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How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

IEEE Robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

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An Electrochemical HbA1c Immunosensor With a Simple Electrode of Gold Nanoparticle Monolayer

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IEEE Sensors Journal 2023年第15期23卷 16579-16584页

作者： Tseng, Chun-Chiang Lin, Ying-Ting Wang, Gou-Jen National Chung-Hsing University Department of Mechanical Engineering Taichung40227 Taiwan National Chung-Hsing University Program in Tissue Engineering and Regenerative Medicine Taichung40227 Taiwan National Chung-Hsing University Department of Mechanical Engineering The Graduate Institute of Biomedical Engineering Taichung40227 Taiwan

This study developed a novel electrochemical glycosylated hemoglobin (HbA1c) immunosensor. Polyethylene terephthalate (PET) was used as a substrate. After gold (Au) film sputtering on the PET surface, 1,6-hexanedithol with thiol groups on both terminals was used as an intermediary to attach a monolayer of uniformly distributed Au nanoparticles (AuNPs) to the Au thin film to form a nanostructured electrode. HbA1c antibodies were successfully immobilized on the AuNP monolayer via the self-assembled monolayer (SAM) approach. To mimic a real clinical detection environment, a calibration curve for HbA1c detection was performed in a mixture solution containing heparin sodium, red blood cell (RBC) lysis buffer, artificial human serum, and hemoglobin. The experimental results revealed that the proposed HbA1c immunosensor detected HbA1c in a linear range from 2500 to 10 000 ng/mL with a limit of detection of 2253 ng/mL. The developed HbA1c-sensing chip offers the advantages of simple operation, low cost, short detection time, and provides high feasibility for clinical application. © 2001-2012 IEEE.

关键词： Gold nanoparticles

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The effect of grooves on the in-wheel motor cover of an electric scooter to increase the heat transfer process

The effect of grooves on the in-wheel motor cover of an elec...

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2023 International Conference on Computer Science, Information Technology and engineering, ICCoSITE 2023

作者： Albana, Muhammad Hasan Guntur, Harus Laksana Putra, Ary Bachtiar Khrisna Institut Teknologi Sepuluh Nopember Graduate Program of Mechanical Engineering Department Surabaya Indonesia Institut Teknologi Sepuluh Nopember Mechanical Engineering Department Surabaya Indonesia

ISBN: (纸本)9798350320954

Excessive heat will reduce the torque, power, and efficiency of the in-wheel motor, for example, the in-wheel motor used for an electric scooter. This study discusses an effort to reduce the temperature of the in-wheel motor of an electric scooter by making grooves on the cover surface. If the temperature of the in-wheel motor cover is low, it will reduce the temperature of the in-wheel motor as a whole. This research uses the finite element method: steady-state thermal analysis and transient thermal analysis. The software used is Ansys Workbench. Suppose a heat flux of 1000 W/m2 is inside the in- wheel motor, the metal used as a cover is aluminum, 22°C is the starting temperature, and the ambient temperature is 28°C. The results showed that the grooves on the in-wheel motor cover caused the temperature to be reduced by 8.4%, and the total heat flux increased by 8.3% compared to the standard in-wheel motor cover (cover without modifications). In this study, the transient thermal analysis described the heat transfer process better than a steady-state thermal analysis. © 2023 IEEE.

关键词： Finite element method

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The Effect of Fins Design on the Thermal Characteristics of Electric Motors for Electric Vehicles

The Effect of Fins Design on the Thermal Characteristics of ...

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2023 International Conference on Advanced mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023

作者： Albana, Muhammad Hasan Guntur, Harus Laksana Khrisna Putra, Ary Bachtiar Institut Teknologi Sepuluh Nopember Graduate Program of Mechanical Engineering Department Surabaya Indonesia Institut Teknologi Sepuluh Nopember Mechanical Engineering Department Surabaya Indonesia

