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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Endo, Wakana Chikushi, Shota Sueoka, Yuichiro Kato, Yuki Kimura, Kaito Ikemoto, Yusuke Komatsu, Ren Nagatani, Keiji Yamashita, Atsushi Asama, Hajime Graduate School of Engineering The University of Tokyo Department of Precision Engineering 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan Kindai University Department of Robotics 1 Takaya Umenobe Hiroshima739-2116 Japan Osaka University Department of Mechanical Engineering 2-1 Yamada-oka Osaka Suita565-0871 Japan Meijo University Department of Mechanical Engineering 1-501 Shiogamaguchi Tempaku-ku Aichi Nagoya468-8502 Japan Graduate School of Frontier Sciences The University of Tokyo Department of Human and Engineered Environmental Studies 5-1-5 Kashiwanoha Chiba Kashiwa277-8563 Japan

ISBN: (纸本)9798350312072

In this study, we propose a methodology for automating earthmoving tasks using autonomous excavators and dump trucks, with an aim to enhance adaptability in response to environmental changes. Our methodology involves a general architecture that fosters self-organized swarm behavior among the robots. Furthermore, we present an illustrative algorithm that evaluates the performance of a team of robots and adjusts the team composition based on this performance evaluation. This algorithm was implemented in a simulation test in a dynamic environment. The results demonstrate that our methodology enables the coordination of excavators and dump trucks in environmental changes. © 2024 IEEE.

关键词： Excavators

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A robotIc Radial palpatIon mechaniSm for breast examination (IRIS)

A robotIc Radial palpatIon mechaniSm for breast examination ...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： George P. Jenkinson Karl Tiemann Angeliki Papathanasiou Jonny Bewley Andrew T. Conn Antonia Tzemanaki Department of Mechanical Engineering University of Bristol UK Bristol Robotics Laboratory UK

In this paper we present IRIS, a manipulator that is capable of applying contact forces when interacting with an object/stimulus, in increments in the order of mN up to 6N at 5 radial locations simultaneously. IRIS is based upon the contractual mechanism of its namesake: the iris diaphragm often found in cameras. Complete coverage of the surface of a realistic breast phantom is demonstrated using this contractual mechanism combined with control over the angle of incidence between the sensors and the stimulus using sim-to-real concepts. A significant amount of the complexity in control is outsourced to the morphology and compliance of the mechanism. The manipulator demonstrates the technological feasibility of a robotic clinical breast examination.

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Design and Performance Comparison of Current References for a 32-bit Microcontroller Using 22nm Technology 16

Design and Performance Comparison of Current References for ...

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16th IEEE Latin American Symposium on Circuits and Systems, LASCAS 2025

作者： Barcelos, Eduardo A. Campagnucci, Pamela R. A. N. Munoz, Daniel M. Amaral, Wellington A. Haddad, Sandro A. P. Mechatronics Graduate Program Faculty of Technology Department of Mechanical Engineering Electronics Engineering Undergraduate Program University of Brasilia Faculty of Gama DF Brasilia Brazil

ISBN: (纸本)9798331522124

With the advancement of semiconductor technologies, the need for efficient power management solutions in integrated systems, such as RISC-V architecture-based microcontrollers, becomes increasingly critical. However, there is a lack of studies comparing current reference architectures in terms of performance and robustness, particularly in 22nm technologies. In this paper, we present a comparative analysis of two current reference designs implemented in the same technology-referred to as Reference Design A and Reference Design B. We focus on their approaches to thermal compensation, supply stability, and layout optimizations. Through simulations and experimental tests, we evaluate the performance of each design within a power management system that includes DC-DC converters and LDO regulators. Our results indicate that Design A exhibits superior power supply rejection with a PSRR of -85 dB, while Design B demonstrates enhanced energy efficiency and thermal stability, achieving a nominal current of 5.14 μA and a temperature coefficient of 16.21 ppm. These findings underscore the importance of balancing energy efficiency, thermal stability, and power supply variation rejection when selecting current references for low-power, high-reliability applications, such as those in the Internet of Things (IoT). © 2025 IEEE.

关键词： Integrated circuit layout

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Practical implementation and experimental testing of control system for vibratory lapping-polishing machine 64

Practical implementation and experimental testing of control...

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64th International Conference on Vibroengineering

作者： Kachur, Oleksandr Korendiy, Vitaliy Zakharov, Viktor Borovets, Volodymyr Havrylchenko, Oleksandr Palash, Roman Department of Technical Mechanics and Engineering Graphics Lviv Polytechnic National University Lviv Ukraine Galca Ltd Lviv Ukraine Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine Department of Motor Vehicle Transport Lviv Polytechnic National University Lviv Ukraine

Vibratory technological machines are widely implemented in various branches of industrial, manufacturing, and mechanical engineering. Particularly, such equipment can be effectively used while conducting finishing technological operations, e.g., lapping and polishing of different machine parts. The present paper is focused on developing the control system for the novel design of a vibratory lapping-polishing machine driven by six solenoids. The main purpose consists in providing the circular trajectory of the working member and ensuring the machining uniformity at each point of the surface being treated. In such a case, it is proposed to actuate the solenoids with the specified time shift depending on the forced frequency needed to be provided. The duration of the signal actuating the solenoid is equal to one-sixth of the total duration of a cycle (period) of the working body oscillation. The corresponding control approach is developed and simulated in the Tinkercad application, while the control system is designed based on the Arduino software and hardware. In addition, the laboratory prototype of the vibratory lapping-polishing machine and the corresponding control system are implemented in practice. The performed experimental investigations substantiate the possibilities of generating the circular oscillations of the working member of the vibratory lapping-polishing machine. The obtained results may be useful for engineers and technologists dealing with control systems of various vibratory technological equipment based on electromagnetic and solenoid-type drives. © 2023 JVE International. All rights reserved.

