado Boulder Biomedical Engineering Program Boulder United States University of Colorado Boulder Department of Mechanical Engineering Boulder United States University of Colorado Department of Radiology Anschutz Medical Campus Aurora United States University of Colorado Department of Pediatric Oncology Anschutz Medical Campus Aurora United States

ISBN: (纸本)9798350346459

Microbubbles stimulated by focused ultrasound is a rapidly emerging technique for noninvasively permeabilizing the blood brain barrier (BBB) for the delivery of therapeutic agents. Despite its prevalence, much is still unknown regarding the bioeffects of blood brain barrier opening (BBBO), such as the sterile inflammatory response (SIR). Testing a range of 4 microbubble volume doses (MVD) and 3 mechanical indices (MI), our study aims to investigate how these two parameters influence BBBO and the subsequent SIR RNA transcriptomic responses following permeabilization. Our results highlight that MVD and MI both influence the onset and degree of BBBO, with higher MVD and MI exhibiting the greatest degree of agent delivery compared to lower doses. Additionally, RNA sequencing analysis revealed that the most enriched gene sets are indeed associated with an inflammatory response. Through analysis of BBBO volume and RNA transcriptomics, a therapeutic window was established and indicated a region between BBBO and the onset of SIR where the BBB is permeabilized without significant inflammation. These results may help to standardize BBBO parameters to improve the safety and efficacy of drug delivery into the brain and confront gaps in knowledge regarding the biological mechanisms behind BBBO. © 2023 IEEE.

关键词： RNA

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Preparation and photoluminescence properties of green-emittingLiYb1-xTbx(MoO4)2(x = 0. 01-1) phosphors

Preparation and photoluminescence properties of green-emitti...

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China Functional Material Technology and Industry Forum, CFMTIF 2015

作者： Qiao, Xue-Bin Seo, Hyo-Jin Jiangsu Key Laboratory of Advanced Laser Materials and Devices School of Physics and Electronic Engineering Jiangsu Normal University Xuzhou221116 China Department of Physics and Interdisciplinary Program of Biomedical Mechanical and Electrical Engineering Pukyong National University Busan608-737 Korea Republic of

ISBN: (纸本)9783038357551

Tb3+-doped LiYb1-xTbx(MoO4)2 (x = 0. 01-1) solid solutions were prepared by solid state reaction. Structural of the solid solution series was carried out by X-ray powder diffraction. By increasing the Tb3+concentration, the XRD results reveal that LiYb1-xTbx(MoO4)2 adopt a tetragonal structure with space group of I4(No. 82) and transfer to tetragonal structurewith space group of P41/a(No. 88)systemically. The emission and excitation spectra were employed to characterize the synthesized phosphors. Theexcitation spectra showed that LiYb1-xTbx(MoO4)2 can be efficiently excited by the lights of 250-500 nm, which well match with the emission wavelength of near-UV and blue LEDs chips. The phosphor showed bright green luminescence peaking at around 545 nm under the excitation at 266 nm and 490 nm. The Luminescence intensities are investigated under different Tb3+ concentrations. The luminescence decay and the color coordinates were also discussed in order to further investigate the potential applications. © 2016 Trans Tech Publications, Switzerland.

关键词： Luminescence

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Issues in reshaping innovative professionally oriented graduate education to meet the needs of engineering leaders in industry in the 21st century

Issues in reshaping innovative professionally oriented gradu...

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2000 ASEE Annual Conference and Exposition: engineering Education Beyond the Millenium

作者： Keating, Donald A. Stanford, Thomas G. Bennett, Ronald J. Jacoby, Roxanne Mendelson, Mel I. University of South Carolina University of St. Thomas Cooper Union Loyola Marymount University Department of Mechanical Engineering University of South Carolina Department of Chemical Engineering University of South Carolina Grad. Prg. in Mfg. Syst. and Eng. Undergraduate Engineering Programs University of St. Thomas St. Paul MI Department of Mechanical Engineering Los Angeles CA Eng. and Prod. Mgmt. Grad. Program LMU Los Angeles CA

Issues associated with professionaly relevant graduate education for graduate engineers in industry are discussed. The need to reshape professionally oriented graduate education for engineers in industry is raised by practicing profession in industry, worldwide. Measures are being taken by nations around the world to promote technological competitiveness and to attract, create, grow and retain world class technology-based industry for economic growth. Development of funding for the continual improvement/renewal of the collaborative university alliance to ensure continuity for further long-term collaborative educational innovation within the US.

