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arXiv 2024年

作者： Lu, Chenghua Tang, Kailuan Yang, Max Yue, Tianqi Li, Haoran Lepora, Nathan F. The School of Engineering Mathematics and Technology Bristol Robotics Laboratory University of Bristol Bristol United Kingdom The Department of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin150000 China

Grasping objects—whether they are flat, round, or narrow and whether they have regular or irregular shapes—introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we presented a reconfigurable pneumatic gripper with fingers that could be set in various configurations, such as hooking, supporting, closuring, and pinching. Each finger incorporates a dexterous joint, a rotating joint, and a customized plug-and-play visuotactile sensor, the DigiTac-v1.5, to control manipulation in real time. We propose a tactile kernel density manipulation strategy for simple and versatile control, including detecting grasp stability, responding to disturbances and guiding dexterous manipulations. We develop a double closed-loop control system that separately focuses on secure grasping and task management, demonstrated with tasks that highlight the capabilities above. The gripper is relatively easy to fabricate and customize, offering a promising and extensible way to combine soft dexterity and tactile sensing for diverse applications in robotic manipulation. © 2024, CC BY.

关键词： Closed loop control systems

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Investigating the Accuracy of Artificial Neural Network Models in Predicting Surface Roughness in Drilling Processes

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Procedia Computer Science 2024年 232卷 1982-1990页

作者： M.O. Okwu O.B. Otanocha B.A. Edward B.U. Oreko J. Oyekale O.J. Oyejide J. Osuji C. Maware K. Ezekiel O.F. Orikpete Department of Mechanical Engineering Federal University of Petroleum Resources Effurun Nigeria Department of Mechanical Engineering Universiti Teknologi Petronas Seri Iskandar Malaysia Fugio Cho Engineering Technology 210E Center for Robotics and Manufacturing Building University of Kentucky USA Maintenance Engineering and Asset Management University of Manchester United Kingdom Centre for Occupational Health Safety and Environment (COHSE) University of Port Harcourt Choba Nigeria

In recent times, the application of Artificial Intelligence (AI) has become widespread across various fields, including machining operations like milling, drilling, shaping, turning, grinding, counter drilling, and counter sinking. Among the techniques used in these applications, Artificial Neural Networks (ANN) have gained popularity. This study focuses on utilizing ANN to optimize drilling hardened non-shrinking (OHNS) die steel. The methodology presented in this research involves the implementation of ANN to analyze the impact of drilling process parameters on surface roughness. MATLAB 2023 software was used to effectively train the neural network. The dataset for this study consists of input and output expressions derived from experimental analysis. The input data includes variables such as cutting speed, feedrate, drill size, and depth of cut. The objective of this study is to predict surface roughness based on input datasets, with 70% of the samples allocated as training data and the remaining 30% for testing and validation. The experimental results demonstrate that ANN provides a reliable prediction capability, with Coefficient of Determination (R2) and Mean Square Error (MSE) values of 0.997 and 0.231893, respectively. The low MSE value indicate better model performance, also the R2 value obtained indicate a strong correlation between the predicted and actual values, suggesting that the ANN model provides a satisfactory fit to the data, indicating a high level of confidence in the statistical results. Thus, it can be concluded that the results obtained from the ANN model are statistically significant, slightly superior to the classical model, and exhibit a good fit.

关键词： Artificial intelligence (AI) artificial neural networks (ANN) drilling operations oil hardened non-shrinking (OHNS) Computational Intelligence (CI) Surface Roughness

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Advancing electrochemical impedance analysis through innovations in the distribution of relaxation times method