关键词： Polishing machines

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Design and Performance Comparison of Current References for a 32-bit Microcontroller Using 22nm Technology

Design and Performance Comparison of Current References for ...

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IEEE Latin American Symposium on Circuits and Systems (LASCAS)

作者： Eduardo A. Barcelos Pâmela R. A. N. Campagnucci Daniel M. Muñoz Wellington A. Amaral Sandro A. P. Haddad Department of Mechanical Engineering Faculty of Technology Mechatronics Graduate Program Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798331522124

ISBN: (纸本)9798331522131

关键词： Resistance Microcontrollers Power system management Stability criteria Energy efficiency Robustness Circuit stability Thermal analysis Internet of Things Thermal stability

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Injectable and rapidly expandable thrombin-decorated cryogels achieve rapid hemostasis and high survival rates in a swine model of lethal junctional hemorrhage

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Bioactive Materials 2024年第8期38卷 154-168页

作者： Syed Muntazir Andrabi S.M.Shatil Shahriar Al-Murtadha Al-Gahmi Benjamin L.Wilczewski Mark A.Carlson Jingwei Xie Department of Surgery-Transplant and Mary&Dick Holland Regenerative Medicine Program University of Nebraska Medical CenterOmahaNE68198USA Departments of Surgery-General Surgery and Genetics Cell Biology and AnatomyUniversity of Nebraska Medical CenterOmahaNE68198USA Department of Mechanical and Materials Engineering University of Nebraska LincolnLincolnNE68588USA

Effective therapies are urgently needed to stabilize patients with marginally compressible junctional hemorrhage long enough to get them to the hospital ***,we report injectable and rapidly expandable cryogels consisting of polyacrylamide and thrombin(AT cryogels)created by cryo-polymerization for the efficient management of lethal junctional hemorrhage in *** produced cryogels have small pore sizes and highly interconnected porous architecture with robust mechanical *** cryogels exhibit rapid shape memory properties and prove to be resilient against *** cryogels also show high water/blood absorption capacity,fast blood clotting effect,and enhanced adhesion of red blood cells and platelets in ***,in vivo,hemostatic efficacy tests in a lethal swine junctional hemorrhage model suggest that treatment with AT cryogels,especially AT-2 cryogels,achieves the least blood loss and the highest survival rate(100%)compared to currently employed products such as XStat®and combat *** high hemostatic performance of the cryogels may be attributed to highly interconnected porous architecture with small pore size and the use of thrombin as a pro-coagulant ***,injectable and rapidly expandable thrombin-decorated polyacrylamide-based cryogels show significant promise as hemostatic material,offering effective management of marginally compressible junctional hemorrhages in prehospital settings.

关键词： Polyacrylamide cryogels Blood clotting Shape memory and injectable Lethal junctional hemorrhage

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Automated Electrowetting-based Nanobiopsy System for Adherent Cells 20

Automated Electrowetting-based Nanobiopsy System for Adheren...

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

作者： Ruan, Muyang Hu, Weikang Ma, Yanmei Zhan, Zhen Hu, Chengzhi Southern University of Science and Technology Department of Mechanical Engineering and Energy Shenzhen China City University of Hong Kong Department of Biomedical Engineering Hong Kong Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China

ISBN: (纸本)9798350320831

cell nanobiopsy based on nanopipette is an effective approach to demonstrate the heterogeneity of cells and understand the roles of organelles, mRNA, and DNA of living cells. However, the manual operation of single-cell nanobiopsy has several drawbacks such as low throughput and operator variability. This paper proposes an automated nanobiopsy system containing aspiration under electrowetting based on two immiscible electrolytic solutions(TIES), cell detection, tip positioning, and contact detection for automated single-cell nanobiopsy. The physical model of TIES-based electrowetting was reported to describe the principle of aspirating fluid and evaluated to extract aqueous solution. The cell detection algorithm was utilized to obtain the nanobiopsy position of cells and evaluated on human umbilical cord vein endothelial cells (HUVEC), which provided an average of 90.8% true-positive rate (TPR) and 10.35% false-positive rate (FPR). The focus plane and tip of nanopipette were located by tip positioning algorithm based on template matching. The contact detection based on ion current feedback was employed for obtaining the distance between cells and the focus plane. Finally, the automated system accurately achieved single-cell nanobiopsy in ten to hundred living cells, which had 55.9% survival rate after sampling 220 cells totally. © 2023 IEEE.

