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International Conference on mechanical engineering: Researches and Evolutionary Challenges, ICMech-REC 2023

作者： Karthick, L. Loganathan, Ganesh Babu Jagadish, C.A. Somasundaram, B. Kandavalli, Sumanth Ratna Chithambaranathan, P. Department of Mechanical Engineering Hindusthan College of Engineering and Technology Coimbatore641032 India Department of Robotics and Automation Rajalakshmi Engineering College Chennai602105 India School of Mechanical Engineering REVA University Bengaluru India Department of Mechanical Engineering Tandon School of Engineering New York University 6 Metro Tech Center BrooklynNY11201 United States Department of Mechanical Engineering Rajalakshmi Engineering College Thandalam Chennai602105 India

ISBN: (纸本)9789819722488

Owing to increments in heavy vehicles for transporting the materials and reducing the vehicle weight, magnesium alloys play the mandatory role in various fabricating industries. The Mg alloy alone does not satisfy their necessities without adding the strengthening particles;therefore, this investigation stated the silicon carbide (SiC) was the reinforcing into AZ91D Mg alloy to compose the coating metal matrix composites through the laser cladding process. This method is unique when appropriated processing parameters are chosen and compared to laser melting process;laser cladding is the significant one. The laser cladding processing parameters are scanning speed (3–5 m/s), SiC proportions (10–30%) and laser output power (0.6–0.8 kW), respectively. Then the composed coating AZ91D Mg alloy with SiC specimen is accounted for experimentation of microhardness and wear rates. The microhardness and wear rates are improved at increasing of weight percentage from 20 to 30%, maximum of scanning speed at 5 m/s and 0.7 kW of laser output power parameters. The grey relational multi-task optimization method was utilized to recognize the single responses from various laser cladding processing parameters. Finally, the SEM with worn surfaces was taken on the optimal specimen composite. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Silicon carbide

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A Phase-change-material-based Variable Stiffness Sheath Inspired by a Multi-layer Wave Spring Structure for Flexible Upper Gastrointestinal Endoscopic Robots

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IEEE robotics and Automation Letters 2025年第6期10卷 6504-6511页

作者： Song, Dezhi Luo, Xiangyu Yu, Xiangyang Zhang, Bo Yang, Zhengbao Hu, Chengzhi Shi, Chaoyang Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Tianjin300072 China Tianjin Hospital of ITCWM Tianjin Nankai Hospital Department of Gastrointestinal Surgery Tianjin300100 China Waseda University Future Robotics Organization Tokyo1620044 Japan The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong Southern University of Science and Technology Department of Mechanical and Energy Engineering Shenzhen518055 China

Continuum robots in flexible gastrointestinal endoscopy require transitioning between flexible and rigid states. Phase-change-material-based variable stiffness (VS) methods exhibit a significant stiffness change ratio but are typically time-consuming. These materials are commonly fabricated as simple cylindrical or tubular structures and integrated with continuum joints, overlooking how the VS module's structural characteristics affect stiffness modulation and bending performance. To balance motion flexibility and operational stability, this work presents a stiffness-tunable sheath inspired by a multi-layer wave spring structure, fabricated utilizing thermoplastic material. A water-based active heating/cooling method is employed, wherein the circulation of hot/cold water through silicone tubes helically wrapped around the VS sheath enables rapid thermal regulation. Structural parameters selection of the VS sheath based on the orthogonal design method has been performed to enhance rigid-state stiffness and reduce maximum stress during 90° flexion in a flexible state. Experimental results showed the proposed VS sheath achieves a stiffness change ratio of up to 16.5 times within 30s. After being integrated with a continuum joint, the sheath demonstrates an average positioning error of 1.48mm within a ±90° bending range in a flexible state, without structural compromise or interference with the continuum joint's bending. In a rigid state, the proposed design can resist 400g external payload with a deflection of less than 6mm. The efficacy of this design has been validated through ex-vivo experiments on a porcine stomach. © 2016 IEEE.

