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Biotechnology Notes 2025年 6卷 133-142页

作者： Dessouky, Ashraf Hisham El-Hussieny, Haitham El-Sherry, Taymour Mohammed Parque, Victor Fath El-Bab, Ahmed M.R. Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology (E-JUST) Alexandria Alexandria 21934 Egypt Mechanical Engineering Department Helwan University Cairo Cairo 11792 Egypt Department of Theriogenology Veterinary Hospital Faculty of Veterinary Medicine Assiut University Assiut Assiut Egypt of Advanced Science and Engineering Hiroshima University Hiroshima HigashiHiroshima 739-8527 Japan

Infertility in mammals is one of the most intricate medical issues requiring non-traditional interventions. In Vitro Fertilization (IVF) is one of the modern medical technologies currently used to treat infertility. However, current IVF procedures are inaccessible and unaffordable to the majority due to the high cost, the complexity of the procedure, and the reliance on highly qualified operators. For successful IVF, oocyte denudation, the process of removing cumulus cells from oocytes, is often performed. Here, microfluidics offers the potential to enhance denudation procedures and to minimize operator variability. In this paper, we propose the configuration of a microfluidic chip for oocyte denudation whose structure hybridizes inner jagged surfaces and expansion units. The jagged surface units have the role of removing the cumulus cells surrounding the oocyte by using the wall shear stress principle, and the (rounded) expansion units have the role of rotating the cumulus cells for further deployment in subsequent jagged surfaces. The proposed device can be manufactured at a low cost (<1 USD)) by the engraving of CO₂ laser machine on PMMA material, and is able to circumvent the use of enzymatic components such as hyaluronidase. Experiments using computational simulations and manufactured microfluidic chips evaluated distinct geometry configurations of the jagged surfaces and identified the suitable flow rates for maximal shear stress and denudation performance. Manufactured samples of the proposed microfluidic devices have shown the denudation performance of 96.7 % and yield rate of 90 % at a constant flow rate of 1 ml/min. © 2025 The Authors

关键词： CO2 laser In vitro fertilization Microfluidics Oocyte denudation

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A New, Reconfigurable Circuit Offering Functionality of AND and OR Logic Gates for Use in Algorithms Implemented in Hardware 33

A New, Reconfigurable Circuit Offering Functionality of AND ...

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33rd IEEE International Conference on Microelectronics, MIEL 2023

作者： Talaska, Tomasz Dlugosz, Rafal Nikolic, Tatjana Nikolic, Goran Stefanski, Tomasz Dlugosz, Michal Talaska, Michal Bydgoszcz University of Science and Technology Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz85-796 Poland Aptiv Services Poland Kraków30-399 Poland University of Niš Faculty of Electronic Engineering Niš18000 Serbia Gdanśk Univeristy of Technology Faculty of Electronics Telecommunications and Informatics Gdanśk80-233 Poland Poznan University of Technology Faculty of Control Robotics and Electrical Engineering Poznan60-965 Poland Complex of Electronics Schools Bydgoszcz85-092 Poland

ISBN: (纸本)9798350347760

The paper presents a programmable (using a 1-bit signal) digital gate that can operate in one of two OR or AND modes. A circuit of this type can also be implemented using conventional logic gates. However, in the case of the proposed circuit, compared to conventional solutions, the advantage is a much smaller number of transistors necessary for its implementation. Circuit is also much faster than its conventional counterpart. The logic gate was implemented in the 180nm CMOS technology and verified using Hspice simulations. There are many possible applications for this gate, mostly in artificial intelligence and pattern recognition algorithms implemented at the transistor level. © 2023 IEEE.

关键词： Logic gates

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NURBS Curve Trajectory Tracking Control for Differential-Drive Mobile Robot by a Linear State Feedback Dynamic Controller

NURBS Curve Trajectory Tracking Control for Differential-Dri...

