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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 429-442页

作者： Berettoni, Andrea Driessen, Josephus J. M. Puliti, Marco Barresi, Giacinto Benedictis, Carlo De Ferraresi, Carlo Laffranchi, Matteo Rehab Technologies IIT-INAIL Lab Italian Institute of Technology Via Morego 30 Genova16163 Italy Polytechnic University of Turin Department of Mechanical and Aerospace Engineering Turin10129 Italy University of the West of England Bristol Robotics Laboratory BristolBS16 1QY United Kingdom

For many decades, developments of knee prostheses have shown a dichotomy regarding fundamental working principles. The industry has mainly emphasized on quasi-passive hydraulic solutions, whereas most research works have focused on powered devices, employing electric actuation. The former have an energetically passive effect at the knee joint, for which they often lack in providing versatility and movement robustness for the wearer. Powered prostheses can address these deficiencies, but are often rejected as they struggle to fulfill other user needs (e.g., weight and acoustic noise). Correspondingly, recent studies have emerged that attempt to significantly attenuate the deficiencies of fully powered prosthesis knees, partially sacrificing on device versatility. Recognizing the state-of-the art difficulties in balancing active assistance and user needs fulfilment, this work analyses human-centered design perspectives and their prospects for prosthetic development, in light of the often diverging user needs. We conclude that various types of both explored and yet unexplored semi-powered solutions may have the potential to provide the better trade-off between quasi-passive and fully powered prosthetic devices. © 2018 IEEE.

关键词： Knee prostheses

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Simulation study on mitigating manufacturing defects in vehicle steering knuckles

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International Journal of Advanced Manufacturing Technology 2025年第3期138卷 1401-1411页

作者： Yang, Cheng-Jung Lien, Zih-An Huang, Liqi Chen, Po-Tuan Department of Mechanical and Electromechanical Engineering National Sun Yat-Sen University Kaohsiung Taiwan Technical and Vocational Program in Mechatronics National Taipei University of Technology Taipei Taiwan Co. Ltd. of Kunshan Jiangsu Kunshan China Department of Vehicle Engineering National Taipei University of Technology Taipei Taiwan

The application of aluminum alloy castings in vehicle structures demands exceptionally high dimensional accuracy and mechanical strength, particularly in critical load-bearing and control components such as steering knuckles. This study optimizes the casting process for specially shaped steering knuckle components by integrating computer-aided engineering technology to conduct numerical simulations and parameter adjustments, thereby minimizing casting defects and enhancing the quality of finished products. Cimatron software was employed for mold design and disassembly, while Pro CAST software was utilized for numerical analysis of the flow field and solidification behavior to assess the flow characteristics of aluminum melt, shrinkage cavity distribution, and the effects of thermal stress during solidification. By adjusting casting pressure, optimizing the mold flow channel design, and enhancing the cooling system, this study effectively reduces common casting defects such as shrinkage and porosity while improving filling uniformity and microstructural quality. The optimized process significantly enhances the mechanical properties and manufacturing stability of castings, ensuring that the final products meet the stringent strength and reliability standards required for vehicle structural components. This study not only presents an effective strategy for refining the steering knuckle casting process but also serves as a valuable technical reference for optimizing the manufacturing of high-precision aluminum alloy components. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Aluminum alloys

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Effect of Sn addition on electrochemical activity of ribbons of Mg-Al-Ca anode material for rechargeable magnesium batteries fabricated by rapid solidification

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Keikinzoku/Journal of Japan Institute of Light Metals 2025年第1期75卷 9-13页

作者： Fukuta, Yoshitaka Kikura, Kensei Tsukeda, Tadayoshi Aida, Tetsuo Tabata, Hironobu Kurihara, Hideki Suzuki, Mayumi Program of Materials Science and Engineering Studies in Science and Engineering Graduate School of Science and Engineering University of Toyama 3190 Gofuku Toyama-shi Toyama930-8555 Japan Graduate School of Science and Engineering University of Toyama Toyama-shi Toyama Japan Faculty of Sustainable Design Academic Assembly University of Toyama Toyama-shi Toyama Japan CHUETSU METAL WORKS CO. LTD. Nakaniikawagun Toyama Japan Saitama Industrial technology Center Kawaguchi-shi Saitama Japan Department of Mechanical Systems Engineering Faculty of Engineering Toyama Prefectural University Imizu-shi Toyama Japan

