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Multi-mode input shapers for eliminating residual vibrations

JMST Advances 2024年第3期6卷 247-256页

作者： Kang, Chul-Goo Kang, Brian Byunghyun Department of Mechanical Engineering Konkuk University Seoul Korea Department of Artificial Intelligence and Robotics Sejong University Seoul Korea

When an abrupt input is applied to engineering systems, residual vibrations generally occur. These residual vibrations degrade operational performance, reduce productivity, and lower control accuracy; therefore, they must be eliminated as quickly as possible. Recently, input shaping control methods, which eliminate residual vibrations by appropriately shaping the command input, have received significant attention as a means to control these vibrations. Traditional input shaping control primarily targets systems with a single vibration mode, and even when addressing two vibration modes, it has not systematically classified and handled multi-mode input shapers. In this paper, we systematically classify multi-mode vibrations and design multi-mode input shapers capable of eliminating multi-mode vibrations at once for each category. Additionally, we propose performance indices to evaluate the performance of multi-mode input shapers in cases with multiple vibration modes.

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Development of a Mixed-Reality Dual-User Training System for Robot Laparoscopic Surgery

Development of a Mixed-Reality Dual-User Training System for...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Chen, Ting-You Young, Kuu-Young Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan National Yang Ming Chiao Tung University Department of Electrical Engineering Hsinchu Taiwan

ISBN: (纸本)9781665410205

As robot surgery becomes more popular these days, it consequently solicits a high demand on its training system. Currently, most of the systems are intended for personal training, while it may be more effective if an experienced expert can also be involved. It thus motivates us to propose a dual-user robotic surgical training system that can closely link the mentor and trainee together. The system is developed in a mixed-reality environment that integrates the information from both the virtual and real worlds. The haptic feedback and virtual fixtures are employed for assistance during skill transfer. The proposed system can assess the proficiency level of the trainee for the mentor to provide proper assistance during training. The experimental results demonstrate that the proposed system is capable of enhancing the trainee's ability for surgery. Especially, similar effectiveness is observed during comparative studies with direct hands-on guidance frequently adopted for skill transfer during sport training. © 2024 IEEE.

关键词： Robotic surgery

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Dynamics of a wheeled robot driven by an unbalanced rotor and equipped with the overrunning clutches 62

Dynamics of a wheeled robot driven by an unbalanced rotor an...

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62nd International Conference on Vibroengineering

作者： Korendiy, Vitaliy Kachur, Oleksandr Gurey, Volodymyr Kuzio, Igor Hurey, Tetyana Havrylchenko, Oleksandr Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine Department of Transport Technologies Lviv Polytechnic National University Lviv Ukraine

Vibration-driven locomotion principles are currently of significant interest among designers and researchers dealing with mobile robotics. Among a great variety of robots chasses, the wheeled ones are the most commonly used. The major purpose of this study consists in defining the dynamic characteristics of the wheeled vibration-driven robot equipped with the centrifugal (inertial) vibration exciter (unbalanced rotor) and overrunning clutches ensuring the robot's wheels rotation in one direction. The research methodology is divided into three basic stages: developing the robot's dynamic diagram and deriving the motion equations followed by numerical modeling in the Mathematica software;designing the 3D-model and simulating the robot motion in the SolidWorks software;creating the experimental prototype and conducting the full-scale tests. The obtained results show the time dependencies of the robot's body acceleration, speed, and displacement at certain operational conditions. The main scientific novelty of the paper resides in substantiating the relationships between the robot's design parameters and its dynamic characteristics under different operational conditions. The performed investigations can be useful for researchers and designers dealing with vibration-driven robots, capsule-type locomotion systems, pipelines inspecting vehicles, etc. Copyright © 2023 Vitaliy Korendiy, et al.

关键词： Numerical models

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Energy-exergy and exergoeconomic analysis of a hydrogen-enriched spark-ignition engine fueled with premium gasoline-ethanol blends

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International Journal of Hydrogen Energy 2025年 137卷 689-709页

作者： Kumbhar, Sujit Khot, Sanjay Bhapkar, Udaysinh Patil, Vishal Singh, Paramvir Husainy, Avesahemad Department of Technology Shivaji University Kolhapur India Automation and Robotics Department Sharad Institute of Technology College of Engineering Yadrav Ichalkaranji India Mechanical Engineering Department Sharad Institute of Technology College of Engineering Yadrav Ichalkaranji India Kolhapur India Department of Mechanical Engineering National Institute of Technology Agartala India

