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A comprehensive review of effective parameters to improve the performance of the Savonius turbine using a computational model and comparison with practical results

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Water-Energy Nexus 2024年第1期7卷 266-274页

作者： Jebelli, Ali Lotfi, Nafiseh Saeid Zare, Mohammad Yagoub, Mustapha C.E. Department of Engineering and Design Robotic Century Inc Alberta Canada Faculty of New Science and Technologies Tehran University Tehran Iran School of Electrical Engineering and Computer Science University of Ottawa ON Canada

Amidst growing global concerns over climate change and escalating greenhouse gas emissions from fossil fuels, the pursuit of renewable energy sources has become critical. This study focuses on harnessing hydropower using Savonius turbines, which are known for their efficiency in generating energy at lower flow rates. However, the intrinsic low efficiency of these turbines necessitates precise optimization tailored to specific river or channel conditions. In this research, we optimized the performance of Savonius turbines by analyzing key parameters such as the height-to-diameter ratio, blade twist, and the integration of multi-stage configurations with deflectors. Our findings reveal significant efficiency improvements through strategic modifications. Specifically, by reducing the height-to-diameter ratio from 1.2 to 0.8 and maintaining a Tip Speed Ratio (TSR) of 0.6, the power coefficient increased by 15%, from 0.33 to 0.38. Further optimization was achieved by adjusting the blade twist angle, with an increase in power coefficient up to an optimal angle of 45°, beyond which efficiency declined. Implementing a two-stage turbine setup with a 90-degree phase difference between stages further improved the power coefficient to 0.51 at the same TSR. Additionally, the use of deflectors, particularly at a 90° angle, significantly boosted the power coefficient, highlighting their effectiveness in optimizing water flow impact on the turbine. This comprehensive study not only advances the understanding of Savonius turbine optimization but also contributes to broader renewable energy applications. The research offers critical insights into sustainable hydroelectric power generation, providing practical solutions to enhance turbine performance for real-world applications. © 2024

关键词： Clean energy

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Microscale unorganized wrinkle topographies on biomaterial surfaces modulate cell migration

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Journal of Biorheology 2024年第2期38卷 120-125页

作者： Sasaki, Saori Eguchi, Keita Wei, Ming Takahashi, Ryu Sera, Toshihiro Takeishi, Naoki Kudo, Susumu Department of Mechanical Engineering Faculty of Engineering Kyushu University Fukuoka Japan Department of Mechanical Engineering Graduate School of Engineering Kyushu University Fukuoka Japan Department of Medical and Robotic Engineering Design Faculty of Advanced Engineering Tokyo University of Science Tokyo Japan

Directional migration of eukaryotic cells results from an interplay between cell motility and environmental cues such as stiffness, roughness, and microtopological features of substrates. While the effects of aligned grooves on the substrate lithographically designed on active cell migration are well documented, the impact of unorganized and wrinkled substrates remains poorly understood. We investigated how microscale wrinkles on gelatin substrates regulate two-dimensional (2D) migration of immortalized human mesenchymal stem cells (iMSCs). We showed that there exists an optimal wrinkle size to enhance iMSC migration, where the iMSCs exhibited larger travel distance with moderate wrinkle size (30 μm) than shorter or larger wrinkle sizes (10 μm and 50 μm). These findings reveal a size-dependent effect of wrinkles on iMSC migration and provide insights into designing biomaterials to control stem cell behavior in regenerative medicine applications. © Japanese Society of Biorheology 2024.

关键词： Stem cells

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Numerical simulation and optimization of a circular open channel for fish farming using Computational Fluid Dynamics (CFD)

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Water-Energy Nexus 2023年第1期6卷 96-111页

作者： Jebelli, Ali Zare, Mohammad Saeid Lotfi, Nafiseh Yagoub, Mustapha C.E. Department of Mechanical Engineering University of Alberta Edmonton Canada Faculty of New Science and Technologies Tehran University Tehran Iran Department of Engineering and Design Robotic Century Inc Alberta Canada School of Electrical Engineering and Computer Science University of Ottawa ON Canada