Magnesium-based batteries are potential candidates for next-generation rechargeable batteries due to the divalent nature of magnesium cations and the natural abundance of magnesium resources. In this study, the electrochemical activity of Mg-6mass%Al-3mass%Ca anodes combined with Sn was investigated. Thin ribbons of the anode specimens were prepared by a single-roll rapid solidification method. The results showed that the electrochemical activity increased upon adding 1 mass% Sn, while it decreased for 3 mass% Sn. Based on the results of an X-ray diffraction analysis, the addition of Sn led to the formation of Mg2Sn and Ca2Sn phases, which increased the lattice distortion. Scanning electron microscopy observations indicated that these secondary phases were homogeneously distributed for 1 mass% Sn addition, while they were coarsely distributed for 3 mass% Sn. © 2025 The Japan Institute of Light Metals.

关键词： X ray diffraction analysis

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ICCO: Learning an Instruction-conditioned Coordinator for Language-guided Task-aligned Multi-robot Control

arXiv

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arXiv 2025年

作者： Yano, Yoshiki Shibata, Kazuki Kokshoorn, Maarten Matsubara, Takamitsu Nara Japan Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Netherlands

Recent advances in Large Language Models (LLMs) have permitted the development of language-guided multi-robot systems, which allow robots to execute tasks based on natural language instructions. However, achieving effective coordination in distributed multi-agent environments remains challenging due to (1) misalignment between instructions and task requirements and (2) inconsistency in robot behaviors when they independently interpret ambiguous instructions. To address these challenges, we propose Instruction-Conditioned Coordinator (ICCO), a Multi-Agent Reinforcement Learning (MARL) framework designed to enhance coordination in language-guided multi-robot systems. ICCO consists of a Coordinator agent and multiple Local Agents, where the Coordinator generates Task-Aligned and Consistent Instructions (TACI) by integrating language instructions with environmental states, ensuring task alignment and behavioral consistency. The Coordinator and Local Agents are jointly trained to optimize a reward function that balances task efficiency and instruction following. A Consistency Enhancement Term is added to the learning objective to maximize mutual information between instructions and robot behaviors, further improving coordination. Simulation and real-world experiments validate the effectiveness of ICCO in achieving language-guided task-aligned multi-robot control. The demonstration can be found at https://***/ICCO/. Copyright © 2025, The Authors. All rights reserved.

关键词： Multipurpose robots

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A Systematic Evaluation of Clustering Algorithms Against Expert-Derived Clustering

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Operations Research Forum 2025年第2期6卷 1-24页

作者： Mikrou, Ioannis Sapidis, Nickolas S. Department of Mechanical Engineering University of Western Macedonia ZEP Kozani 50100 Greece Postgraduate Masters Program “Quality Management and Technology” Hellenic Open University Par. Aristotelous 18 Patras 26335 Greece

Clustering algorithms have long sought to replicate human expertise in data clustering. This research utilizes six mechatronic products and a team of domain experts to assess how closely the results of six clustering algorithms align with expert-generated outcomes. This comparison of clustering results includes validation indices, the analysis of component migrations between the generated clusters, and optical inspection. The mechatronic products were selected for their complex nature, which provides a challenging context for the clustering analysis. The algorithms used in this research are Ward’s method (WARD), partitioning around medoids (PAM), K-means (K-MEANS), divisive analysis (DIANA), density-based spatial clustering of applications with noise (DBSCAN), and clustering by fast search and find of density peaks (DPC), and the validation indices employed to evaluate the clustering results are the silhouette coefficient (SC) and the composed density between and within clusters (CDbw). © The Author(s) 2025.

关键词： Clustering performance DSM models Human expert benchmarks Machine learning Mechatronics

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Fluorine-Free Cosolvent Chemistry Empowering Sodium-Sulfurized Polyacrylonitrile Batteries

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Advanced Energy Materials 2025年第0期

作者： Pai, Min-Hao Manthiram, Arumugam Materials Science and Engineering Program & Walker Department of Mechanical Engineering The University of Texas at Austin AustinTX78712 United States

