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55th International Conference on Vibroengineering

作者： Korendiy, Vitaliy Gursky, Volodymyr Kachur, Oleksandr Dmyterko, Petro Kotsiumbas, Oleh Havrylchenko, Oleksandr Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine Department of Motor Vehicle Transport Lviv Polytechnic National University Lviv Ukraine

The paper is aimed at investigating the motion conditions of the wheeled vibro-impact locomotion system equipped with the twin crank-slider excitation mechanism and the additional braking mechanisms allowing only one-way rotation of the wheels. The novelty of the present research consists in the improved mathematical model describing the motion conditions of the vibro-impact system and the proposed parameters optimization technique that allows for maximizing the average translational velocity of the wheeled platform. The main idea of this technique is to provide the maximal velocities of internal bodies when they get in contact with the corresponding impact plates. The numerical modeling results describing the dynamic behavior of the vibro-impact system are obtained in Mathematica software and substantiate the correctness of the developed mathematical model and of the proposed parameters optimization technique. The paper can be of significant practical and scientific interest for researchers and engineers studying and improving the vibratory locomotion systems, e.g., for inspecting and cleaning the pipelines. © 2022 JVE International. All rights reserved.

关键词： Motion analysis

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Feasibility Study of Finger Interface for Miniature Surgical Instruments

Feasibility Study of Finger Interface for Miniature Surgical...

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Telepresence, IEEE Conference on

作者： Serin Cha Sebin Kim Seok Chang Ryu BioRobotics Laboratory Department of Mechanical and Biomedical Engineering Graduate Program in Smart Factory Ewha Womans University Seoul South Korea BioRobotics Laboratory Department of Mechanical and Biomedical Engineering Ewha Womans University Department of Mechanical and Biomedical Engineering BioRobotics Laboratory Ewha Womans University

ISBN: (数字)9798331528249

ISBN: (纸本)9798331528256

This paper presents a study on the design of a finger interface to improve the teleoperation of a miniaturized surgical instrument with a bendable distal section. A unique design principle employing the kinematic similarity between the human motion and the follower robot has been proposed for such instruments, which may result in embodied teleoperation, enhancing the overall telepresence experience. According to the principle, a design for an index finger interface was proposed, consisting of a sub-unit measuring finger motion and a handle. When the interface is connected to a robotic platform, it can control the entire tool motion in two separate ways: distal bending by the sub-unit and overall tool motion by the handle. A human subject test was conducted for trajectory-following tasks in a virtual environment, and their performance score was quantified for analysis of the learning curve. Based on the satisfactory learning rate of 75.78% for all nine subjects, the proposed finger interface could be a promising interface for a miniature surgical instrument with a long bendable section at the distal end.

关键词： Telepresence Instruments Fingers Virtual environments Kinematics Bending Motion measurement Robots

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mechanically-Inflatable Bio-Inspired Locomotion for Robotic Pipeline Inspection

arXiv

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arXiv 2023年

作者： Atalla, Mostafa A. Trauzettel, Fabian van Gelder, Sebastiaan P. Breedveld, Paul Wiertlewski, Michaël Sakes, Aimée Department of BioMechanical Engineering Faculty of Mechanical Engineering Delft University of Technology Delft2628 CD Netherlands Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Delft2628 CD Netherlands

Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot inspired by the ovipositor of parasitic wasps to navigate and inspect pipelines. The robot features a flexible locomotion system that adapts to different tube sizes and shapes through a mechanical inflation technique. The flexible locomotion system employs a reciprocating motion, in which groups of three sliders extend and retract in a cyclic fashion. In a proof-of-principle experiment, the robot locomotion efficiency demonstrated positive linear correlation (r = 0.6434) with the diameter ratio (ratio of robot diameter to tube diameter). The robot showcased a remarkable ability to traverse tubes of different sizes, shapes and payloads with an average of (70%) locomotion efficiency across all testing conditions, at varying diameter ratios (0.7 ∼ 1.5). Furthermore, the mechanical inflation mechanism displayed substantial load-carrying capacity, producing considerable holding force of (13 N), equivalent to carrying a payload of (≈ 5.8 Kg) inclusive the robot weight. This soft robotic system shows promise for inspection and navigation within tubular confined spaces, particularly in scenarios requiring adaptability to different tube shapes, sizes, and load-carrying capacities. The design of this system serves as a foundation for a new class of pipeline inspection robots that exhibit versatility across various pipeline environments, potentially including biological systems. © 2023, CC BY.

关键词： Efficiency

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Expert Perspectives on Factors Influencing the Adoption of Smart Retail Technology in Traditional Retail

Expert Perspectives on Factors Influencing the Adoption of S...

