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73rd International Astronautical Congress, IAC 2022

作者： Khurana, Saksham Schweitzer, Lydia Newman, Kyle J. Guevara, Emilio Department of Electrical and Computer Engineering Carnegie Mellon University 5000 Forbes Avenue PittsburghPA United States School of Computer Science Robotics Institute Carnegie Mellon University 5000 Forbes Avenue PittsburghPA United States Department of Mechanical Engineering Carnegie Mellon University 5000 Forbes Avenue PittsburghPA United States

The realm of planetary exploration is gravitating towards a smaller class of rover. These microrovers are technically and scientifically ambitious and offer high return on investment. With mission resource constraints and limited mass, size, power, and communications, these rovers must leverage light-weight yet robust power systems which enable autonomous exploration initiatives, environmental survivability, fault detection, isolation, recovery, and ultimately mission success. This paper presents methodology, design, analysis and results pertaining to the power system of MoonRanger, the first lunar microrover for measuring ice at the Moon's south pole on a NASA Commercial Lunar Payload Services (CLPS) mission. Radioisotope Thermoelectric Generator (RTG) power that pertains to large rovers is not viable for microrovers due to mass, budget and availability. Instead, the rover is equipped with a custom designed solar panel with 30.7% cell efficiency able to sustain the rover's battery system for a full lunar day. Coupled with 200 Wh of lithium ion battery power, the rover's power system supports autonomous exploration into darkness for up to 4 hrs of dark survival. This custom power system is a fraction of the mass and cost of a traditional rover. Power generated by the solar panel is distributed to the rest of the rover system via compartmentalized power switching groups. This compartmentalization improves fault isolation for the rover's on-board fault detection and mitigation system as well as for operators on Earth. For missions with lower budget and time, like MoonRanger, rigorous testing and purchasing of space-rated parts is not as feasible. This power system organization can also be used to isolate the various power switching groups allowing for simpler testing, integration, and operational mode configuration. This paper describes how the rover's solar panel attributes, power generation, analysis, distribution, and storage systems facilitate MoonRanger's ambitio

关键词： NASA

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A Chattering-free Fractional PDα Sliding-mode Control Of A 3-DOF Robot System Driven By DC motors

A Chattering-free Fractional PDα Sliding-mode Control Of A ...

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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Srecko A.Batalov Mihailo P.Lazarevi Ales Hace Karel Jezernik University of Belgrade Faculty of Mechanical EngineeringBelgrade Serbia University of Belgrade Faculty of Mechanical Engineering Department of MechanicsBelgrade Serbia Institute for Robotics Faculty of electrical engineering and computer scienceUniversity of Maribor Slovenia Institute for Robotics Faculty of electrical engineering and computer science University of Maribor Slovenia

This paper proposes a robust fractional-order sliding mode control of a3-DOF robot system driven by DC ***,a conventional sliding mode controller based on PDα sliding surface is *** simulations have been carried out ... 详细信息

关键词： DOF A Chattering-free Fractional PD Sliding-mode Control Of A 3-DOF Robot System Driven By DC motors

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Efficient Reinforcement Learning of Task Planners for Robotic Palletization through Iterative Action Masking Learning

arXiv

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arXiv 2024年

作者： Wu, Zheng Li, Yichuan Zhan, Wei Liu, Changliu Liu, Yun-Hui Tomizuka, Masayoshi The Department of Mechanical Engineering University of California BerkeleyCA United States The T Stone Robotics Institute The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong The Robotics Institute Carnegie Mellon University PA United States

— The development of robotic systems for palletization in logistics scenarios is of paramount importance, addressing critical efficiency and precision demands in supply chain management. This paper investigates the application of Reinforcement Learning (RL) in enhancing task planning for such robotic systems. Confronted with the substantial challenge of a vast action space, which is a significant impediment to efficiently apply out-of-the-shelf RL methods, our study introduces a novel method of utilizing supervised learning to iteratively prune and manage the action space effectively. By reducing the complexity of the action space, our approach not only accelerates the learning phase but also ensures the effectiveness and reliability of the task planning in robotic palletization. The experiemental results underscore the efficacy of this method, highlighting its potential in improving the performance of RL applications in complex and high-dimensional environments like logistics palletization. © 2024, CC BY.

