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arXiv 2024年

作者： Sikorski, Pascal Schrader, Leendert Yu, Kaleb Billadeau, Lucy Meenakshi, Jinka Mutharasan, Naveena Esposito, Flavio AliAkbarpour, Hadi Babaiasl, Madi Computer Science Department Aerospace & Mechanical Engineering Department Science Department Robotics Aerospace & Mechanical Engineering Department Saint Louis University Saint Louis United States

This paper investigates the possibility of intuitive human-robot interaction through the application of Natural Language Processing (NLP) and Large Language Models (LLMs) in mobile robotics. This work aims to explore the feasibility of using these technologies for edge-based deployment, where traditional cloud dependencies are eliminated. The study specifically contrasts the performance of GPT-4-Turbo, which requires cloud connectivity, with an offline-capable, quantized version of LLaMA 2 (LLaMA 2-7B.Q5 K M). These results show that GPT-4-Turbo delivers superior performance in interpreting and executing complex commands accurately, whereas LLaMA 2 exhibits significant limitations in consistency and reliability of command execution. Communication between the control computer and the mobile robot is established via a Raspberry Pi Pico W, which wirelessly receives commands from the computer without internet dependency and transmits them through a wired connection to the robot’s Arduino controller. This study highlights the potential and challenges of implementing LLMs and NLP at the edge, providing groundwork for future research into fully autonomous and network-independent robotic systems. For video demonstrations and source code, please refer to: https://***/MobileRobotGPT4LLaMA2024. © 2024, CC BY.

关键词： Human robot interaction

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Design considerations for piezocomposite materials for electrical stimulation in medical implants

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Journal of Medical engineering and Technology 2022年第5期46卷 402-414页

作者： Krech, Ember Haas, Evan Tideman, Grace Reinsch, Bonnie Friis, Elizabeth Bioengineering Graduate Program University of Kansas LawrenceKS United States Department of Mechanical Engineering University of Kansas LawrenceKS United States Department of Chemical Engineering University of Kansas LawrenceKS United States

Incidence of non-union following long bone fracture fixation and spinal fusion procedures is increasing, and very costly for patients and the medical system. Direct current (DC) electrical stimulation has shown success as an adjunct therapy to stimulate bone healing and increase surgery success rates, though drawbacks of current devices and implantable battery packs have limited widespread use. Energy harvesting utilising piezoelectric materials has been widely studied for powering devices without a battery, and a preclinical animal study has shown efficacy of a piezocomposite spinal fusion implant resulting in faster, more robust fusion. Most piezoelectric energy harvesters operate most effectively at high frequencies, limiting power generation from loads experienced by orthopaedic implants during human motion. This work characterises the efficient power generation capability of a novel composite piezoelectric material under simulated walking loads. Building on compliant layer adaptive composite stacks (CLACS), the power generation of mixed-mode CLACS (MMCLACS) is defined. Utilising poling direction to capitalise on in-plane strain generation due to compliant layer expansion, MMCLACS significantly increased power output compared to a standard piezo stack. The combination of radial and through-thickness poled piezoelectric elements within a stack to create MMCLACS significantly increases power generation under low-frequency dynamic loads. This technology can be adapted to a variety of architectures and assembled as a load-bearing energy harvester within current implants. MMCLACS integrated with implants would provide enough power to deliver bone healing electrical stimulation directly to the fusion site, decreasing non-union rates, and also could provide quantitative assessment of healing progression through load sensing. © 2022 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Energy harvesting

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Design Method for Wafer Dicing Machine Base Based on Calculations 9

Design Method for Wafer Dicing Machine Base Based on Calcula...

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9th International Conference on mechanical engineering, Materials, and Automation Technology, MMEAT 2023

作者： Tai, Au-Zou Fang, Jiunn Ph.D. Program of Mechanical and Aeronautical Engineering Feng Chia University Taichung40724 Taiwan Department of Aerospace and Engineering Feng Chia University Taichung City Taiwan

ISBN: (纸本)9781510668584

In recent years, the role of semiconductor industry has become crucial for development in various countries. The semiconductor industry mainly consists of three parts: silicon material production, integrated circuit wafer manufacturing, and integrated circuit packaging. This paper focuses on the analysis of the cutting structure of the backend equipment wafer dicing machine in the integrated circuit packaging process. Currently, the mainstream wafer dicing machines utilize two types of cutting methods: laser cutting and mechanical cutting. While laser cutting is necessary for certain materials due to the generation of debris, mechanical cutting using diamond saw blades still offers significant cost savings. In order to achieve optimal design for mechanical wafer dicing machines, this paper presents a design process specifically tailored for such machines that used of mechanical cutting method, taking the example of a vibration-isolated base for a 6-inch wafer dicing machine. © 2023 SPIE.