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AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and Mechanical Manufacturing Engineering, RCTEMME 2021

作者： Thai, Nguyen Hong Thien, Hoang Ly, Trinh Thi Khanh Department of Mechanical Design and Robotics School of Mechanical Engineering Hanoi University of Science and Technology Hanoi Viet Nam Faculty of Automation Technology Electric Power University Hanoi Viet Nam

ISBN: (纸本)9789811919671

In this paper, the authors present a method of designing a linear state feedback dynamic controller to control a differential-driven mobile robot to trajectory tracking with small error. The nonlinear dynamics model of the robot linearized around the working point. On that basis, design the controller according to the pole assignment method based on the position and velocity error model. Another difference with previous studies is that the coefficients of the controller vary with time. It depends on the travel velocity and the curvature radius of the desired motion trajectory. NURBS curve is applied to design the robot’s motion trajectory to avoid acceleration and deceleration to stabilize the robot’s motion. The research results have important implications in the design of dynamic controllers of the differential-drive AGV in the industry. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Differential-drive mobile robot Linear state feedback dynamic controller NURBS curve Trajectory tracking

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Kalman Filter as Observer and Smoother for Rigid-Body Motion Control Applications ⁎

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IFAC-PapersOnLine 2024年第16期58卷 95-100页

作者： Joel Reis Carlos Silvestre Faculty of Science and Technology University of Macau Macao China Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa 1049-001 Lisboa Portugal

This paper addresses the problem of estimating non measured quantities in rigid body motion control applications resorting to Kalman filter theory. These quantities include the linear velocity of the rigid body, and external force and torque disturbances applied to its center of mass. The set of sensor measurements (pose and angular velocity readings) is noise-filtered as well. The overall framework consists of a linear time-varying system, shown to be uniformly completely observable, and an exponentially stable nonlinear controller. Simulation results are presented to validate and showcase the attainable performance of the proposed methodology.

关键词： Rigid body motion control Kalman filter Observability Exogenous disturbances

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Determination of kinematic and dynamic characteristics of a reversible vibratory conveyor with an electromagnetic drive 69

Determination of kinematic and dynamic characteristics of a ...

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69th International Conference on Vibroengineering

作者： Gurskyi, Volodymyr Korendiy, Vitaliy Krot, Pavlo Dyshev, Oleksandr Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine Department of Technical Mechanics and Engineering Graphics Lviv Polytechnic National University Lviv Ukraine Faculty of Geoengineering Mining and Geology Wroclaw University of Science and Technology Wroclaw Poland

The paper considers the design parameters that must be provided during the practical implementation of small-sized reversible vibratory conveyors with an electromagnetic drive. The proposed conveyor is developed on the basis of a classical two-mass oscillatory system. Two oscillating masses are connected by symmetrically assembled round-shaped rods. In order to avoid angular (torsional) oscillations of the vibratory conveyor, the geometrical centers of mass and stiffness of the spring system are aligned at the same point. The analysis of kinematic characteristics is performed by means of numerical solving of the system of nonlinear Lagrange-Maxwell differential equations. The influence of the phase shift angle between the electromagnetic excitation of horizontal and vertical oscillations on the trajectories of the mass center of the conveying member is analyzed. The first two frequencies and forms of natural oscillations of the vibratory conveyor are determined for estimating its dynamic characteristics. The novelty of this study lies in the development of a new design of a vibratory conveyor with a controllable independent electromagnetic drive that provides the conveying reversibility and efficiency. © 2024 Volodymyr Gurskyi, et al.

关键词： Maxwell equations

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PROSPECTS ON APPLICATION OF ELASTIC METAMATERIALS IN ACOUSTIC EMISSION SENSING

e-Journal of Nondestructive Testing

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e-Journal of Nondestructive Testing 2023年第1期28卷

作者： Klimek, Zbigniew Paćko, Pawel Cracow branch Warsaw Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Krakow Poland

This paper discusses challenges, limitations and problems arising in currently employed acoustic emission testing systems, sensors and signal processing algorithms. Main factors influencing and compromising accuracy and reliability of the classically used methods are briefly analyzed. Next, metamaterials and their dynamic properties are outlined with the aim and focus on their potential in manipulating energy flow. Several applications of metamaterials in acoustic emission are presented that indicate their potential in acoustic emission. Finally, possibilities of designing a new type of sensor for acoustic emission using metamaterials is discussed. As a consequence, it is expected to increase sensitivity and accuracy of source localization with smaller number of sensors used during measurements. © 2023 The Authors.