关键词： Reinforcement learning

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Utilizing undergraduate engineering student research assistants in fuel cell durability and reliability testing;assessing their feasibility, benefits, value and contributions

Utilizing undergraduate engineering student research assista...

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2008 ASEE Annual Conference and Exposition

作者： Fletcher, Robert Lawrence Technological University Mechanical Engineering Department Lawrence Technological University Alternative Energy Program Lawrence Tech. DTE Energy Hydrogen Power Park Southfield MI United States

The question of whether undergraduate engineering students can provide meaningful support to a university's research program is not unusual. Undergraduate engineering students often have limited technical experience, and sometimes have yet to complete even basic academic courses required to fully understand the research activities involved. This paper evaluates, assesses and reviews the feasibility, benefits, value and contributions of undergraduate engineering students in a major fuel cell system research study at Lawrence Technological University. In the spring of 2006 Lawrence Technological University (LTU) entered into a fuel cell research program with the US Army Tank-Automotive Research, Development and engineering Center (TARDEC), in Warren, Michigan. The objectives of the research work were to build a fuel cell test stand, install a hydrogen gas tank supply system, and to test two 1.2 kW polymer electrolyte membrane (PEM) fuel cells to assess their performance, durability and reliability over a wide variety of operational and environmental conditions over a sixteen month period. In order to successfully accomplish this work nine student research assistants over the course of the program were required. All of these research student assistants were undergraduate engineering students from LTU's mechanical and Electrical engineering programs, with the exception of one who was an international graduate student in the LTU Master of Science in Automotive engineering program. This paper provides a review of the process utilized to hire and direct these student's work efforts, and gives a detailed description of their contributions and accomplishments. AU of the major research objectives for the program were achieved. We have found that students benefited not only from the engineering and technical understanding derived from such participation, but also in the soft-science areas of teamwork, time management, and multi-disciplinary activities. Detailed assessment data

关键词： Students

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Development of Semi-Active Truck Suspension

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IFAC Proceedings Volumes 1997年第8期30卷 467-472页

作者： M. Valasek M. Babic Z. Sika L. Magdolen Department of Mechanics Faculty of Mechanical Engineering Czech Technical University in Prague CZ Institute for Robotics and System Dynamics German Aerospace Research Establishment DLR Wessling FRG Department of Technical Mechanics Faculty of Mechanical Engineering Slovak Technical University Bradslava SK

Within the EC project Copernicus SADTS (Semi-Active Damping of Truck’s Suspension and Its Influence on Driver and Road Loads) the semi-active suspension for Liaz truck prototype is being developed. The objective is to decrease the dynamic road-tyre forces in order to reduce the road damage. It was necessary to develop a suitable truck prototype, its simulation model, different control concepts and to implement the semi-active suspension. The paper describes the development stages and the so far achieved results. The full mathematical model was the basis for simplified models for control designs and served as a reference model for comparison of different control concepts. The spatial three dimensional simulation model has been developed and verified. The base model includes also the reference inputs of excitation and the different criteria for performance evaluation. The purpose of the model was to investigate the vertical dynamics though with the influence of antisymmetry of uneveness and lateral motion. A number of different control concepts have been considered. Possible suitable control concepts have been selected from existing classical as well as advanced control design methods. Also several within this project newly developed approaches have been added. There have been considered the control concepts of simple approaches (sky hook), classical approaches (LQR), multi-objective multi-parameter optimization (ΜΟΡΟ), fuzzy and neural networks, robust control design. The newly developed control concepts are ground-hook and combination sky/ground-hook, robust multi-objective optimization based on Taguchi approach, fuzzy control based on optimization, structural approach (separate control of frame and cabine suspension). The performance criteria for evaluation have been road forces, driver’s seat and load accelerations, robustness against change of parameters. The comparison has been done on the simulation model in SIMPACK program package connected with MAT-LAB/SIMULI