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Technology & engineering Management Conference - Asia Pacific (TEMSCON-ASPAC), IEEE

作者： Muriani Emelda Isharyani Bertha Maya Sopha M.Arif Wibisono Benny Tjahjono Industrial Engineering Program Faculty of Engineering Universitas Mulawarman Samarinda Indonesia Department of Mechanical and Industrial Engineering Industrial Engineering Program Universitas Gadjah Mada Yogyakarta Indonesia Centre for Business in Society Coventry University Coventry UK

ISBN: (数字)9798331515881

ISBN: (纸本)9798331515898

The strategic adoption of smart retail technologies (SRT) positions traditional retailers to compete effectively in a digital marketplace and contributes to the overall development of the retail sector in developing countries. Expert opinions are critical in guiding successful SRT adoption and driving innovation in the retail sector. Moreover, expert opinions can enhance empirical research findings and provide a multidimensional understanding of the factors influencing SRT adoption. This approach not only enhances the validity of the research but also ensures that the recommendations made are grounded in both theoretical and practical realities. Therefore, this study aims to fill this gap by conducting a study on expert opinions to identify the key factors that have the most impact on each stage of SRT adoption and adaptation. The study employs fuzzy AHP to evaluate the weight of each factor′s relevance at each stage of SRT adoption and adaptation. The study′s findings provide valuable insights for traditional retailers to prioritize SRT adoption status and users” skill level factors at the Search stage, task requirements, and expected benefits at the Select stage, users” acceptance, SRT preferences, and concerned risks at the Implementation stage, and external variables and implementation issues at the Adopt stage.

关键词： Technological innovation engineering management Asia Analytic hierarchy process Developing countries

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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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International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation (ICAMIMIA)

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

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.

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A Low Cost on-Device Intruder Detection System for Smart Home Environment

A Low Cost on-Device Intruder Detection System for Smart Hom...

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Conference on Information and Communication Technology (CICT)

作者： Chayan Maiti Vivekanand E Sreekumar Muthuswamy Department of Mechanical Engineering Centre for AI IoT and Robotics Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai India

ISBN: (数字)9798331531539

ISBN: (纸本)9798331531546

Robust security is tritical for smart homes to protect families and goods from potential intruder threats. Vision-based intruder detection systems are commonly used for this task. However, only a few households have adopted such security technology because of its high cost, which includes both expensive devices and service costs. To address this issue, a low-cost intruder detection system is investigated in this study, leveraging a Raspberry Pi 4 with a camera module. Smart resource utilization strategies are employed to enable on-device local processing for privacy preservation of sensitive video data. To achieve real-time processing on resource constrain hardware, efficient motion detection is accomplished using the frame subtraction technique, while rapid face detection is accomplished through the haar cascade utilizing Kalman filter. Face identification using OpenFace model is speed up by subsequent template matching technique. The proposed algorithm achieved an average frame rate of 22 FPS making it capable for real-time intruder detection with environmental constrain.

关键词： Costs Subtraction techniques Smart homes Prediction algorithms Real-time systems Motion detection Face detection Kalman filters Security Faces

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Continuous Lithium-Ion Extraction From Seawater and Mine Water With a Fuel Cell System and Ceramic Membranes

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Energy & Environmental Materials 2024年第6期7卷 254-261页

作者： Cansu Kök Lei Wang Jean Gustavo A.Ruthes Antje Quade Matthew E.Suss Volker Presser INM–Leibniz Institute for New Materials Campus D2266123Saarbr¨uckenGermany Department of Materials Science&Engineering Saarland UniversityCampus D2266123Saarbr¨uckenGermany Leibniz Institute for Plasma Science and Technology Felix-Hausdorff-Straße 217489GreifswaldGermany Faculty of Mechanical Engineering Technion–Israel Institute of TechnologyHaifa3200003Israel Wolfson Department of Chemical Engineering Technion–Israel Institute of TechnologyHaifa3200003Israel Grand Technion Energy Program Technion–Israel Institute of TechnologyHaifa3200003Israel Saarene–Saarland Center for Energy Materials and Sustainability Campus C4266123Saarbr¨uckenGermany

The demand for electronic devices that utilize lithium is steadily increasing in this rapidly advancing technological *** high-purity lithium in an environmentally friendly way is challenging by using commercialized ***,we propose the first fuel cell system for continuous lithium-ion extraction using a lithium superionic conductor membrane and advanced *** fuel cell system for extracting lithium-ion has demonstrated a twofold increase in the selectivity of Li^(+)/Na^(+)while producing *** data show that the fuel cell with a titania-coated electrode achieves 95%lithium-ion purity while generating 10.23 Wh of energy per gram of *** investigation revealed that using atomic layer deposition improved the electrode's uniformity,stability,and electrocatalytic *** 2000 cycles determined by cyclic voltammetry,the electrode preserved its stability.

