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Compressive and energy absorption properties of titanium hybrid lattice structures for bioimplant applications fabricated via LPBF

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Materials and Design 2025年 254卷

作者： Karmiris-Obratański, Panagiotis Georgakopoulos-Soares, Ilias Cichocki, Kamil Lisiecka-Graca, Paulina Papazoglou, Emmanouil L. Advanced Manufacturing Laboratory Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland School of Chemical Engineering Department of Materials Science and Engineering National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece Institute for Personalized Medicine Department of Biochemistry and Molecular Biology The Pennsylvania State University College of Medicine HersheyPA United States Faculty of Metals Engineering and Computer Science AGH University of Krakow Adama Mickiewicza Ave. 30 Kraków30-059 Poland School of Mechanical Engineering Section of Manufacturing Technology National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece

The compressive properties of lattice structures are strongly influenced by lattice design, density, material, and manufacturing method. Recent advancements in manufacturing, particularly Additive Manufacturing, have enabled the fabrication of complex lattice structures from advanced materials. Building on this progress, the present study investigates the compressive properties and energy absorption capabilities of four distinct lattice structures at three relative densities (20 %, 30 %, and 40 %), specifically tailored for implant applications. The lattices, fabricated from Ti6Al4V ELI alloy using the Laser Powder Bed Fusion (LPBF) method, include a hybrid Fluorite-BCC lattice, a SplitP TPMS skeletal lattice, a stochastic Voronoi lattice, and a hybrid Voronoi-TPMS Gyroid lattice. Compressive properties, including the Elastic Modulus of Compression (EMC), Compressive Yield Strength, and Ultimate Compressive Strength, were systematically analyzed alongside energy absorption capabilities. The Gibson-Ashby model was employed to quantify the relationship between compressive properties and relative density. Additionally, Digital Image Correlation and high-resolution imaging during compression tests provided detailed insights into deformation mechanisms and collapse behavior. The findings offer valuable insights into the compressive performance of these novel hybrid lattices, highlighting their potential applicability in bioimplant applications, with the Fluorite-BCC lattice exhibits the highest EMC and the Fluorite-BCC and SplitP lattices exhibit higher energy absorption capabilities. © 2025 The Author(s)

关键词： Machinability

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The Karlsruhe dextrous hand: grasp planning, programming and real-time control

The Karlsruhe dextrous hand: grasp planning, programming and...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

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Fuzzy-based grasp-force-adaptation for multifingered robot hands

Fuzzy-based grasp-force-adaptation for multifingered robot h...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： T. Dorsam S. Fatikow I. Streit Institute for Real-Time Computer Systems awl Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

A fuzzy logic approach for the online grasp-force-adaptation, which can be used for the control of fine manipulating with a multifingered robot hand, will be presented in this paper. The kernel of this approach consists of decision making logic which expresses the a-priory knowledge about the force behaviour inside the friction cones and the necessary reactions, regarding the criterion for grip stability. For the software realisation of the fuzzy control approach a Fuzzy-C Development System supporting the entire development process was used. Two corresponding fuzzy controllers have been designed: A finger controller and a grasp controller. During fine manipulations of an object the fuzzy controller interacts with an underlying conventional controller that receives, after defuzzyfication, the adapted force values which were applied. A computer based simulation system was developed to analyse the capabilities of the designed fuzzy controllers.< >

关键词： Robots Fuzzy control Force control Fuzzy logic Kernel Decision making Friction Stability criteria Fingers Computational modeling

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Object manipulation with dextrous multi-finger hands: improved computation method

Object manipulation with dextrous multi-finger hands: improv...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

This paper deals with the two fundamental problems that occur when objects are manipulated with multi-finger robot hands: the determination of the joint motions to perform a manipulation according to a given object trajectory, and the optimization of the joint torques needed to ensure a stable and secure grip. The consideration of the effect of rolling and slipping of the fingertips at the contact points on the object surface leads to a set of linear differential equations for the joint angles and to a partly nonlinear optimization problem for the joint torques solved by the Hooke-Jeeves algorithm. The removal of redundant information reduces the computational effort to about 40% of the operations required for the standard procedure. Especially, the resulting object motions are demonstrated at an example: the rotation of an ellipsoid object with the fingers of the Karlsruhe dextrous hand.< >

关键词： Robots real time systems Equations Motion control Control systems Fingers Grippers Automatic control Flowcharts Torque control

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Requirements analysis for real-time automation projects

Requirements analysis for real-time automation projects

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International Conference on Software Engineering (ICSE)

作者： M. Hagemann Faculty for Informatics Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)0897912586

A formal language for specifying and analyzing requirements is introduced. An integrated set of tools support the transition from ideas to a requirements specification. The system is implemented on an IBM PC. The special characteristics of the language and the tools are their suitability for the description of embedded real-time systems. The most useful feature of the system is the possibility of graphical input and output as an alternative of the mere textual specification. Transformation between textual and graphical representation is done by the PROREC system.< >

关键词： Control systems Automatic control robotics and automation Process control Informatics real time systems Robot control Specification languages Formal specifications Software engineering

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The Control Architecture of the Mobile System Priamos

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IFAC Proceedings Volumes 1993年第1期26卷 391-396页

作者： R. Dillmann J. Kreuziger F. Wallner University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Control Systems & Robotics P.O. Box 6980. 7500 Karlsruhhe 1 Germany

In this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environnement. A solution for the problem bow to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches

关键词： Intelligent machines navigation hierarchically intelligent control architecture obstacle avoidance robots sensors

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Dynamic simulation of the jaw and chewing muscles for maxillofacial surgery

Dynamic simulation of the jaw and chewing muscles for maxill...