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Joule 2024年第7期8卷 1958-1981页

作者： Maradesa, Adeleke Py, Baptiste Huang, Jake Lu, Yang Iurilli, Pietro Mrozinski, Aleksander Law, Ho Mei Wang, Yuhao Wang, Zilong Li, Jingwei Xu, Shengjun Meyer, Quentin Liu, Jiapeng Brivio, Claudio Gavrilyuk, Alexander Kobayashi, Kiyoshi Bertei, Antonio Williams, Nicholas J. Zhao, Chuan Danzer, Michael Zic, Mark Wu, Phillip Yrjänä, Ville Pereverzyev, Sergei Chen, Yuhui Weber, André Kalinin, Sergei V. Schmidt, Jan Philipp Tsur, Yoed Boukamp, Bernard A. Zhang, Qiang Gaberšček, Miran O'Hayre, Ryan Ciucci, Francesco Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Hong Kong Metallurgical and Materials Engineering Colorado School of Mines Golden80401 United States Beijing Key Laboratory of Green Chemical Reaction Engineering and Technology Department of Chemical Engineering Tsinghua University Beijing China Green Energy Storage Trento38123 Italy Department of Manufacturing and Production Engineering Faculty of Mechanical Engineering and Ship Technology Institute of Machine and Materials Technology Gdańsk University of Technology Gdańsk Poland Electrode Design for Electrochemical Energy Systems University of Bayreuth Bayreuth Germany School of Chemistry University of New South Wales Sydney Australia School of Advanced Energy Sun Yat-Sen University Shenzhen China Sustainable Energy Center CSEM Neuchâtel2002 Switzerland Interdisciplinary Faculty of Science and Engineering Shimane University Matsue Japan Centre for Electronic and Optical Materials National Institute for Materials Science Tsukuba Japan Department of Civil and Industrial Engineering University of Pisa Pisa Italy Department of Materials Imperial College London Exhibition Road LondonSW7 2AZ United Kingdom Department of Chemical Engineering Massachusetts Institute of Technology Cambridge02139 United States Electrical Energy Systems University of Bayreuth Bayreuth Germany Ruder Boskovic Institute Zagreb Croatia Department of Materials and Minerals Resources Engineering National Taipei University Taipei Taiwan Finland Johann Radon Institute for Computational and Applied Mathematics Linz Austria School of Science and Engineering Nanjing Tech. University Nanjing China Karlsruhe Germany Department of Materials Science and Engineering University of Tennessee KnoxvilleTN37996 United States Physical Science Division Pacific Northwest National Laboratory RichlandWA99354 United States Systems Engineering for Electrical Energy Storage University of B

Electrochemical impedance spectroscopy (EIS) is widely used in electrochemistry, energy sciences, biology, and beyond. Analyzing EIS data is crucial, but it often poses challenges because of the numerous possible equivalent circuit models, the need for accurate analytical models, the difficulties of nonlinear regression, and the necessity of managing large datasets within a unified framework. To overcome these challenges, non-parametric models, such as the distribution of relaxation times (DRT, also known as the distribution function of relaxation times, DFRT), have emerged as promising tools for EIS analysis. For example, the DRT can be used to generate equivalent circuit models, initialize regression parameters, provide a time-domain representation of EIS spectra, and identify electrochemical processes. However, mastering the DRT method poses challenges as it requires mathematical and programming proficiency, which may extend beyond experimentalists’ usual expertise. Post-inversion analysis of DRT data can be difficult, especially in accurately identifying electrochemical processes, leading to results that may not always meet expectations. This article examines non-parametric EIS analysis methods, outlining their strengths and limitations from theoretical, computational, and end-user perspectives, and provides guidelines for their future development. Moreover, insights from survey data emphasize the need to develop a large impedance database, akin to an impedance genome. In turn, software development should target one-click, fully automated DRT analysis for multidimensional EIS spectra interpretation, software validation, and reliability. Particularly, creating a collaborative ecosystem hinged on free software could promote innovation and catalyze the adoption of the DRT method throughout all fields that use impedance data. © 2024 Elsevier Inc.

关键词： Electrochemical impedance spectroscopy

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Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots

Design of a Jumping Control Framework with Heuristic Landing...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jingwen Zhang Junjie Shen Yeting Liu Dennis Hong The Department of Mechanical and Aerospace Engineering Robotics and Mechanisms Laboratory University of California Los Angeles CA USA

Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place higher requirements for the control strategy given a much smaller support polygon. To solve this problem, a novel heuristic landing planner is proposed in this paper. With the momentum feedback during the flight phase, landing locations can be updated to minimize the influence of uncertainties from tracking errors or external disturbances when landing. To the best of our knowledge, this is the first approach to take advantage of the flight phase to reduce the impact of the jump landing which is implemented in the actual robot. By integrating it with a modified kino-dynamics motion planner with centroidal momentum and a low-level controller which explores the whole-body dynamics to hierarchically handle multiple tasks, a complete and versatile jumping control framework is designed in this paper. Extensive results of simulation and hardware jumping experiments on a miniature bipedal robot with proprioceptive actuation are provided to demonstrate that the proposed framework is able to achieve human-like efficient and robust jumping tasks, including directional jump, twisting jump, step jump, and somersaults.

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Automated Disassembly Sequence Prediction for Industry 4.0 Using Enhanced Genetic Algorithm

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Computers, Materials & Continua 2021年第11期69卷 2531-2548页