Open canals are one of the most common and cost-effective methods in water supply networks;they are widely used in different industries such as agriculture, water and sewage treatment, urban drainage, pisciculture and water parks. Due to global warming, the demand in clean energy to replace fossil fuels has caused using water turbines in riverbeds and aqueducts to be important. On this basis, optimizing key parameters such as flow motion and canal turbulence is crucial to reduce breakdowns while designing canals. In fact, the inappropriate adjustment of velocity and pressure within the canals may lead to the system failure: imbalance between inlet and outlet will increase the water level and the pressure on canal walls thus, leading to breakdown. In this paper, a circular open canal was designed for a pisciculture system. The velocity and height of the water canal is controlled by the canal inlet and outlet system and the water flows continuously inside the canal. By keeping the canal water volume constant in any time and the flow motion with constant velocity, the system makes the fishes feel infinite movement. Furthermore, the water particles and impurities (e.g., food and fish feces) are removed by the outlet from the canal bottom, transferred to the filtration system, and returned to the fish farm by the canal inlet after the filtration procedure;the mentioned technique causes the water canal to be kept at its optimal level. Computational Fluid Dynamics (CFD) has been used to simulate the canal flow. Solving the Navier-Stokes equations numerically and assuming incompressible, unsteady, and two-phase flow, the parameters of the canal flow were extracted. Also, by mounting the system outlet along the path of water movement, greatly reduces the adverse effects of the outlet suction force on the canal main flow. Moreover, by dividing the canal inlet with guide vanes, the inlet has been modified for the entrance of the clean water simultaneously with the distribution

关键词： Computational fluid dynamics

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Person Re-Identification Based on Spatial Feature Learning and Multi-Granularity Feature Fusion

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Journal of Shanghai Jiaotong university(science) 2025年第2期30卷 363-374页

作者： DIAO Zijian CAO Shuai LI Wenwei LIANG Jianan WEN Guilin HUANG Weici ZHANG Shouming Faculty of Information Engineering and Automation Kunming University of Science and TechnologyKunming 650500China Robotic Laboratory South China Robotics Innovation Research InstituteFoshan 528300GuangdongChina Foshan Zhiyouren Technology Co. Ltd.Foshan 528300GuangdongChina Robotic Laboratory Institute of Intelligent ManufacturingGuangdong Academy of SciencesGuangzhou 510070China

In view of the weak ability of the convolutional neural networks to explicitly learn spatial invariance and the probabilistic loss of discriminative features caused by occlusion and background interference in pedestrian re-identification tasks,a person re-identification method combining spatial feature learning and multi-granularity feature fusion was ***,an attention spatial transformation network(A-STN)is proposed to learn spatial features and solve the problem of misalignment of pedestrian spatial *** the network was divided into a global branch,a local coarse-grained fusion branch,and a local fine-grained fusion branch to extract pedestrian global features,coarse-grained fusion features,and fine-grained fusion features,*** them,the global branch enriches the global features by fusing different pooling *** local coarse-grained fusion branch uses an overlay pooling to enhance each local feature while learning the correlation relationship between multi-granularity *** local fine-grained fusion branch uses a differential pooling to obtain the differential features that were fused with global features to learn the relationship between pedestrian local features and pedestrian global ***,the proposed method was compared on three public datasets:Market1501,DukeMTMC-ReID and *** experimental results were better than those of the comparative methods,which verifies the effectiveness of the proposed method.

关键词： pedestrian re-identification spatial features attention spatial transformation network multi-branch network relation features

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Enhanced Gesture Recognition Through Graph-Based Multimodal Fusion 14

Enhanced Gesture Recognition Through Graph-Based Multimodal ...

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14th IEEE International Conference on Signal Processing, Communications and Computing, ICSPCC 2024

作者： Rehman, Mobeen Ur Ilyas, Talha Seneviratne, Lakmal Hussain, Irfan Khalifa University KU Center for Autonomous Robotic Systems Abu Dhabi United Arab Emirates Clayton 3168 Monash University Monash Medical AI Group Faculty of Engineering and Computer Science VIC Australia

ISBN: (纸本)9798350366556

This study introduces an advanced framework for recognizing hand gestures from a first-person view, leveraging the integration of multimodal data including optical flow, pose, depth, and RGB video recordings. Adeptly navigating the challenges and opportunities presented by the integration of multimodal data. At its core, the framework employs two pivotal components: a cross-attention based adaptive graph convolutional network and relational graph interactions for modality fusion. The former is designed to extract features from skeleton-based gesture data, ensuring a nuanced capture of hand movements by emphasizing the interconnections within the hand's skeletal structure. The latter component innovatively models each output modality feature as a node in a fully connected relational graph, facilitating the fusion of heterogeneous data types through dynamic interactions between modalities. This approach allows for the leveraging of each data type's strengths and the mitigation of their weaknesses, significantly enhancing the system's classification accuracy and robustness. Tested on a public benchmark dataset, the framework achieved a remarkable accuracy of 98.48%, demonstrating its efficacy. Moreover, it proves resilient, maintaining strong performance (93.48% accuracy) even in scenarios where only one modality is available, highlighting its potential for real-world applications. This advancement sets a new benchmark in hand gesture recognition, promising future developments in multimodal data fusion. © 2024 IEEE.