关键词： Template matching

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DBPF: A Framework for Efficient and Robust Dynamic Bin-Picking

arXiv

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arXiv 2024年

作者： Li, Yichuan Zhao, Junkai Li, Yixiao Wu, Zheng Cao, Rui Tomizuka, Masayoshi Liu, Yun-Hui 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 University of California at Berkeley United States

Efficiency and reliability are critical in robotic bin-picking as they directly impact the productivity of automated industrial processes. However, traditional approaches, demanding static objects and fixed collisions, lead to deployment limitations, operational inefficiencies, and process unreliability. This paper introduces a Dynamic Bin-Picking Framework (DBPF) that challenges traditional static assumptions. The DBPF endows the robot with the reactivity to pick multiple moving arbitrary objects while avoiding dynamic obstacles, such as the moving bin. Combined with scene-level pose generation, the proposed pose selection metric leverages the Tendency-Aware Manipulability Network optimizing suction pose determination. Heuristic task-specific designs like velocity-matching, dynamic obstacle avoidance, and the resight policy, enhance the picking success rate and reliability. Empirical experiments demonstrate the importance of these components. Our method achieves an average 84% success rate, surpassing the 60% of the most comparable baseline, crucially, with zero collisions. Further evaluations under diverse dynamic scenarios showcase DBPF’s robust performance in dynamic bin-picking. Results suggest that our framework offers a promising solution for efficient and reliable robotic bin-picking under dynamics. Copyright © 2024, The Authors. All rights reserved.

关键词： Motion planning

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A 22nm CMOS PFM Buck Converter Used in a 32-Bit RISC-V Microcontroller for IoT Applications

A 22nm CMOS PFM Buck Converter Used in a 32-Bit RISC-V Micro...

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IEEE Latin American Symposium on Circuits and Systems (LASCAS)

作者： Luiz H. N. Oliveira Wellington A. Amaral Sandro A. P. Haddad Daniel M. Muñoz Eduardo A. Barcelos Vinícius V. M. Sotero Emmanuel K. M. Jonhson Pâmela R. A. N. Campagnucci Luis V. N. Lima Department of Mechanical Engineering Faculty of Technology Mechatronics Graduate Program University of Brasilia Brasilia DF Brazil Faculty of Gama Electronics Engineering Undergraduate Program

ISBN: (数字)9798331522124

ISBN: (纸本)9798331522131

The demand for efficient power management solutions in electronic devices has increased significantly, especially for microcontrollers operating in low-power modes. This article presents the design and implementation of a Pulse Frequency Modulation (PFM)-based buck converter for applications in 32-bit microcontrollers using 22nm CMOS technology. The methodology involves the development of a Constant On Time (COT) architecture that maintains a fixed duration for the activation of the high-side MOSFET, using a monostable multivibrator to generate the necessary timing signals. The converter's performance was simulated under various load conditions and process corners to evaluate its efficiency and output characteristics. The results show that the proposed buck converter achieves high efficiency, with peak values above 95%, while maintaining a low output ripple. Specifically, the converter exhibits an efficiency of 93.4% at a load of 1mA, with output ripple voltages as low as 2.20 mV under ideal conditions. The contributions of this work lie in the advancement of PFM converter technology for modern microcontroller applications, demonstrating the potential of 22nm CMOS processes to improve power efficiency and performance.

关键词： Semiconductor device modeling Performance evaluation MOSFET Buck converters Microcontrollers Power system management Multivibrators Timing Internet of Things Load modeling

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EXERGETIC ANALYSIS OF A SOLAR ENERGY-BASED HYDROGEN PRODUCTION SYSTEM 23

EXERGETIC ANALYSIS OF A SOLAR ENERGY-BASED HYDROGEN PRODUCTI...

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23rd World Hydrogen Energy Conference: Bridging Continents by H2, WHEC 2022

作者： Akci, Hilal Gunerhan, Huseyin Hepbasli, Arif Ege University Graduate School of Natural and Applied Science Mechanical Engineering Program Bornova Izmir35100 Turkey Ege University Faculty of Engineering Department of Mechanical Engineering Bornova Izmir35100 Turkey Yasar University Faculty of Engineering Department of Energy Systems Engineering Bornova Izmir35100 Turkey

ISBN: (纸本)9786250008430

In this study, energy, exergy and sustainability analyses are performed for a solar energy-based hydrogen production system, which is modeled with TRNSYS and engineering Equation Solver (EES) software packages. This system consists of solar photovoltaic panels (PVs), a controller, an electrolyzer, a metal hydride hydrogen tank used for hydrogen production and storage, and Proton Exchange Membrane Fuel Cell (PEMFC) for electricity storage. Dead state temperature is taken as 0 ºC. The results revealed that the PEMFC had the highest energy efficiency of 53.28%. Exergy efficiencies of the solar PV panel, the electrolyzer and the PEMFC were determined to be 9.66%, 60% and 29.39%, respectively. The exergetic sustainability index of the electrolyzer had the maximum value of 2.501. © 2022 Proceedings of WHEC 2022 - 23rd World Hydrogen Energy Conference: Bridging Continents by H2. All rights reserved.

关键词： Hydrogen production

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