作者： Anil Kumar Gulivindala M.V.A.Raju Bahubalendruni R.Chandrasekar Ejaz Ahmed Mustufa Haider Abidi Abdulrahman Al-Ahmari Department of Mechanical Engineering Industrial Robotics and Manufacturing Automation LaboratoryNational Institute of TechnologyKariakal609609India Department of Computer Science Engineering National Institute of TechnologyKariakal609609India Raytheon Chair for Systems Engineering Advanced Manufacturing InstituteKing Saud UniversityRiyadh11421Saudi Arabia Industrial Engineering Department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The evolution of Industry 4.0 made it essential to adopt the Internet of Things(IoT)and Cloud Computing(CC)technologies to perform activities in the new age of *** technologies enable collecting,storing,and retrieving essential information from the manufacturing *** collected at sites are shared with others where execution automatedly *** obtained information must be validated at manufacturing to avoid undesirable data losses during the de-manufacturing ***,information sharing from the assembly level at the manufacturing stage to disassembly at the product end-of-life state is a major *** current research validates the information optimally to offer a minimum set of activities to complete the disassembly *** optimal disassembly sequence plan(DSP)can possess valid information to organize the necessary actions in ***,finding an optimal DSP is complex because of its combinatorial *** genetic algorithm(GA)is a widely preferred artificial intelligence(AI)algorithm to obtain a near-optimal solution for the DSP *** converging nature at local optima is a limitation in the traditional *** study improvised the GA workability by integrating with the proposed priori crossover *** optimality function is defined to reduce disassembly effort by considering directional changes as *** enhanced GA method is tested on a real-time product to evaluate the *** obtained results reveal that diversity control depends on the operators employed in the disassembly *** proposed method’s solution can be stored in the cloud and shared through IoT devices for effective resource allocation and disassembly for maximum recovery of the *** effectiveness of the proposed enhanced GA method is determined by making a comparative assessment with traditional GA and other AI methods at different population sizes.

关键词： Automation internet of things disassembly sequence planning priori cross over operator enhanced GA disassembly predicates

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Acquiring Large Field-of-View Optical Super-Resolution Images Using Adaptive As-Natural-As-Possible (AANAP) Image Stitching Method 13

Acquiring Large Field-of-View Optical Super-Resolution Image...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

作者： Sun, Hui Chen, Meng Wu, Cong Luo, Hao Chen, Qingjiu Jia, Boliang Zhang, Guanglie Li, Wen Jung City University of Hong Kong Department of Mechanical Engineering Hong Kong Hong Kong Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Shenzhen518000 China Hong Kong

ISBN: (纸本)9798350315196

Optical super resolution (OSR) is a technique that enhances the spatial resolution of images beyond the diffraction limit of the imaging system. OSR images can provide more details and information compared with conventional optical microscopes that are limited by the diffraction limit of light and thus have a best spatial resolution of about 200 nm. Moreover, the trade-off between magnification and field of view (FOV) hinders capturing large-scale structures and fine details simultaneously. Therefore, novel microscopy techniques that can overcome these limitations and provide high-resolution and large-FOV images of biological samples need to be developed. In this paper, a new method combining microsphere-based optical microscopic super-resolution imaging system and the image stitching method are proposed to improve the resolution and FOV conventional optical microscopy. First, the technique captures multiple images through the microsphere at different positions by moving the samples. Then, the technique stitches together the images using a registration algorithm to form a high-resolution, wide-field image. This technique can overcome the diffraction limit of optical microscopy and achieve sub wavelength resolution with a large FOV. It can be used in various fields of science and engineering, such as cell imaging, tissue imaging, and disease diagnosis. © 2023 IEEE.

关键词： Microspheres

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Comparison of Facial Expression and Cerebral Blood Flow Sensors for Emotion Estimation Using Communication Robots 23

Comparison of Facial Expression and Cerebral Blood Flow Sens...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Hasegawa, Naoya Hirahara, Rin Kurokawa, Shohei Takahashi, Yoshihiko Kindai University Technical College Department of Comprehensive Engineering - Mechanical Systems Course 7-1 Kasugaoka Mie Nabari518-0459 Japan Kanagawa Institute of Technology Department of Robotics and Mechatronics 1030 Shimo-Ogino Kanagawa Atsugi243-0292 Japan

ISBN: (纸本)9788993215274

In this study, a communication system that quantifies human emotions and provides feedback control was fabricated for a communication robot. The robot can provide suggestions to users and relay transmissions during human-to-human communication. Based on the emotions of the listener;the speed, words, and tone of the speaker are selected. Furthermore, the sensor was adopted to estimate emotions using facial expressions. To investigate its reliability, the results were compared with those from cerebral blood flow sensors which have been reported in numerous studies. There are several methods for measuring cerebral blood flow;however near-infrared spectroscopy (NIRS) sensors are used by placing them on either side of the subject's forehead to determine the right and left brains activity based on the flow rate of hemoglobin in the blood. The right-brain is dominant in spatial cognition, including visual and auditory perception, whereas the left-brain is dominant in language comprehension, reasoning, and relating information to knowledge in memory. The experimental results of the face sensors and the NIRS sensors are determined when a soap bubble robot ejects bubbles at the subject. © 2023 ICROS.