关键词： Musculoskeletal system

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Integrated Cam Contour Optimization Method Considering Kinematic and Dynamic Characteristics: A Paradigm of Offset Press Open-Close Gripper Mechanism

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Journal of Shanghai Jiaotong University (science) 2024年 1-13页

作者： Li, Wenwei Cao, Shuai Qian, Qian Zhang, Yaling Chen, Nan Robotic Laboratory South China Robotics Innovation Research Institute Guangdong Foshan528300 China Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou510070 China Foshan Zhiyouren Technology Co. Ltd. Guangdong Foshan528300 China School of Mechanical Engineering Southeast University Nanjing211189 China

To efficiently search out the optimal cam contour, a software integrated optimization method considering cam mechanism’s kinematic and dynamic characteristics was presented, and its effectiveness was demonstrated by a case study of the cam contour optimization for an offset press open-close gripper mechanism. The acceleration curve and the residual vibration model of the follower were separately studied. A symmetric harmonic trapezoidal curve was designed to control the follower’s acceleration, and single-DOF lumped parameter torsional vibration model was proposed to describe the follower’s residual vibration. Accordingly, corresponding motion curve design software and Simulink vibration model of the follower were developed respectively, and they were integrated into an automatic optimization platform with iSIGHT. The multi-objective optimization with objectives of minimizing both the acceleration and the residual vibration of the follower was completed within the platform by using NSGA-II algorithm. An appropriate point with lower acceleration and residual vibration was chosen from Pareto front as an optimal solution of the follower’s motion curve. Based on the follower’s new motion curve, the actual cam contour was generated by inverse kinematic simulation in COSMOSMotion. The offset press that installed our new designed cam exhibited a lower vibration than the previous machine, and the maximum measured acceleration of the offset press at a printing speed of 15 000 r/h is reduced by 7.7%. © Shanghai Jiao Tong University 2024.

关键词： Acceleration

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Onboard Perception-Assisted High Fidelity Simulation Framework for Autonomous Planetary Soft-Landing

Onboard Perception-Assisted High Fidelity Simulation Framewo...

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Alibekov, Ulugbek Banerjee, Avijit Satpute, Sumeet Gajanan Nikolakopoulos, George ERASMUS MUNDUS JOINT MASTER in Intelligent Field Robotic Systems Faculty of Informatics Eötvös Loránd University Budapest Hungary Robotics and AI research group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article presents an onboard perception-assisted high-fidelity simulation framework for autonomous planetary soft-landing, enabling visual information processing tightly integrated with advanced onboard guidance system in a realistic simulation environments. Utilizing the open source Unity game engine, a physics-based simulation toolbox integrated with the robotic Operating System (ROS2), we effectively emulate the motion of spacecraft approaching planetary terrain. The simulation environment features a realistic 3D terrain model and a lander spacecraft equipped with onboard camera to effectively capture detailed local terrain images. The simulation engine accurately captures the spacecraft’s 6-degrees of freedom motion, seamlessly integrating space craft orientation with the associated camera feed while incorporating various illumination conditions using a light source representing the Sun. To demonstrate the efficacy of the framework, we implement a recently developed attitude-constrained minimum jerk guidance algorithm to emulate spacecraft motion. Concurrently, the visual feed from the onboard RGB camera is processed through a gradient extraction-based perception system, providing the visual odometer. This system identifies provably safe landing sites, effectively avoiding potential risks of landing on uneven terrain. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Planetary landers

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Holding Strategy Using Torso to Enable Humanoid Robots to Carry Heavier Objects

Holding Strategy Using Torso to Enable Humanoid Robots to Ca...