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IEEE Nonrigid and Articulated Motion Workshop

作者： T. Weingartner S. Hassfeld R. Dillmann Institute for Real-Time Computer Systems & Robotics Department for Computer Science University of Karlsruhe Karlsruhe Germany Medical Department Clinic for Oral and Maxillofacial Surgery University of Heidelberg Heidelberg Germany Department of Computer Science Institute for Real-Time Computer Systems& Robotics University of Karlsruhe Karlsruhe Germany

The need for simulation in medical environments increases with the complexity and risks of operations. Exact geometric planning is one of the main problems a surgeon has to deal with. The goal of the authors' research is the development of a graphical simulation of the human mastication system. Therefore, they are developing an integrated model of the jaw by parameterizing the bones (maxilla and mandible) and modeling the motion capabilities as well as the mastication muscles. The main focus of the paper is the introduction of a kinematic model of the temporomandibular joint and modeling of the mastication muscles. The kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. By modifying the axes or the geometrical model of the mandible, a surgeon can get a first impression of the post-operative result of, for example, a repositioning. Through integration of the muscles and muscle forces, one can even obtain a dynamic simulation of the whole mastication system.

关键词： Muscles Surgery Surges Computational modeling Medical simulation Kinematics Joints Tomography Pain real time systems

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Autonomously Flying VTOL-Robots: Modeling and Control

Autonomously Flying VTOL-Robots: Modeling and Control

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IEEE International Conference on robotics and Automation (ICRA)

作者： Konstantin Kondak Markus Bernard Nicolas Meyer Gunter Hommel Real-Time Systems and Robotics Group Faculty of Electrical Engineering and Computer Science Technische Universitat Berlin Berlin Germany

In this paper an approach for control of autonomously flying robots with vertical take off and landing capabilities (VTOL) is presented. After reviewing that the motion description for different VTOL-robots is very similar, the general control scheme for VTOL-robots is presented. This scheme is based on linearisation and decoupling using inversion of the system model blocks. To compensate the model uncertainties and disturbances two additional parts are included into the controller: a reduced state observer based on a robot motion model as well as a disturbances observer and compensator for orientation control. The presented approach was applied to two different VTOL-robots: a helicopter and a quad-rotor. In real flight experiments it was verified that the presented general but simple controller provides sufficient performance for a wide range of practical applications.

关键词： Helicopters Robot sensing systems Gyroscopes robotics and automation Automatic control Motion control Uncertainty Unmanned aerial vehicles Observers Delay estimation

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AUTOMATED FABRIC INSPECTION BASED ON A STRUCTURAL TEXTURE ANALYSIS METHOD

AUTOMATED FABRIC INSPECTION BASED ON A STRUCTURAL TEXTURE AN...

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SATELLITE CONF AT THE 1988 BIANNUAL INTERNATIONAL CONF ON PATTERN RECOGNITION : RECENT ISSUES IN PATTERN ANALYSIS AND RECOGNITION

作者： TUFIS, I International Basic Laboratory for Image Processing and Computer Graphics Central Institute for Cybernetics and Information Processes Kurstr. 33 P.O.B. 1298 Berlin Germany Department of Robotics and Real Time Systems Research Institute for Computer Technique and Informatics B-dul Miciurin 8-10 Bucharest 1 71316 Romania

ISBN: (纸本)0387518150

An approach for applying a structural texture analysis method to automatic visual inspection of fabric samples in the textile industry is presented. The main steps (image preprocessing, image segmentation, model description and matching) to accomplish this task are described and also some conclusions are drawn from the preliminary experiments. © 1989, Springer-Verlag.

关键词： Image segmentation

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Quantum Annealing for the Mechanics of Robot Inspectors on Electrical Transmission Lines' Conductors

Quantum Annealing for the Mechanics of Robot Inspectors on E...

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2024 International Conference on Control, robotics and Informatics, ICCRI 2024

作者： Salloum, Hadi Bahrami, Mohammad Reza Matevosian, Artem Gamershmidt, Sofia Jnadi, Ali Mazzara, Manuel Innopolis University Faculty of Computer Science and Engineering Innopolis Russia Innopolis University Cyber-physical systems lab Innopolis Russia Institute of Robotics and Computer Vision Innopolis University Innopolis Russia

ISBN: (纸本)9798350380309

This paper explores the integration of quantum computing, specifically quantum annealing, into robotics for inspecting electrical transmission lines. By using quantum annealing's computational power, we address the dynamics of robot inspectors on transmission line conductors, enhancing the computational efficiency of managing the movements of robot inspectors on transmission line conductors. The use of these robots is crucial for performing efficient and safe inspections. We discuss the mathematical foundations of quantum annealing, transforming differential equations governing robot dynamics into Ising model Hamiltonians suitable for quantum annealing devices. Through experiments using D-Wave's 'Advantage' quantum annealer, we demonstrate the viability of quantum annealing in solving complex robotics problems, paving the way for advanced applications in the field. © 2024 IEEE.

关键词： Ising model

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