关键词： semi-active damping road-tyre force truck road friendliness

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Speech-Vision Based Multi-Modal AI Control of a Magnetic Anchored and Actuated Endoscope

Speech-Vision Based Multi-Modal AI Control of a Magnetic Anc...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Jixiu Huang, Yisen Ng, Wing Yin Cheng, Truman Wu, Xixin Dou, Qi Meng, Helen Heng, Pheng Ann Liu, Yunhui Chan, Shannon Melissa Navarro-Alarcon, David Hang Ng, Calvin Sze Yan Chiu, Philip Wai Li, Zheng The Department of Surgery The Chinese University of Hong Kong Hong Kong Hong Kong The Department of Systems Engineering and Engineering Management The Chinese University of Hong Kong Hong Kong Hong Kong The Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Hong Kong The T Stone Robotics Institute The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Hong Kong The Department of Mechanical Engineering The Hong Kong Polytechnic University Hong Kong Hong Kong The Department of Surgery and the Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong Kong Hong Kong Hong Kong The Department of Surgery ChowYuk Ho Technology Centre of Innovative Medicine Li Ka Shing Institute of Health Science Multiscale Medical Robotics Center Ltd. The Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781665481090

In minimally invasive surgery (MIS), controlling the endoscope view is crucial for the operation. Many robotic endoscope holders were developed aiming to address this prob-lem,. These systems rely on joystick, foot pedal, simple voice command, etc. to control the robot. These methods requires surgeons extra effort and are not intuitive enough. In this paper, we propose a speech-vision based multi-modal AI approach, which integrates deep learning based instrument detection, automatic speech recognition and robot visual servo control. Surgeons could communicate with the endoscope by speech to indicate their view preference, such as the instrument to be tracked. The instrument is detected by the deep learning neural network. Then the endoscope takes the detected instrument as the target and follows it with the visual servo controller. This method is applied to a magnetic anchored and guided endoscope and evaluated experimentally. Preliminary results demonstrated this approach is effective and requires little efforts for the surgeon to control the endoscope view intuitively. © 2022 IEEE.

关键词： Endoscopy

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Novel cubic heterojunction Fe2O3/ZnO composite for the photocatalyst application

Novel cubic heterojunction Fe2O3/ZnO composite for the photo...

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International Conference on Advanced Materials in Environment, Energy and Health Applications, AMEEHA 2022

作者： Hemnil, P. Prapawasit, Y. Karthikeyan, V. Wongwuttanasatian, T. Seithtanabutara, V. Energy Engineering Program Faculty of Engineering Khon Kaen University 40002 Thailand Mechanical Engineering Division Khon Kaen University Khon Kaen40002 Thailand Center for Alternative Energy Research and Development Khon Kaen University Thailand Department of Chemical Division Khon Kaen University Khon Kaen40002 Thailand

Dye Sensitize Solar Cell (DSSC) gained attention as a replacement for silicon solar cells owing to operational and economic benefits. This study aims to synthesize the Fe2O3/ZnO composites using two different methods;Hydrothermal-calcination (HTC) and Hydrothermal (HT) method. The prepared samples structural properties were analysed using XRD, SEM/EDX, BET, FTIR, and TGA. It was found that the HT-Fe2O3/ZnO composite had a lower crystalline peak with a higher specific area of 34.855m2/g than HTC-Fe2O3/ZnO composite as the formation of ZnO and Fe2O3 was well hybrid structure via atomic substitution mechanism. The particle characterization of HTC-Fe2O3/ZnO showed that Fe2O3 surrounding ZnO and had the composition of Fe, Zn and O of 16.71wt%, 62.90wt% and 20.39wt%, respectively. HT-Fe2O3/ZnO showed a cubic structure with higher content ot Fe (47.63wt%), lower content of Zn (34.89wt%) and O (17.48wt%). Both composites prepared from HT and HTC methods attained high absorbency in the ultra-violet and visible range, advantageously HT-Fe2O3/ZnO exhibits better absorbance in the visible light range, thus, resulting in a band gap energy is lower to 2.98eV. Therefore, HT-Fe2O3/ZnO material is recommended for DSSC to achieve higher performance. © 2022 Elsevier Ltd.