关键词： atomic layer deposition cation selectivity electrochemical lithium-ion extraction fuel cell

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Robustness Benchmark of Road User Trajectory Prediction Models for Automated Driving

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IFAC-PapersOnLine 2023年第2期56卷 4865-4870页

作者： Manuel Muñoz Sánchez Emilia Silvas Jos Elfring René van de Molengraft Department of Mechanical Engineering TU/e Eindhoven NL Department of Integrated Vehicle Safety TNO Helmond NL VDL CropTeq Robotics Eindhoven NL

Accurate and robust trajectory predictions of road users are needed to enable safe automated driving. To do this, machine learning models are often used, which can show erratic behavior when presented with previously unseen inputs. In this work, two environment-aware models (MotionCNN and MultiPath++) and two common baselines (Constant Velocity and an LSTM) are benchmarked for robustness against various perturbations that simulate functional insufficiencies observed during model deployment in a vehicle: unavailability of road information, late detections, and noise. Results show significant performance degradation under the presence of these perturbations, with errors increasing up to +1444.8% in commonly used trajectory prediction evaluation metrics. Training the models with similar perturbations effectively reduces performance degradation, with error increases of up to +87.5%. We argue that despite being an effective mitigation strategy, data augmentation through perturbations during training does not guarantee robustness towards unforeseen perturbations, since identification of all possible on-road complications is unfeasible. Furthermore, degrading the inputs sometimes leads to more accurate predictions, suggesting that the models are unable to learn the true relationships between the different elements in the data.

关键词： Automated driving automated vehicles trajectory prediction robustness

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Article vision-based suture tensile force estimation in robotic surgery

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Sensors (Switzerland) 2021年第1期21卷 1-13页

作者： Jung, Won-Jo Kwak, Kyung-Soo Lim, Soo-Chul Department of Mechanical Robotics and Energy Engineering Dongguk University 30 Pildong-ro 1gil Jung-gu Seoul04620 Korea Republic of

Compared to laparoscopy, robotics-assisted minimally invasive surgery has the problem of an absence of force feedback, which is important to prevent a breakage of the suture. To overcome this problem, surgeons infer the suture force from their proprioception and 2D image by comparing them to the training experience. Based on this idea, a deep-learning-based method using a single image and robot position to estimate the tensile force of the sutures without a force sensor is proposed. A neural network structure with a modified Inception Resnet-V2 and Long Short Term Memory (LSTM) networks is used to estimate the suture pulling force. The feasibility of proposed network is verified using the generated DB, recording the interaction under the condition of two different artificial skins and two different situations (in vivo and in vitro) at 13 viewing angles of the images by changing the tool positions collected from the master-slave robotic system. From the evaluation conducted to show the feasibility of the interaction force estimation, the proposed learning models successfully estimated the tensile force at 10 unseen viewing angles during training. © 2020 by the authors. Licensee MDPI, Basel, Switzerland.

关键词： Robotic surgery

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Sequence-Defined Nanotubes Assembled from IR780-Conjugated Peptoids for Chemophototherapy of Malignant Glioma

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Research 2021年第1期2021卷 1379-1390页

作者： Xiaoli Cai Mingming Wang Peng Mu Tengyue Jian Dong Liu Shichao Ding Yanan Luo Dan Du Yang Song Chun-Long Chen Yuehe Lin School of Mechanical and Materials Engineering Washington State UniversityPO Box 642920 PullmanWashington 99164USA Physical Sciences Division Pacific Northwest National LaboratoryRichlandWA 99352USA Department of Mechanical Engineering and Materials Science and Engineering Program State University of New YorkBinghamtonNew York 13902USA

Near-infrared(NIR)laser-induced phototherapy through NIR agents has demonstrated the great potential for cancer ***,insufficient tumor killing due to the nonuniform heat or cytotoxic singlet oxygen(1 O2)distribution over tumors from phototherapy results in tumor recurrence and inferior *** achieve high tumor killing efficacy,one of the solutions is to employ the combinational treatment of phototherapy with other modalities,especially with chemotherapeutic *** this paper,a simple and effective multimodal therapeutic system was designed via combining chemotherapy,photothermal therapy(PTT),and photodynamic therapy(PDT)to achieve the polytherapy of malignant glioma which is one of the most aggressive tumors in the ***-780(IR780)dye-labeled tube-forming peptoids(PepIR)were synthesized and self-assembled into crystalline nanotubes(PepIR nanotubes).These PepIR nanotubes showed an excellent efficacy for PDT/PTT because the IR780 photosensitizers were effectively packed and separated from each other within crystalline nanotubes by tuning IR780 density;thus,a self-quenching of these IR780 molecules was significantly ***,the efficient DOX loading achieved due to the nanotube large surface area contributed to an efficient and synergistic chemotherapy against glioma *** the unique properties of peptoids and peptoid nanotubes,we believe that the developed multimodal DOX-loaded PepIR nanotubes in this work offer great promises for future glioma therapy in clinic.

关键词： chemotherapy IR780 modal

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