ISBN: (纸本)9798350309225

The increasing public demand for electric vehicles also impacts the demand for electric motors. The prominent problem electric motors faces are excess heat when operating because it affects the age and performance of the electric motor. Installing fins on the electric motor housing is one way to reduce heat on the electric motor. In this study, a comparison of the six-fin design was carried out, and the effect on the thermal characteristics of the electric motor was examined. Fins are mounted radially and axially. The six types of fin designs studied are radial fins-round, radial fins-square, radial fins-servo, axial fins-round, axial fins-square, and axial fins-servo. The research uses the lumped circuit models method, and the software used is Motor-CAD. The type of electric motor being studied is a brushless permanent magnet machine (BPM) with an internal rotor. The study's findings indicate that the fin's performance in cooling the electric motor depends on its area. The lower temperatures in the axial fins-servo and radial fins-square compared to other fin designs are due to the broader area of the axial fins-servo and radial fins-square compared to the others. Axially mounted fins provide better cooling than radially mounted fins. For example, the winding temperature on the axial fins-servo is 140.54°C, and the winding temperature on the radial fins-square is 140.86°C even though the area of the axial fins-servo is 22.7% smaller than the area of the radial fins-servo. © 2023 IEEE.

关键词： Electric vehicles

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The Effect of Rotational Speed on the Thermal Characteristics of a Wheel Hub Motor on an Electric Scooter 24

The Effect of Rotational Speed on the Thermal Characteristic...

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24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023

ISBN: (纸本)9798350313956

When using an electric scooter, there is a problem with the electric motor overheating. Temperatures that are too high will damage motor performance and reduce reliability. As a result, heat transfer from electric motors needs to be carefully considered. This study aims to determine the thermal characteristics of an electric motor by varying the rotational speed. The rotational speeds varied were 250 rpm, 500 rpm, and 750 rpm. Using finite element analysis to answer research questions, the software used is Ansys Motor-CAD. The type of electric motor used is a wheel hub motor with a power of 1.5 kW. The findings indicate that the rotating speed influenced the thermal properties of a wheel hub motor. Wheel hub motor components, including the winding, stator, rotor, cover, and axle, exhibit a drop in temperature with increasing rotational speed. The winding is the component that experiences the highest temperature, and the cover is the component that experiences the lowest temperature. The winding loss value is much higher than the stator, magnet, and rotor loss. Compared to other rotational speeds, the winding temperature at 750 rpm rotational speed achieved a stable temperature the quickest, at 519 minutes, while the temperatures at 250 rpm and 500 rpm reached stable temperatures, respectively, at 592.2 and 550.5 minutes. © 2023 IEEE.

关键词： Finite element method

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3D Simulation Combustion Characteristics Of EFB Biomass Co-Firing With Low Rank Coal In Pulverized Coal Boiler

3D Simulation Combustion Characteristics Of EFB Biomass Co-F...

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2023 International Conference on Advanced mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023

作者： Agus Adi Saputra, I Nyoman Prabowo Setiyawan, Atok Bagus Wijaya Kusuma, I Gusti Ihsan, Sobar Hariana Institut Teknologi Sepuluh Nopember Surabaya Graduate Program of Mechanical Engineering Department Indonesia Institut Teknologi Sepuluh Nopember Surabaya Mechanical Engineering Department Indonesia Udayana University Mechanical Engineering Department Indonesia

ISBN: (纸本)9798350309225

Climate change has received a lot of attention due to high emissions in the energy sector from coal-dependent generators, but the solution that can be done to overcome this is the co-firing method through CFD simulation with a discrete phase model (DPM) carried out by adding EFB biomass in a ratio 5% and 95% LRC coal are injected into the boiler combustion furnace. The research was carried out on a PC boiler with a generation capacity of 315Mwe. The research results show that the addition of EFB biomass to coal combustion causes changes in the calorific value which has an impact on the high temperature of the combustion process. However, it has a good impact from the operational side of burning coal particles. © 2023 IEEE.

关键词： Computational fluid dynamics

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Implementation of a PID Controller using Online Tuning Applied to a Mobile Robot Obstacle Following/Avoidance

Implementation of a PID Controller using Online Tuning Appli...

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Argentine Conference on Electronics (CAE)

作者： M. A. Pastrana L. H. Oliveira D. A. Mendes Douglas. L. Silva Jose Mendoza-Peñaloza Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

The implementation of a bioinspired PID-based controller with online tuning capabilities is developed for obstacle following/avoidance of a nonholonomic mobile robot. An innovative mixture of the conventional PID controller and particle swarm optimization (PSO), which has a strong capability of adaptation across unknown scenarios, reduced objective error, brings us a novel online tuning methodology that can derive optimal controller parameters for a given scenario. It is appropriate for a kind of plant without prior knowledge or established mobile robot model. Computer simulation for obstacle following/avoidance is carried out in four different scenarios using the CoppeliaSim software and the EVA mobile robot platform. The effectiveness of the proposed control algorithm is demonstrated trough the simulation experiment, which shows its superior performance in the training scenario, including an overshoot of 20.1 %, a settling time of 10 seconds, and a steady-state error of 0.76%.