Hydrogen is a promising alternative fuel for internal combustion engines due to its renewable nature, low emissions, and superior combustion performance. In the current research, the effects of hydrogen enrichment were studied on the thermodynamic analysis of spark ignition engines using premium gasoline-ethanol blends. The blends were prepared with a partial addition of ethanol (10 % and 20 % by volume) in premium gasoline and hydrogen was injected during combustion for 2, 3, 4, and 5 μs. The testing was done on the varying engine speeds at 1500, 2000, 2500, 3000, and 3500 rpm. Energy and exergy analyses, entropy generation, and sustainability index were assessed for different fuel blends and contrasted with premium gasoline. The brake thermal efficiency and exergy efficiency were found maximum at 2500 rpm engine speed for all tested fuel blends. The BTE of E10H5 fuel blend is 18 % higher than premium gasoline and the exhaust gas energy of the E10H5 fuel blend is 12 % higher than premium gasoline at 2500 rpm. Among all tested fuel blends, the E10H5 fuel blend showed prominent results. The present experimental investigation focuses on energy-exergy analyses of premium gasoline-ethanol blends with enriched hydrogen at different injection times to assess the potential fuel blends. These blends will help to reduce dependency on conventional fossil fuels by enriching hydrogen without modification of the engine. © 2025 Hydrogen Energy Publications LLC

关键词： Hydrogen engines

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FISS+: Efficient and Focused Trajectory Generation and Refinement Using Fast Iterative Search and Sampling Strategy

FISS+: Efficient and Focused Trajectory Generation and Refin...

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2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023

作者： Sun, Shuo Chen, Jie Sun, Jiawei Yuan, Chengran Li, Yuanchen Zhang, Tangyike Ang, Marcelo H. National University of Singapore Department of Mechanical Engineering Singapore119077 Singapore Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Shaanxi Xi'an China

ISBN: (纸本)9781665491907

Trajectory planning plays a crucial role in autonomous driving systems, as it is tasked to generate feasible trajectories under highly dynamic scenarios within the time constraint. This paper proposes a novel two-stage coarse-to-fine framework for efficient sampling-based trajectory planning. The proposed method is designed to iteratively generate new trajectory samples focused on the low-cost regions in the sampling space. Two trajectory exploration algorithms are well-designed for efficient search in discretized coarse global space and continuous fine local space, respectively. Experimental results on the first-of-its-kind planning benchmark tool CommonRoad show that our method significantly outperforms the baseline methods both in optimality and computational efficiency. Overall, our approach offers a promising solution for efficient and effective trajectory planning in more autonomous vehicle applications. © 2023 IEEE.

关键词： Trajectories

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Protective Effects of Electrical Stimulation on Brain Neurons Before and After mechanical Damage

Transactions of Japanese Society for Medical and Biological ...

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Transactions of Japanese Society for Medical and Biological engineering 2023年第2-3期61卷 39-45页

作者： Sano, Hiroumi Nakadate, Hiromichi Course of Bioengineering Department of Mechanical Engineering and Robotics Faculty of Textile Science and Technology Shinshu University Japan

Repeated mild head trauma, specifically concussion, is a risk factor in contact sports such as judo, soccer, and American football. Concussion is a transient disturbance of the consciousness with no clear abnormality on computerized tomography or magnetic resonance imaging, and repeated trauma can cause psychiatric symptoms such as cognitive impairment and depression. Transcranial direct current and deep brain electrical stimulations have been reported to recover movement, consciousness, and cognitive disorders in patients with sequelae of head trauma. However, the mechanism of neuroplasticity induced by the brain stimulation has not been comprehended completely. In this study, we focused on the formation of neural circuits, which is important for the recovery of high brain functions, and we investigated the effectiveness of electrical stimulation on the mechanically injured neurites. Neurons were isolated from the cerebral cortexes of fetal rats and mechanically injured by cutting neurites using a micropipette. Neurite outgrowth was measured via microscopic observation under the following conditions: no electrical stimulation group with mechanical injury (Control), electrical stimulation group with 300 mV/mm, 20 Hz, and 15 min for 3 days before(Pre) or after(Post) mechanical injury, and electrical stimulation group for 3 days before and 3 days after mechanical injury(Pre-Post). When the neurite length after mechanical injury was less than 450 µm, the neurite lengths at day 3 were 650 ± 60 µm in Control, 851 ± 111 µm in Pre, 975 ± 135 µm in Post, and 929 ± 128 µm in Pre-Post. Conversely, when the neurite length after mechanical injury was greater than 450 µm, the neurite lengths at day 3 were 864 ± 69 µm in Control, 1419 ± 137 µm in Pre, 1236 ± 128 µm in Post and 1458 ± 145 µm in Pre-Post. These results indicate that electrical stimulation before injury promotes neurite outgrowth after injury. The stimulation effect decreased after 2 days but continued electrical st

关键词： Brain

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Vibration analysis of nonuniform and curved-axis flexure hinges/beams by a recursive dynamic compliance matrix

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Thin-Walled Structures 2025年 215卷

作者： Wu, Shilei Zhu, Jie Wei, Huaxian Zhang, Yiteng Ling, Mingxiang School of Mechanical Engineering Suzhou University of Science and Technology Suzhou215009 China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Suzhou215123 China Department of Mechanical Engineering College of Engineering Shantou University Shantou515063 China