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

作者： Tsuichihara, Satoki Yamada, Masayuki Hara, Kaito Garcia Ricardez, Gustavo A. Yuguchi, Akishige Takamatsu, Jun Wada, Takahiro Takahashi, Yasutake Ogasawara, Tsukasa University of Fukui Faculty of Engineering Department of Human and Artificial Intelligent Systems 3-9-1 Bunkyo Fukui Fukui910-8507 Japan Nara Institute of Science and Technology Division of Information Science 8916-5 Takayama Nara Ikoma630-0192 Japan College of Information Science and Engineering Ritsumeikan University 1-1-1 Noji Higashi Shiga Kusatsu525-8577 Japan Tokyo University of Science Faculty of Advanced Engineering Department of Medical and Robotic Engineering Design 6-3-1 Niijuku Katsushika-ku Tokyo125-8585 Japan

ISBN: (纸本)9798350312072

To alleviate the lack of workforce endemic in contemporary societies, inventory management can be delegated to robots. However, current robotic solutions cannot operate effectively in narrow spaces that have limited unoccupied pathways, such as storage rooms. Humanoid robots can work in facilities designed for humans, including narrow spaces with partially obstructed pathways, as they can overcome small obstacles on the floor by stepping over them. However, their limited torque makes it difficult for the robots to carry many of the objects typically found in storage rooms such as boxes. On the other hand, when holding an object, using multiple body parts can help to distribute the object's load. In this research, we propose a holding strategy for humanoid robots using both arms in conjunction with the torso to prevent exceeding the joint torque limit. We formulate the hands' force and the coordinates of the robot's center of gravity when holding an object with and without using the torso. Using the humanoid robot HRP-4, we compare the torque on the robot's joints when holding an object with two and three contact points. The results show that the three-point holding reduces the torque load on the shoulder and the chest joints. Moreover, we measure the torque of all joints in various torso-bending/leaning and arm-up/down postures while holding a 2-kg object using both arms and the torso. The results show that the leaning torso posture using the chest joint reduces the torque load on the shoulder and chest joints. © 2024 IEEE.

关键词： Anthropomorphic robots

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Holding Strategy Using Torso to Enable Humanoid Robots to Carry Heavier Objects

Holding Strategy Using Torso to Enable Humanoid Robots to Ca...

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IEEE/SICE International Symposium on System Integration

作者： Satoki Tsuichihara Masayuki Yamada Kaito Hara Gustavo A. Garcia Ricardez Akishige Yuguchi Jun Takamatsu Takahiro Wada Yasutake Takahashi Tsukasa Ogasawara Department of Human and Artificial Intelligent Systems Faculty of Engineering University of Fukui Fukui Fukui Japan Division of Information Science Nara Institute of Science and Technology Ikoma Nara Japan College of Information Science and Engineering Ritsumeikan University Kusatsu Shiga Japan Department of Medical and Robotic Engineering Design Faculty of Advanced Engineering Tokyo University of Science Katsushika-ku Tokyo Japan

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A VR Environment to Build Simulators for Records in Control Plan 29

A VR Environment to Build Simulators for Records in Control ...

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29th IEEE International Symposium for Design and Technology in Electronic Packaging, SIITME 2023

作者： Ionescu, Nadia Ionescu, Laurentiu-Mihai Mazare, Alin-Gheorghita Pirvu, Valentin National University of Science and Tehnology Politehnica Bucharest Pitesti University Center Department of Manufacturing and Industrial Management Targu din Vale 1 Pitesti Romania National University of Science and Tehnology Politehnica Bucharest Pitesti University Center Department of Electronics Computers and Electrical Engineering Targu din Vale 1 Pitesti Romania National University of Science and Tehnology Politehnica Bucharest Bucharest University Center Doctoral School of Faculty of Industrial Engineering and Robotic Romania

ISBN: (纸本)9798350344110

The objective of the paper is to present a framework built on VR (Virtual Reality) technology used to simulate the test processes that operators must implement according to the control plan. The control plan represents a stage that follows the FMEA analysis and in which the test measures are presented to reduce the risk of failures. Until this moment, the developed control plan listed the test and measurement methods that were then displayed to the operators for implementation. What we propose is that each recording in the control plan be associated with a VR simulation through which the operator can train on how to apply measures/methods to reduce faults in the manufacturing process and a 3D film through which the client can observe the measurement process in a form as close as possible to reality. These things are possible by using the framework created and presented in this paper. © 2023 IEEE.

关键词： Virtual reality

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