关键词： Endoscopy

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Mechanism Design and Control of a Winged Hovering Robot with Flapping Angle Constraint

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ASME Letters in Dynamic Systems and Control 2022年第4期2卷 041002页

作者： Vejdani, Hamid Haji, LaRance Fernandez, Vernon Jawad, Badih Lab Department of Mechanical Robotics and Industrial Engineering Lawrence Technological University SouthfieldMI48075 United States Department of Mechanical Robotics and Industrial Engineering Lawrence Technological University SouthfieldMI48075 United States

In this paper, we first presented a four-bar linkage mechanism for actuating the wings in a flapping wing flying robot. After that, given the additional constraints imposed by the four-bar linkage, we parameterized the wing kinematics to provide sufficient control authority for stabilizing the system during 3D hovering. The four-bar linkage allows the motors to spin continuously in one direction while generating flapping motion on the wings. However, this mechanism constrains the flapping angle range which is a common control parameter in controlling such systems. To address this problem, we divided each wingbeat cycle into four variable-time segments which is an extension to previous work on split-cycle modulation using wing bias but allows the use of a constant flapping amplitude constraint for the wing kinematic. Finally, we developed an optimization framework to control the system for fast recovery while guaranteeing the stability. The results showed that the proposed control parameters are capable of creating symmetric and asymmetric motions between the two wings and, therefore can stabilize the hovering system with minimal actuation and flapping angle amplitude constraint. Copyright © 2022 by ASME.

关键词： Robots

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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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Hydrogel bioadhesives harnessing nanoscale phase separation for Achilles tendon repairing

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Nano Research 2024年第2期17卷 778-787页

作者： Jun Zhang Xingmei Chen Jingseng Lin Pei Zhang Iek Man Lei Yue Tao Jiajun Zhang Tian Luo Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055China Research and Innovation Center SKG Health TechnologyShenzhen 518000China SAFE(Shenzhen)Medical Technology Company Limited Shenzhen 518000China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhen 518055China

Repairing Achilles tendon has emerged as a long-standing challenge in the orthopaedic *** suture is the gold standard for re-attaching and repairing the fractured Achilles tendons in clinical surgeries,it is still subjected to numerous adverse side-effects,including chronic inflammatory,tendon tissue re-rupture,scar formation,and post-surgical peritendinous *** this work,we develop a class of hydrogel bioadhesives with tailored nanoscale phase separation for Achilles tendon *** address the existing limitations of sutures,our hydrogel bioadhesives encompass three core functionalities:(i)instant and tough adhesion to Achilles tendon tissues,(ii)extraordinary long-term adhesion robustness under wet and dynamic in vivo conditions,and(iii)anti-postsurgical peritendinous *** our hydrogel bioadhesives with sutures,such kind of integrated approach enables a conformable yet robust biointerface with the tendon tissues,and prevents the fibroblast migration and formation of connective tissues,thus facilitating the tendon *** hydrogel bioadhesives reported here open up new opportunities for the repairing of fractured Achilles tendons in diverse and complicated clinical scenarios.

关键词： hydrogels phase separation bioadhesion robustness tendon repairing

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Impact of Artificial Compressibility on the Numerical Solution of Incompressible Nanofluid Flow

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Computers, Materials & Continua 2023年第3期74卷 5123-5139页

作者： Tohid Adibi Shams Forruque Ahmed Seyed Esmail Razavi Omid Adibi Irfan Anjum Badruddin Syed Javed Department of Mechanical Engineering University of BonabBonabIran Science and Math Program Asian University for WomenChattogram4000Bangladesh School of Mechanical Engineering University of TabrizTabrizIran Energy Management Group Energy and Environment Research CenterNiroo Research InstituteTehranIran Mechanical Engineering Department College of EngineeringKing Khalid UniversityAbha61421Saudi Arabia

The numerical solution of compressible flows has become more prevalent than that of incompressible *** the help of the artificial compressibility approach,incompressible flows can be solved numerically using the same methods as compressible *** artificial compressibility scheme is thus widely used to numerically solve incompressible Navier-Stokes *** numerical method highly depends on its accuracy and speed of *** the artificial compressibility approach is utilized in several numerical simulations,the effect of the compressibility factor on the accuracy of results and convergence speed has not been investigated for nanofluid flows in previous ***,this paper assesses the effect of this factor on the convergence speed and accuracy of results for various types of *** improve the stability and convergence speed of time discretizations,the fifth-order Runge-Kutta method is applied.A computer program has been written in FORTRAN to solve the discretized equations in different Reynolds and Grashof numbers for various *** results demonstrate that the artificial compressibility factor has a noticeable effect on the accuracy and convergence rate of the *** optimum artificial compressibility is found to be between 1 and *** findings can be utilized to enhance the performance of commercial numerical simulation tools,including ANSYS and COMSOL.

关键词： Navier-Stokes equations incompressible flow artificial compressibility convergence rate convection flow

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Approximate Static Balancing of the Supporting Posts of a Simple Cable-Driven Parallel Robot 11

Approximate Static Balancing of the Supporting Posts of a Si...