关键词： Infrared devices

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Evaluating the effect of magnesium oxide nanoparticles on the thermal energy storage characteristics of the inorganic PCM

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Materials Today: Proceedings 2023年

作者： Manoj Kumar, P. Karuna, M.S. Sureshkumar, M.S. Rinawa, Moti Lal Sakthivel, R. Muthukumar, K. Kathir Malavan, E. Department of Mechanical Engineering KPR Institute of Engineering and Technology Coimbatore 641407 Tamil Nadu India Department of Chemical Engineering M.J.P. Rohilkhand University Bareilly 243006 Uttar Pradesh India Department of Robotics and Automation Sri Ramakrishna Engineering College Coimbatore 641022 Tamil Nadu India Department of Mechanical Engineering Government Engineering College Jhalawar 326023 Rajasthan India

Thermal storage with phase changing materials (PCM) has got the attention of the researchers in recent days. Among the PCMs, inorganic salt hydrates are having high potential to act as thermal storing medium due to their large latent content. However, they lack large-degree supercooling and have issues with phase segregation. In the present study, the thermal characteristics of sodium acetate trihydrate (SAT) have been studied under the influence of different weight fractions (0.0%, 0.25%, 0.5%, 0.75%, and 1.0%) of MgO nanoparticles (nano-MgO). Carboxymethyl cellulose (CMC) has been used as the thickener, and nano-MgO has been tested as the nucleating medium. The results demonstrated that the use of 0.75% nano-MgO with SAT is suggested as the best composition to augment the thermal characteristics of SAT PCM. With 0.75% nano-MgO, the supercooling of the SAT was reduced to 0.32 °C, and the thermal conductivity of the SAT was enhanced by 40.94%. Nonetheless, the latent heat of the SAT PCM had not been significantly affected by the addition of nano-MgO until its fraction of 0.75%. © 2023 Elsevier Ltd. All rights reserved.

关键词： Magnesia

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Perforated red blood cells enable compressible and injectable hydrogels as therapeutic vehicles

arXiv

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arXiv 2023年

作者： Yasa, Oncay Tiruneh, Fikru M. Filippi, Miriam Balciunaite, Aiste Katzschmann, Robert K. Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Tannenstrasse 3 Zurich8092 Switzerland

Hydrogels engineered for medical use within the human body need to be delivered in a minimally invasive fashion without altering their biochemical and mechanical properties to maximize their therapeutic outcomes. In this regard, key strategies applied for creating such medical hydrogels include formulating precursor solutions that can be crosslinked in situ with physical or chemical cues following their delivery or forming macroporous hydrogels at sub-zero temperatures via cryogelation prior to their delivery. Here, we present a new class of injectable composite materials with shape recovery ability. The shape recovery is derived from the physical properties of red blood cells (RBCs) that are first modified via hypotonic swelling and then integrated into the hydrogel scaffolds before polymerization. The RBCs’ hypotonic swelling induces the formation of nanometer-sized pores on their cell membranes, which enable fast liquid release under compression. The resulting biocomposite hydrogel scaffolds display high deformability and shape-recovery ability. The scaffolds can repeatedly compress up to ∼87% of their original volumes during injection and subsequent retraction through syringe needles of different sizes;this cycle of injection and retraction can be repeated up to ten times without causing any substantial mechanical damage to the scaffolds. Our biocomposite material system and fabrication approach for injectable materials will be foundational for the minimally invasive delivery of drug-loaded scaffolds, tissue-engineered constructs, and personalized medical platforms that could be administered to the human body with conventional needle-syringe systems. © 2023, CC BY.

关键词： Needles

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An experimental study on energy-based control of rigid parallel series elastic actuator

An experimental study on energy-based control of rigid paral...

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2021 World Automation Congress, WAC 2021

作者： Mavinkurve, Ujjal Krishnanand Tafrishi, Seyed Amir Kanada, Ayato Honda, Koki Nakashima, Yasutaka Yamamoto, Motoji Kyushu University Department of Mechanical Engineering Fukuoka Japan Tohoku University Department of Robotics Sendai Japan

ISBN: (纸本)9781685241117

Parallel elastic actuators (PEA) find a growing interest in many research areas ranging from rehabilitation devices to industrial robots on account of their ability to save energy as well as providing passive impact absorption. PEAs are actuators with elements of compliance, such as springs connected in parallel between the actuator and the load. The majority of these PEA mechanisms rely on clutches that require a high amount of power in a short amount of time. Furthermore, these PEA can only switch between a state of complete rigidity to constant stiffness. We consider the emerging design of rigid parallel series elastic actuators (RPSEA) which, in addition to the advantages provided by parallel elastic actuators, uses a motor instead of a clutch-based mechanism to manipulate the stiffness. We develop an experimental setup of the RPSEA and compare an Energy-based control method with a conventional PID control. The response of the two controllers is evaluated under disturbance and presented in this paper. © 2021 TSI Enterprises.

关键词： Actuators

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