关键词： Integrated circuit design

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Shape and Pose Reconstruction of Robotic In-Hand Objects from a Single Depth Camera 1st

Shape and Pose Reconstruction of Robotic In-Hand Objects f...

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1st International Conference on Cognitive Computation and Systems, ICCCS 2022

作者： Jin, Xiaoxian Deng, Zhen Zhang, Zhenyu Lu, Liangjun Gao, Ge He, Bingwei Department of Mechanical Engineering and Automation Fuzhou University Fujian350108 China Maynooth International Engineering College Fuzhou University Fujian350108 China Mech-Mind Robotics Technologies Ltd. Beijing110000 China

ISBN: (纸本)9789819927883

This paper tackles the task of estimating the state of an object in a robotic hand. The state of the object includes its shape and posture, which is critically important for robotic in-hand manipulation. However, in-hand objects have self-occlusion, making it challenging to perceive their complete shape and posture. To address this challenge, this work proposed a point-clouds processing framework to achieve shape completion and pose estimation of the in-hand objects. Firstly, the input point cloud are segmented based region growing algorithm to obtain the points belonging to the target object. Then, we design a neural network with the auto-encoder structure to perform shape completion and 6D pose estimation of the in-hand object. The latent feature of the network is used to regress the 6D pose, i.e., position and orientation, of the object. The effectiveness of the proposed framework is evaluated by comparison experiment and real-word experiment. Experimental results show that our approach achieves significantly high accuracy in the shape completion and pose estimation of robotic in-hand objects. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： robotics

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Magnetically Driven Capsule Robot for Multi-Targeted Biopsy and Drug Delivery in Stomach

Magnetically Driven Capsule Robot for Multi-Targeted Biopsy ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xu, Zhihui Wei, Tanyong Li, Zongze Huang, Ding Liu, Shoubin Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350325706

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare. © 2023 IEEE.

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Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration 20

Design of Capsule Robot for Magnetic Gastric Biopsy and Drug...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Xu, Zhihui Li, Zongze Liu, Shoubin Hu, Chengzhi Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Harbin Institute of Technology School of Mechanical and Electrical Engineering Shenzhen China

ISBN: (纸本)9798350320831

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion. © 2023 IEEE.

关键词： Biopsy

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Learning to Detect Slip through Tactile Estimation of the Contact Force Field and its Entropy Properties

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IFAC-PapersOnLine 2024年第28期58卷 1091-1096页

作者： Xiaohai Hu Aparajit Venkatesh Yusen Wan Guiliang Zheng Neel Jawale Navneet Kaur Xu Chen Paul Birkmeyer Department of Mechanical Engineering University of Washington Seattle WA 98195 USA Amazon Robotics Seattle WA 98109 USA

Slip detection during object grasping and manipulation plays a vital role in object handling. Visual feedback can help devise a strategy for grasping. However, for robotic systems to attain a proficiency comparable to humans, integrating artificial tactile sensing is increasingly essential, especially in consistently handling unfamiliar objects. We introduce a novel physics-informed, data-driven approach to detect slip continuously for control-oriented tasks. Our work leverages the inhomogeneity of tactile sensor readings during slip events to develop distinct features and formulates slip detection as a classification problem. We test multiple data-driven models on 10 common objects under different loading conditions, textures, and materials to evaluate our approach. The resulting best classification algorithm achieves a high average accuracy of 95.61%. Practical application in dynamic robotic manipulation demonstrates the effectiveness of the proposed real-time slip detection and prevention.

关键词： Tactile sensing slip detection object manipulation machine learning

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Minimalistic Soft Exosuit for Assisting the Shoulder via Biomechanics-Aware Optimization 21

Minimalistic Soft Exosuit for Assisting the Shoulder via Bio...