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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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Neuro-Cognitive Inspired Deep Learning for Enhanced Navigation in No-Till Agriculture Using Multisensory Data 23

Neuro-Cognitive Inspired Deep Learning for Enhanced Navigati...

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23rd International Conference on Machine Learning and Cybernetics, ICMLC 2024

作者： Wan, Anhar Risnuma Ardilla, Fernando Nakamura, Yoshimasa Kubota, Naoyuki Graduate School of Systems Design Tokyo Metropolitan University Department of Mechanical Systems Engineering Tokyo Hino191-0065 Japan Politeknik Elektronika Negeri Mechatronics Engineering Division Surabaya Indonesia

ISBN: (纸本)9798331528041

No-till farming, an approach to combating climate change, poses obstacles to autonomous agricultural navigation. This approach often leads to uneven fields and varying crop densities, making navigation challenging and sometimes reducing crop yields compared to conventional tillage. However, when no-till practices are combined with conservation methods such as residue retention and crop rotation, it can mitigate these drawbacks and even improve productivity, especially in dry climates. These complex conditions require advanced autonomous mobile robots capable of effectively navigating uneven terrains, adjusting to fluctuating crop densities, and quickly responding to unexpected obstacles such as fallen branches. Drawing inspiration from neurocognitive science, this study introduces a novel deep learning methodology that focuses on immediate adaptability through sensory-steering coordination and multimodal sensory integration. By leveraging convolutional neural networks and a fusion mechanism for navigational commands, the proposed model skillfully navigates the dynamic and unstructured conditions of no-till agriculture, showcasing dependable capabilities in simulated 3D environments. © 2024 IEEE.

关键词： Crop rotation

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Structural Analysis of Thumb Mechanism Exoskeleton Design for Post-Stroke Rehabilitation

Structural Analysis of Thumb Mechanism Exoskeleton Design fo...

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2023 International Conference on Advanced mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023

作者： Qoryah, Rika Dwi Hidayatul Guntur, Harus Laksana Nurhadi, Hendro Prastyo, Handri Kristianta, Franciscus Xaverius Chandika, Shendy Institut Teknologi Sepuluh Nopember Graduate Program of Mechanical Engineering Department Surabaya Indonesia Institut Teknologi Sepuluh Nopember Mechanical Engineering Department Surabaya Indonesia Institut Teknologi Sepuluh Nopember Mechanical Engineering Department Surabaya Indonesia University of Jember Undergraduate Program Mechanical Engineering Department Jember Indonesia University of Jember Mechanical Engineering Department Jember Indonesia

ISBN: (纸本)9798350309225

Stroke is the second cause of death and the third cause of disability in the world. Stroke is a disease caused by a clot in the artery that supplies blood to the brain (ischemia). Rehabilitation is a solution to restore the function of parts of the body that have been disturbed by a stroke. Therefore, exoskeleton robots for stroke therapy are one solution to provide good rehabilitation. The exoskeleton robot supports healthy human hand movements and considers the safety and comfort factors during rehabilitation. The exoskeleton in this research uses a cable and sheath transmission mechanism with a locally situated motor as a design mechanism that guarantees safety and comfort. The design strength can be determined using ANSYS static structural assistance software so that the maximum stress in links 1, 2, and 3 is known within safe limits with anthropometric loading. Apart from that, the static structural simulation results show that link 1 can withstand a maximum load of 20 N or more in the X-axis loading, a load of 15 N in the Y-axis loading, and a load of 15 N in the Y-axis loading, and a load of 10 N in the Z-axis loading. Link 2 can withstand a maximum load of 10 N in the X-axis load and 20 N or more in the Y-axis load. Meanwhile, link 3 can withstand a maximum load of 20 N in the X-axis load and below 10 N in the Y-axis load. © 2023 IEEE.

关键词： Finite element method

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