检索结果-内蒙古大学图书馆

IEEE International Conference on Soft robotics (RoboSoft)

作者： Siebe J. Schouten Tomas Steenman Rens Filé Merlijn Den Hartog Aimee Sakes Cosimo Della Santina Kirsten Lussenburg Ebrahim Shahabi Mechanical Engineering Department Delft University of Technology CD Delft the Netherlands BioMechanical Engineering Department Delft University of Technology CD Delft the Netherlands Cognitive Robotics Department Delft University of Technology CD Delft the Netherlands Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wesling Germany

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Human fingers exhibit remarkable dexterity and adaptability through a combination of structures with varying stiffness levels, ranging from soft tissues (low stiffness) to tendons and cartilage (medium stiffness) to bones (high stiffness). This paper focuses on the development of a robotic finger that emulates these multi-stiffness characteristics. Specifically, we propose utilizing a lattice configuration, parameterized by voxel size and unit cell geometry, to achieve fine-tuned stiffness properties with high precision. A key advantage of this approach is its compatibility with single-process 3D printing, which eliminates the need for manual assembly of components with varying stiffness. Using this method, we present a novel, human-like robotic finger and a soft gripper. The gripper is integrated with a rigid manipulator and demonstrated in pick-and-place tasks, showcasing its effectiveness.

关键词： Service robots Fingers Lattices Tactile sensors Soft robotics Three-dimensional printing Distance measurement Robustness Grippers Tendons

来源：评论

学校读者我要写书评

暂无评论

Pulsatile Bypass Flow by Means of Power Law and Newtonian Model: A Comparison Guided by Numerical Investigation

引用

Defect and Diffusion Forum 2022年 420卷 215-228页

作者： Impiombato, Andrea Natale Orlandi, Francesco Civita, Giorgio La Zinani, Flavia Schwarz Franceschini Rocha, Luiz Alberto Oliveira Biserni, Cesare Di Schio, Eugenia Rossi Department of Industrial Engineering Alma Mater Studiorum University of Bologna Viale Risorgimento 2 Bologna40136 Italy Mechanical Engineering Graduate Program Universidade do Vale do Rio dos Sinos – UNISINOS Av. Unisinos 950 RS São LeopoldoCEP 93022-750 Brazil Department of Mechanical Engineering Federal University of Rio Grande do Sul – UFRGS Sarmento Leite Street 425 RS Porto Alegre Brazil

In this work, the comparison between the Newtonian and the Power Law models was pointed out to determine the flow field within a system that includes the bypass of a narrowing zone (Stenosis) of an ideal artery. The simulations were conducted in a transient regime considering the pulsed effect inside the veins. The results show that the Power Law model does not sufficiently coincide with the Newtonian model, especially for describing the wall stresses. More specifically, the Power Law model predicts a velocity profile that remains parabolic for the entire time range analyzed, while the Newtonian model captures vorticities. © 2022 Trans Tech Publications Ltd, Switzerland.

关键词： Constructal Design Coronary Artery Bypass Newtonian Model Power Law Model Pulsatile Flow

来源：评论

学校读者我要写书评

暂无评论

State observers for output feedback control of electro-hydraulic systems

State observers for output feedback control of electro-hydra...

引用

10th International Symposium on Test Automation & Instrumentation (ISTAI 2024)

作者： Damiano Padovani Andrea Cioncolini Angelo Alessandri Department of Mechanical Engineering (Robotics) Guangdong Technion-Israel Institute of Technology 241 Daxue Road Shantou People's Republic of China

ISBN: (数字)9781837241910

Electro-hydraulic systems are the updated version of conventional valve-controlled hydraulics. This actuation technology, which is crucial in many fields of industry, still has room for improvement in some areas. In this regard, feedback control is challenging as only the hydraulic actuator's position and pressure drop are typically measured for practical reasons. Thus, our focus is on constructing a state observer because knowing all the system’s state variables, including the actuator velocity, is desirable for achieving effective closed-loop position control. We propose a feedback linearization approach for output feedback control by developing an observer relying only on the measured position and pressures. We leverage linear matrix inequalities (LMIs) to obtain a proper observer gain. This unconventional approach for electro-hydraulic drives leads to satisfactory observer behavior. Therefore, this contribution further establishes electro-hydraulic systems by proposing novel alternatives to facilitate their control.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Detecting Crack on a Beam Subjected to Impact Load