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Cote, Vincent Cardou, Philippe Laval University Robotics Laboratory Department of Mechanical Engineering Quebec City Canada

ISBN: (纸本)9798350308105

Cable-driven parallel robots (CDPRs) are a subset of conventional parallel robots which actuate an end-effector using arrangements of unilaterally-constrained cables. They allow for large workspaces and advanced end-effector dynamics, but require substantial supporting structures to be effective. This is problematic when deploying them in space-constrained applications. This paper studies a passive counterweight system proposed for allowing the deployment of CDPRs in applications with limited space availability. The need for such easily installed structures is explained and a quasi-static suspended 2-DoF CDPR is modelled. A counterweight system is then proposed and its kinetostatic model is developed. Finally, this model is utilized within an optimisation algorithm to determine system dimensions that achieve optimal moment cancellation in the supporting structure. © 2023 IEEE.

关键词： End effectors

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Fleet Sizing for the Flash Delivery Problem from Multiple Stores: A Case Study in Amsterdam 27

Fleet Sizing for the Flash Delivery Problem from Multiple St...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Kronmueller, Maximilian Fielbaum, Andres Alonso-Mora, Javier Delft University of Technology Department of Cognitive Robotics The Faculty of Mechanical Maritime and Materials Engineering Netherlands School of Civil Engineering University of Sydney Australia

ISBN: (纸本)9798331505929

In this paper, we present an approach for fleet sizing in the context of flash delivery, a time-sensitive delivery service that requires the fulfilment of customer requests in minutes. Our approach effectively combines individual delivery requests into groups and generates optimized operational plans that can be executed by a single vehicle or autonomous robot. The groups are formed using a modified routing approach for the flash delivery problem. Combining the groups into operational plans is done by solving an integer linear problem. To evaluate the effectiveness of our approach, we compare it against three alternative methods: fixed vehicle routing, non-pooled deliveries and a strategy encouraging the pooling of requests. The results demonstrate the value of our proposed approach, showcasing its ability to optimize the fleet size and improve operational efficiency. Our experimental analysis is based on a real-world dataset provided by a Dutch retailer, allowing us to gain valuable insights into the design of flash delivery operations and to analyze the effect of the maximum allowed delay, the number of stores to pick up goods from and the employed cost functions. © 2024 IEEE.

关键词： Cost functions

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Analysis of VSC-HVDC System in the Asynchronously Operating Grids During AC Line Faults 1

Analysis of VSC-HVDC System in the Asynchronously Operating ...

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1st IEEE International Conference on Smart and Sustainable Developments in Electrical engineering, SSDEE 2025

作者： Tiwari, Ravi Shankar Sinha, Ashish Kumar Kumar, Prashant GLA University Department of Electrical Engineering Mathura India Dongguk University Department of Mechanical Robotics and Energy Engineering Seoul04620 Korea Republic of

ISBN: (纸本)9798331542108

The growing energy demand and ruler electrification accelerates the integration of synchronously and asynchronously operating grids. Generation based on hydro, wind or solar may operate at a frequency slightly different than the national grid due to its intermittent nature and operational constraints. It is important to integrate the generation of various sources to improve grid reliability. Wind energy farms are usually integrated into the grid using VSC (voltage source converters)-HVDC systems. Faults on either side of the HVDC link may create operational and stability issues for interconnecting the HVDC link. The fault ride-through is the ability of the VSC-HVDC system to remain connected with the grid during faults. This paper explores and analyzes the fault ride-through ability of a± 100kV, 200 MW two-level VSC-HVDC to maintain interconnections between grids, especially during the presence of intermittent sources like wind farms at one end of the VSC-HVDC system. © 2025 IEEE.

关键词： Electric power transmission networks

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Path Tracing and Validation of Omni Wheeled Mini Robot Using Visual Feedback 11

Path Tracing and Validation of Omni Wheeled Mini Robot Using...

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11th IEEE International Conference on Advances in Computing and Communications, ICACC 2024

作者： Ahamed, Aftaab Jayaraj, Karthik Fazil, Shibin Nikitha, S. Sudheer, P.A. National Institute of Technology Calicut Robotics Interest Group Mechatronics Robotics Laboratory India National Institute of Technology Calicut Mechatronics/Robotics Laboratory Mechanical Engineering Department India

ISBN: (纸本)9798350379136

Holonomic drives are gaining popularity in many fields due to their versatility in various industrial applications. The ability of the holonomic drive robots to move in all directions makes it distinct from other drive mechanisms. Open-loop control of omnidirectional bots can be achieved with relative ease whereas automating it is not as easy. When trying to create an automated system with lower cost, off the shelf components and hardware, other problems may arise as a result of the poor performance of the components. Here a three wheeled omnidirectional robot that can trace a predefined path without human intervention has successfully been developed. © 2024 IEEE.

关键词： Open loop control

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