关键词： engineering education

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Kinematic calibration of a 3RRPS metamorphic parallel mechanism

Kinematic calibration of a 3RRPS metamorphic parallel mechan...

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ASME 2020 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Chai, Xuheng Nurahmi, Latifah Dai, Jian S. Gan, Dongming MOE Key Laboratory for Mechanism Theory and Equipment Design International Centre for Advanced Mechanisms and Robotics Tianjin University Tianjin China Department of Mechanical Engineering Institut Teknologi Sepuluh Nopember Kampus ITS Sukolilo Surabaya60111 Indonesia Kinematics and Robotics Lab Centre for Robotics Research King’s College London Strand LondonWC2R 2LS United Kingdom School of Engineering Technology Purdue University West LafayetteIN47907 United States

ISBN: (纸本)9780791883990

In this paper, a kinematic calibration method is developed for a 3rRPS metamorphic parallel mechanism with respect to all unknown parameters. Each limb of the 3rRPS mechanism is composed of (rR), P, and S joints. Two joints are actuated, namely P and r joints, hence the mechanism is able to switch between the 3RPS parallel mechanism and 3US parallel mechanism. The geometric constraint equations of the 3rRPS mechanism are initially established. Then, the optimization problems for the base, platform and actuated prismatic lengths during given trajectory are formulated by using the global search optimization algorithm. A physical model of the 3rRPS metamorphic parallel mechanism is built and an experiment is setup to validate the proposed calibration and optimization models. The external device, i.e., the OptiTrack is used during the experiment for motion capture system. All unknown parameters are identified and optimized by dint of the geometric properties of this mechanism and nonlinear optimization algorithms. The experimental results demonstrate that the proposed calibration method is valid and effective. Copyright © 2020 ASME

关键词： Mechanisms

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A control architecture for arm/hand manipulating system

A control architecture for arm/hand manipulating system

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International Conference on Advanced robotics (ICAR)

作者： S. Payandeh A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada School of Engineering Science Simon Fraser University Burnaby BC Canada Department of Mechanical Engineering University of Toronto Toronto ONT Canada

The arm/hand manipulating system considered in this paper consists of a large robot (the arm) carrying a small mechanism (the hand) which through its coordinated motion is able to perform tasks in a manufacturing work-cell. In general, the arm subsystem is used to locate its end-point where the hand is connected at a specific location or to move it along a given trajectory. The hand can then be used to pick up an object or a tool, for placing the object or performing a machining task. This paper presents a control architecture for an arm/hand manipulating system. In particular, contributions of the paper are a method for controlling the fingers of the hand mechanism and classification of the forces which can act on the arm/hand system.< >

关键词： Control systems Force control Automatic control robotics and automation Robot kinematics Machining Fingers Manipulators Laboratories mechanical engineering

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Transient heat transfer in a packed-bed elliptic cylindrical reactor: A finite-volume approach

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Defect and Diffusion Forum 2017年第1期380卷 79-85页

作者： Moura da Silva, R. Barbosa de Lima, A.G. Gomes de Oliveira, L. Vasconcellos Araújo, M. Sousa Santos, R. Federal University of Campina Grande Center of Science and Technology Process Engineering Postgraduate Program Campina Grande Paraíba58429-900 Brazil Federal Institute of Education Science and Technology of Paraíba Princesa Isabel Paraíba58755-000 Brazil Federal University of Campina Grande Center of Science and Technology Mechanical Engineering Department Campina Grande Paraíba58429-900 Brazil Federal University of Campina Grande Center of Science and Technology Chemical Engineering Department Campina Grande Paraíba58429-900 Brazil

This work aims to develop a transient three-dimensional mathematical model using the elliptic cylindrical coordinate system, to predict heat transfer in a elliptic cylindrical packed fixed bed reactor. The model considers variable thermo physical properties and a parabolic temperature profile at the fluid inlet. The governing equation is solved using the finite volume method. Results of temperature profile along the reactor are presented and discussed at different *** was verified that the maximum heat transfer rate inside the reactor occurs near the extreme region close to minor semi-axis of the ellipse;the higher temperatures at the reactor surface are also in this region, along the entire height of the bed;the steady-state regime is reached at t = 4.5 s of process, presenting after this time interval,small axial temperature gradients and high radial gradients along of the reactor bed;the parabolic temperature profile give to the bed a predominance of radial temperature gradients, and the radial porosity profile favours a higher heat transfer rate at reactor surface. © 2017 Trans Tech Publications, Switzerland

关键词： Heat transfer

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