关键词： Zinc oxide

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Kinematic measures of upper-extremity performance in the home setting for an individual post-stroke: A case report

Kinematic measures of upper-extremity performance in the hom...

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2013 6th International IEEE EMBS Conference on Neural engineering, NER 2013

作者： Wade, Eric R. Fan, Ting-Wei Justin Department of Mechanical Aerospace and Biomedical Engineering University of Tennessee Knoxville TN 37996 United States Baccalaureate/MD Program University of Southern California Los Angeles CA 90089 United States

ISBN: (纸本)9781467319690

Volitional use of the paretic upper-extremity after hemiparetic stroke is necessary for positive functional and neurological improvement. Unfortunately, much of the recovery process occurs outside of the purview of the trained clinician. Thus, maximizing recovery necessitates the development of tools that can monitor, and eventually intervene in, motor performance for individuals in ambient settings. The goal of this study is to evaluate the ability of tools developed to monitor performance in a lab to reveal meaningful information regarding performance in ambient settings. Using spectral analysis techniques developed for in-laboratory settings, we perform a case study analysis of an individual with chronic hemiparetic stroke. In particular, we evaluate the relationship of temporal and spectral kinematic characteristics of performance and the amount of limb use of the paretic and non paretic arms to determine function over the course of a 3-day monitoring period. By comparing kinematics to the amount of limb use, we describe the meaningfulness of our spectral measures for monitoring in-home performance. We find that spectral measures sensitive to performance differences in the paretic and non paretic limbs, in the lab, are also sensitive in the home setting. This may indicate that these tools can be used to evaluate motor performance in ambient settings, and reveal the progression of motor recovery in the home setting. © 2013 IEEE.

关键词： Kinematics

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Surface Modification of UHMWPE for Use in Total Joint Replacements

Surface Modification of UHMWPE for Use in Total Joint Replac...

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作者： Zhang, Min James, Susan P. King, Richard Beauregard, Guy Department of Mechanical Engineering Biomedical Engineering Program Colorado State University Fort Collins CO 80523-1374 United States DePuy Orthopedic Inc. 700 Orthopedic Drive Warsaw IN 46581-0988 United States

To create a hydrophilic, lubricious, more wear-resistant UHMWPE bearing, a novel hyaluronan (HA) derivative and novel UHMWPE-hyaluronan composite were developed. HA was silylated to increase its hydrophobicity and compatibility with UHMWPE. The silyl HA rapidly diffused into the connected pores of UHMWPE preforms in xylenes solution, and fixed within UHMWPE and on its surface after crosslinking. A micro-composite was obtained after hot-pressing the porous preform. The presence of HA film on the composite surface has been demonstrated through X-Ray photoelectron spectroscopy (XPS) analysis and Toluidine Blue O (TBO) dye assay. The aqueous contact angles of micro-composite samples were significantly lower compared with UHMWPE control samples, and the samples processed with hydrolysis prior to final molding were superior to those processed with hydrolysis after molding.

关键词： Biomedical engineering

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A MODEL FOR PULMONARY CAPILLARY BLOOD FLOW

A MODEL FOR PULMONARY CAPILLARY BLOOD FLOW

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ASME 1996 International mechanical engineering Congress and Exposition, IMECE 1996

作者： Dhadwa, Amit Wiggs, Barry Doerschuk, Claire M. Kammi, Roger D. Department of Mechanical Engineering The Center for Biomedical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Pulmonary Research Laboratory University of British Columbia VancouverBC Canada Physiology Program Department of Environmental Health Harvard School of Public Health BostonMA United States

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