Localized high-concentration electrolytes (LHCE) show great promise for room-temperature sodium-sulfur batteries. However, the majority of diluents in LHCE systems consist of fluorinated ethers, which are not only dense and expensive but also demonstrate poor reductive stability with sodium metal. Herein, a low-density, non-fluorinated ether electrolyte is presented that demonstrates localized high-concentration behavior. This feature is driven by the weak solvating capabilities of 1,2-dimethoxypropane (DMP) and the ultra-weak solvating nature of cyclopentyl methyl ether (CPME). Impressively, the fluorine-free CPME cosolvent acts as a diluent within the electrolyte. Therefore, the electrolyte achieves a tailored solvation structure characterized by anion-rich species, which fosters the development of a resilient inorganic-rich SEI with superior Na-ion transport. Consequently, with a high sulfur-content sulfurized polyacrylonitrile (SPAN, S content > 45% in SPAN) loading of 4.4 mg cm⁻2 (sulfur loading: 2 mg cm⁻2) and a low electrolyte-to-SPAN ratio of 9 µL mg⁻¹ (E/SPAN = 9), the Na-SPAN cell demonstrates remarkable reversibility of 530 mA h gsulfur⁻¹ after 200 cycles at C/5 rate. This performance surpasses the majority of state-of-the-art Na-SPAN ether-based electrolyte systems reported to date. Hence, this work presents a novel approach for designing cost-effective, high-performance electrolytes for stable, practical Na-SPAN batteries. © 2025 Wiley-VCH GmbH.

关键词： Sodium-ion batteries

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Constrained Control for Autonomous Spacecraft Rendezvous: Learning-Based Time Shift Governor

Constrained Control for Autonomous Spacecraft Rendezvous: Le...

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

作者： Kim, Taehyeun Kee, Robin Inho Kolmanovsky, Ilya Girard, Anouck Department of Aerospace Engineering University of Michigan 1320 Beal Ave Ann ArborMI48109 United States Department of Mechanical Engineering University of Michigan Ann ArborMI48109 United States Department of Aerospace Engineering University of Michigan 3038 FXB 1320 Beal Ave Ann ArborMI48109 United States Robotics and Aerospace Engineering University of Michigan 3264 FMCRB 2505 Hayward Street Ann ArborMI48109 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper develops a Time Shift Governor (TSG)-based control scheme to enforce constraints during rendezvous and docking (RD) missions in the setting of the Two-Body problem. As an add-on scheme to the nominal closed-loop system, the TSG generates a time-shifted Chief spacecraft trajectory as a target reference for the Deputy spacecraft. This modification of the commanded reference trajectory ensures that constraints are enforced while the time shift is reduced to zero to effect the rendezvous. Our approach to TSG implementation integrates an LSTM neural network which approximates the time shift parameter as a function of a sequence of past Deputy and Chief spacecraft states. This LSTM neural network is trained offline from simulation data. We report simulation results for RD missions in the Low Earth Orbit (LEO) and on the Molniya orbit to demonstrate the effectiveness of the proposed control scheme. The proposed scheme reduces the time to compute the time shift parameter in most of the scenarios and successfully completes rendezvous missions. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Orbits

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Innovative Swing Mechanism for Sustainable Energy Generation: Design, Performance, and IoT Integration 6

Innovative Swing Mechanism for Sustainable Energy Generation...

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6th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2024

作者： Okwu, M.O. Abubakar, N. Edward, B.A. Oreko, B.U. Otanocha, O.B. Orikpete, O.F. Maware, C. Oyekale, J.O. Ori, C. Tartibu, L. Khalid, S. Department of Mechanical Engineering Federal University of Petroleum Resources Effurun Nigeria Computer Science Department Brunel University London UxbridgeUB8 3PH United Kingdom University of Port Harcourt Choba Nigeria Fujio Cho Engineering Technology University of Kentucky 210E Center for Robotics and Manufacturing Building United States 814-131 Wentworth Drive HalifaxNS Canada Department of Mechanical and Industrial Engineering Technology University of Johannesburg South Africa AJK Mirpur Pakistan

In this study, the choice of mild steel for the swing mechanism was essential due to its mechanical properties, strength, and environmental resistance. The swing system, incorporating a stand, swing, connecting rod, spur gear, bearings, freewheel, battery, dynamo, and sprocket, was designed for sustainable energy generation without compromising user safety. The design balanced ergonomic needs with performance characteristics, ensuring the structure could endure applied stresses. IoT integration allowed for advanced monitoring, enabling real-time data analysis, performance optimization, and issue detection. The study examined how swinging weight and oscillation frequency impacted the output voltage and current, findings showed that output voltage varied with the swinger's weight. The swing mechanism, capable of generating 6-8 volts, successfully converted kinetic energy into electrical energy. This study serves as a renewable energy education model with IoT integration, demonstrating innovative energy solutions for parks, schools, playgrounds, and communities. © 2024 The Authors. Published by Elsevier B.V.