关键词： Metamaterials

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Facial Expression Recognition Model Depending on Optimized Support Vector Machine

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Computers, Materials & Continua 2023年第7期76卷 499-515页

作者： Amel Ali Alhussan Fatma M.Talaat El-Sayed M.El-kenawy Abdelaziz A.Abdelhamid Abdelhameed Ibrahim Doaa Sami Khafaga Mona Alnaggar Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Machine Learning&Information Retrieval Department Faculty of Artificial IntelligenceKafrelsheikh UniversityKafrelsheikh33516Egypt Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia Department of Computer Science Faculty of Computer and Information SciencesAin Shams UniversityCairo11566Egypt Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Robotics and Intelligent Machines Department Faculty of Artificial IntelligenceKafrelsheikh UniversityKafrelsheikh33516Egypt

In computer vision,emotion recognition using facial expression images is considered an important research *** learning advances in recent years have aided in attaining improved results in this *** to recent studies,multiple facial expressions may be included in facial photographs representing a particular type of *** is feasible and useful to convert face photos into collections of visual words and carry out global expression *** main contribution of this paper is to propose a facial expression recognitionmodel(FERM)depending on an optimized Support Vector Machine(SVM).To test the performance of the proposed model(FERM),AffectNet is *** uses 1250 emotion-related keywords in six different languages to search three major search engines and get over 1,000,000 facial photos *** FERM is composed of three main phases:(i)the Data preparation phase,(ii)Applying grid search for optimization,and(iii)the categorization *** discriminant analysis(LDA)is used to categorize the data into eight labels(neutral,happy,sad,surprised,fear,disgust,angry,and contempt).Due to using LDA,the performance of categorization via SVM has been obviously *** search is used to find the optimal values for hyperparameters of SVM(C and gamma).The proposed optimized SVM algorithm has achieved an accuracy of 99%and a 98%F1 score.

关键词： Facial expression recognition machine learning linear dis-criminant analysis(LDA) support vector machine(SVM) grid search

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Influence of Signal Interference on Determining Direction of Arrival by Using the Indirect Phase Determination Method

Influence of Signal Interference on Determining Direction of...

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International Conference on Automation, AUTOMATION 2021

作者： Kreczmer, Bogdan Department of Cybernetics and Robotics Electronics Faculty Wroclaw University of Science and Technology Wroclaw Poland

ISBN: (纸本)9783030748920

The paper describes the influence of the signal interference phenomenon on determining the azimuth angle of the signal arrival. This influence is especially important when a method based on measuring the phase shift is used. Such a method is applied in the sonar exploited in the presented research. To demonstrate the influence of the interference effect, a series of preliminary experiments are described and reported. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Direction of arrival

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Allocation and Migration of Virtual Machines Using Machine Learning

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Computers, Materials & Continua 2022年第2期70卷 3349-3364页

作者： Suruchi Talwani Khaled Alhazmi Jimmy Singla Hasan JAlyamani Ali Kashif Bashir School of Computer Science&Engg. Lovely Professional UniversityPunjabIndia National Center for Robotics and Internet of Things Technology Communication and Information Technology Research InstituteKing Abdulaziz City for Science and Technology(KACST)Riyadh11442Saudi Arabia Department of Information Systems Faculty of Computing and Information Technology in RabighKing Abdulaziz UniversityRabigh21911Saudi Arabia Department of Computing and Mathematics ManchesterMetropolitan UniversityManchesterM156BHUK

Cloud computing promises the advent of a new era of service boosted by means of virtualization *** process of virtualization means creation of virtual infrastructure,devices,servers and computing resources needed to deploy an application *** extensively practiced technology involves selecting an efficient Virtual Machine(VM)to complete the task by transferring applications from Physical Machines(PM)to VM or from VM to *** whole process is very challenging not only in terms of computation but also in terms of energy and *** research paper presents an energy aware VM allocation and migration approach to meet the challenges faced by the growing number of cloud data *** Learning(ML)based Artificial Bee Colony(ABC)is used to rank the VM with respect to the load while considering the energy efficiency as a crucial *** most efficient virtual machines are further selected and thus depending on the dynamics of the load and energy,applications are migrated fromoneVMto *** simulation analysis is performed inMatlab and it shows that this research work results in more reduction in energy consumption as compared to existing studies.

关键词： Cloud computing VM allocation VM migration machine learning

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