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2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022

作者： Joshi, Sagar Beck, Irene Seth, Ajay Santina, Cosimo Della Mechanical Maritime and Materials Engineering Faculty TU Delft Delft Netherlands Robotics and Mechatronics Department Munich Germany

ISBN: (纸本)9798350309799

Soft exosuits can help to prevent work-related musculoskeletal disorders by offloading human muscles through the application of external forces across the human joints. Many exosuits achieve this through tension producing elements called as exotendons. However, the design of these devices is based on intuition and experience. This leads to potentially sub-optimal or even harmful designs that could cause discomfort or injury to the wearer. This paper deals with automatically finding appropriate attachments and routing locations for exotendons. We propose to do that by accurate musculoskeletal modeling and design parameter optimization of soft exosuits. We focus here on a soft exosuit with a single passive exotendon to assist the shoulder. Using three arm raising-lowering and internal-external rotation motions as examples, we optimize the attachment point and rest-length of the exotendon to reduce overall muscle effort. We then fabricate the exosuit and validate the model predictions by testing with six participants. Supporting the predictions from simulations, measured muscle activity shows reductions in the deltoid and trapezius muscles. This work represents the first instance of explicitly optimizing functional and geometric parameters of exotendons in wearable assistive devices for minimizing human effort. © 2022 IEEE.

关键词： Muscle

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Energy dissipation mechanism of annihilating reverse tilt domains for various applied voltages

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Physical Review E 2024年第4期109卷 044703-044703页

作者： Takuya Yanagimachi National Institute of Technology Akita College School of Creative System Engineering Department of Mechanical Engineering and Robotics 1-1 Iijima Bunkyo-cho Akita 011-8511 Japan

When a voltage is applied to a uniformly aligned nematic liquid crystal, a characteristic texture designated as reverse tilt domain (RTD) appears. The RTD, surrounded by a domain wall, gradually shrinks and finally disappears. The domain wall splits into a pair of disclination lines by increase of the voltage. This work examines the energy dissipation mechanism of annihilation dynamics by ascertaining the phenomenological viscosity Γ based on experimentation. To evaluate Γ, the time dependence of curvature radius R is analyzed using an equation R=At0−t, where A is a fitting parameter. Parameter A decreased linearly with increasing applied voltage and suddenly became constant. Also, Γ was evaluated from A as a function of voltage. When the voltage reaches a critical value, Γ increased sharply to be one order of magnitude greater than that under low voltages. The critical voltage is consistent with the theoretically expected value at which the splitting of domain wall occurs. The transition of Γ is described clearly by localized deformation of the director field.

关键词： Confinement Distortions & defects Elastic deformation Elastic forces Electric field effects Emergence of patterns Lubricants mechanical deformation

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Motion Detection Method of Electrostatic MEMS Resonators Operating in Aqueous Media 6

Motion Detection Method of Electrostatic MEMS Resonators Ope...

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6th International Youth Conference on Radio Electronics, Electrical and Power engineering, REEPE 2024

作者： Hemid, Mohamed Alattar, Basil Ghommem, Mehdi Ahmed, Alaaeldin Abdel-Rahman, Eihab Sabouni, Rana Mechatronics Graduate Program American University of Sharjah Sharjah United Arab Emirates American University of Sharjah Mechanical Engineering Department Sharjah United Arab Emirates Systems Design Engineering University of Waterloo Ontario Canada American University of Sharjah Chemical Engineering Department Sharjah United Arab Emirates

ISBN: (纸本)9798350382891

This paper introduces an experimental method to detect the motion of an electrostatic Micro-Electro-mechanical Systems (MEMS) resonator in aqueous media. The resonator comprises a micro cantilever beam subject to electrostatic actuation through a side electrode. A Finite Element Method (FEM) model of the resonator is developed to determine the in-plane mode shapes and their natural frequencies in order to facilitate the experimental study. The motion of the resonator lead to variations in its capacitance and induce a current. The developed experiments demonstrate that motion-induced current can be measured and analyzed to detect the motion of the resonator's higher-order modes and can be used in chemical sensing. © 2024 IEEE.

关键词： Electrostatics

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