关键词： energy generation IoT monitoring mechanical design Renewable Energy Swing mechanism

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Single-Axis Solar Tracking Systems: A Comprehensive Design and Performance Study 6

Single-Axis Solar Tracking Systems: A Comprehensive Design a...

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6th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2024

作者： Okwu, M.O. Eruero, O.P. Abubakar, N. Edward, B.A. Oreko, B.U. Otanocha, O.B. Orikpete, O.F. Maware, C. Ezekiel, K.C. Ori, C. Tartibu, L. Department of Mechanical Engineering Federal University of Petroleum Resources Effurun Nigeria Computer Science Department Brunel University London UxbridgeUB8 3PH United Kingdom University of Port Harcourt Choba Nigeria Fujio Cho Engineering Technology University of Kentucky 210E Center for Robotics and Manufacturing Building United States Maintenance Engineering and Asset Management University of Manchester United Kingdom 814-131 Wentworth Drive HalifaxNS Canada Department of Mechanical and Industrial Engineering Technology University of Johannesburg South Africa

Abundant solar resources and increasing electricity demand make solar energy a promising renewable energy source in Sub-Saharan Africa. However, conventional stationary Photovoltaic (PV) systems face challenges in efficiently capturing solar irradiation. To address this limitation, the implementation of solar tracking systems becomes essential, as they optimize the energy output of PV systems by dynamically adjusting the orientation of the panels to align with the sun's rays. This study presents a comprehensive design and performance evaluation of single-axis solar tracking systems in Delta State, Nigeria. The investigation focused on the energy provision efficiency of these systems, revealing that the single-axis tracker reached peak performance at year-end, providing 9.333 kWh of available solar energy and 9.296 kWh of user-available energy. Over the year, the system delivered a total of 100.625 kWh of available solar energy and 96.483 kWh of user-available energy. These findings highlight the significant role of solar tracking systems in maximizing energy harvest and underscore their potential for improving energy sustainability in Sub-Saharan Africa. © 2024 The Authors. Published by Elsevier B.V.

关键词： Solar irradiance

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A comprehensive study on the effects of porous char particles on drag coefficients under combustion based on Micro-CT and pore-resolving simulation

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Powder Technology 2025年 460卷

作者： Liang, Dongyu A. Leon Linton Department of Mechanical Robotics and Industrial Engineering Lawrence Technological University SouthfieldMI48075 United States

This study examines the influence of real porous coal char particle morphology on drag coefficients under combustion conditions using micro-CT imaging and pore-resolving computational fluid dynamics (CFD) simulations. Traditional drag models, which rely on simplified geometries such as spheres, ellipsoids, and pipes, may not fully capture the aerodynamic behavior of real char particles. To evaluate these limitations, pore-resolving simulations were conducted at Reynolds numbers of 20, 40, 60, 100 and 200, comparing real char particles with various idealized shapes. Results demonstrate that the drag coefficient of real char particles, with irregular surfaces and complex internal pores, cannot be well represented by the ideal shapes. The poorly connected internal pores had negligible effects on drag, unlike well-connected pores in ideal pipe structures, which influenced aerodynamic behavior. Flow directionality along the same axis had minimal impact on drag for real particles, with less than 1 % error in most cases. However, different axes showed significant errors when Re is less than 200, ranging from 4.59 % to 31.98 %, emphasizing the need for realistic morphology and orientation in predictive models. As Reynolds number increased, discrepancies between drag coefficients of real and ideal particles diminished, suggesting potential use of simplified models at higher Reynolds numbers (with an overall error of 6.35 %). Four classical 1D models based on ideal shapes showed considerable errors in predicting drag coefficients, especially for complex orientations and porosities. While the Schiller model aligned better along the major axis with 10.41 % error and the Ouchene model along the minor axes with 10.08 % error, both still deviated significantly in predicting overall aerodynamic behavior. The need for optimizing drag coefficient models to incorporate realistic morphologies is emphasized in this research. © 2025 Elsevier B.V.

关键词： Computerized tomography

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