Dynamic analysis plays a crucial role in designing flexure hinges/beams and their composed compliant mechanisms and structures. However, the complexity of nonuniform profiles and variable-curvature curved axes often presents significant modeling challenges. In this paper, we introduce a novel dynamic compliance matrix (DCM) with the idea of beam discretizing and mass grounding to efficiently analyze the static compliance and vibrational behavior of both straight and curved-axis flexure hinges/beams. A recursive formulation of the presented DCM is established for all kinds of nonuniform, curved-axis and folded flexure hinges/beams by developing the scheme of dynamic compliance matrix summation for serial chains and dynamic stiffness matrix summation for parallel branches. A designer just needs to prepare the concerned geometry of hinges/beams and follow a step-by-step matrix summation operation without being caught into laborious and even unsolvable derivations. To demonstrate the effectiveness of the recursive DCM, three case studies are presented. Comparisons with theoretical methods in literature, finite element simulations and experimental testing confirm the advantages of the recursive DCM for both kinetostatic compliance and vibration analyses of complex flexure hinges/beams, as well as their composed compliant building blocks. © 2025 Elsevier Ltd

关键词： Vibration analysis

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programmable hybrid-drive actuator for compact and bimodal continuum robot modules

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International Journal of mechanical Sciences 2025年 297-298卷

作者： Lee, Haneol Oh, Namsoo Lee, Jin-Gyu Rodrigue, Hugo School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Department of Intelligent Robotics Sungkyunkwan University Suwon Korea Republic of Department of Mechanical Engineering Dankook University Yongin Korea Republic of

Continuum robots have emerged as a promising solution for robotic applications ranging from medical interventions to structural inspections. However, their capabilities are often limited by restricted deformation modes and a reduced range of motion, especially when operating near their base due to the minimum length of conventional actuation modules. This study introduces compact hybrid-drive actuator modules that combine tendon-driven actuation with a network of inflatable tubes. This concept allows for building actuators that can switch between either extension and bending deformations or extension and twisting deformations depending on the configuration of the inflatable tubes. An axial tendon routed through the center of each module generates the deformation, while the inflatable tubes provide a controllable deformation bias that defines the actuation mode. This approach diverges from conventional continuum actuators which typically rely on the selective contraction of multiple tendons to achieve different deformation patterns. The use of inflatable tubes as structural elements also enables extreme compressibility, allowing the modules to occupy minimal space when not actuated. The developed bending/extension (B/E) actuator demonstrated a maximum elongation exceeding 660 % and a maximum bending angle of 80°, while the twisting/extension (T/E) actuator achieved a maximum elongation of 600 % and a bidirectional twisting angle of 120°. These modules were assembled into a continuum robot capable of operating effectively near its base, enabled by the combination of high compressibility and multimodal actuation. © 2025 Elsevier Ltd

关键词： programmable robots

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CHITOSAN-COLLAGEN COMPOSITE SCAFFOLDS FOR GROWTH DIRECTION GUIDANCE OF PC12 AXONS

CHITOSAN-COLLAGEN COMPOSITE SCAFFOLDS FOR GROWTH DIRECTION G...

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ASME 2024 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2024

作者： Tsai, Po-Yu Lin, Ying-Ting Wang, Gou-Jen Graduate Institute of Biomedical Engineering National Chung-Hsing University Taichung Taiwan PhD Program in Tissue Engineering and Regenerative Medicine National Chung-Hsing University Taichung Taiwan Department of Mechanical Engineering Graduate Institute of Biomedical Engineering National Chung-Hsing University Taichung Taiwan

ISBN: (纸本)9780791888421

In this study, nerve conduits of chitosan and collagen composites with biocompatibility and biodegradability were fabricated. The effects of material composition and surface morphology on the axonal growth and directionality of rat epinephric pheochromocytoma PC12 were investigated. The cells were separated by a PDMS structure to simulate nerve injury, and the growth of axons of PC12 cells was observed under the separation of large gaps. At the same time, mitochondria extracted from osteosarcoma cybrid cells (C2-GFP) were added to the culture to investigate the effect of healthy mitochondria on axon differentiation and growth. The experimental results showed that the chitosan-collagen composite film can promote the growth of PC12 axons more effectively than the pure chitosan film. Cell culture results at different groove widths also showed that smaller grooves resulted in more axon numbers and longer axon lengths. Nerve injury simulation experiments showed that the nerve repair could be almost completed after 12 days of culture. Copyright © 2024 by ASME.

关键词： Mitochondria

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The Application of Machine Learning in Sentiment Analysis of Social Media and E-commerce: A Review of Methods and Techniques

The Application of Machine Learning in Sentiment Analysis of...

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International Carpathian Control Conference (ICCC)

作者： Agata Nawrocka Marcin Nawrocki Andrzej Kot Marcin Słychan Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland Departament of Mechinery Engineering and Transport Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

The paper describes the application of machine learning for sentiment analysis in the context of social media and e-commerce. It presents a literature review and an overview of available sentiment analysis methods, such as sentiment classification, the use of lexicons, machine learning methods (e.g., SVM, decision trees), and word embedding techniques. Both traditional approaches and modern solutions based on deep learning are thoroughly *** the practical part of the thesis, sentiment analysis was conducted on data collected from social media platforms such as Twitter and Reddit. Various machine learning algorithms were utilized, and the model's behavior was analyzed based on different activation functions.

关键词： Deep learning Support vector machines Sentiment analysis Analytical models Recurrent neural networks Social networking (online) Text categorization Electronic commerce Systematic literature review Sorting

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