Detecting Crack on a Beam Subjected to Impact Load

引用

AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and mechanical Manufacturing engineering, RCTEMME 2021

作者： Gunawan, Fergyanto E. Huu Nhan, Tran Sutikno Kamil, Insannul Industrial Engineering Department BINUS Graduate Program Master of Industrial Engineering Bina Nusantara University Jakarta11480 Indonesia Department of Automotive Engineering Faculty of Transportation Engineering Ho Chi Minh City University of Technology Ho Chi Minh City Viet Nam Mechanical Engineering Department Faculty of Engineering Institut Teknologi Sepuluh Nopember Surabaya Indonesia Industrial Engineering Department Faculty of Engineering Andalas University Padang Indonesia

ISBN: (纸本)9789811919671

Crack often affects structural deformation nonlinearly, leading to difficulty detecting their existence using some Structural Health Monitoring methods. In this paper, we propose a damage index derived from the Euler-Bernoulli beam theory. Furthermore, we evaluate the method's ability to detect the crack when the specimen is subjected to an impact load. To assess the proposed damage index, we consider a beam specimen containing a lateral crack. The beam has a length of 300 mm and a square-shaped cross-sectional area of 20 mm × 20 mm. The beam is made of steel, is constrained at one end, and is subjected to an impact load at the other end. The beam lateral displacement at many observation points across the beam-free surface is recorded during the beam dynamics. The records are used to compute the proposed damage index. The results suggest that the index only detects the crack when the beam deformation is affected by the crack. When the crack face is suppressed to bear the compressive stress, the resulting deformation is not much different from that of the uncracked beam. In that condition, the proposed index is not able to indicate the existing crack. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cracked beam Damage index Euler-Bernoulli beam Lateral deformation Structural health monitoring

来源：评论

学校读者我要写书评

暂无评论

Feasibility Study of a Teleoperation System With Haptics for Tip-Force Sensing Active Needles

Feasibility Study of a Teleoperation System With Haptics for...

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Sooyeon Kim Sujin Yu Yuri Lim Suhyun Lee Seok Chang Ryu Department of Mechanical and Biomedical Engineering BioRobotics Laboratory Graduate Program in Smart Factory Ewha Womans University Seoul South Korea Department of Mechanical and Biomedical Engineering BioRobotics Laboratory Ewha Womans University

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This paper presents the design of a teleoperation system with a haptic display for the active needles with tip-force sensing and tip-steering capabilities. The active needle design employs sensorized tendons by fiber Bragg gratings sensor (FBGs), while the teleoperation system combines a general haptic interface with electrical stimulation as its steering interface, delivering not only general force feedback but also tip-force information measured by the FBGs-based tendons to the operators. The essential features, such as tip-force sensing, teleoperation of the tip-joint, and human perception of the measured tip-force, were experimentally evaluated with their prototypes in tissue phantoms. Based on the results obtained, necessary follow-up studies were identified and suggested for the effective teleoperation of force-sensing steerable instruments in clinical environments. If successfully developed, such systems can enable surgeons to perceive clinical situations and perform operations more precisely and safely.

关键词： Instruments Surgery Prototypes Phantoms Biomedical measurement Robot sensing systems Needles Fiber gratings Sensors Tendons

来源：评论

学校读者我要写书评

暂无评论

Real-Time Background-Agnostic Fish Localization in Underwater Videos towards Autonomous Species Monitoring

Real-Time Background-Agnostic Fish Localization in Underwate...

引用

OCEANS

作者： Anuj Shrivatsav Srikanth Saicharan Thirandas Dhanush Adithya Balamuguran Anurag Daga Robert Vincent Taskin Padir Dipanjan Saha Institute for Experiential Robotics Northeastern University Boston MA USA Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

ISBN: (数字)9798350362077

ISBN: (纸本)9798350362084

This paper investigates a novel machine learning framework for autonomous, real-time fish localization in underwater videos with diverse backgrounds. The framework consists of three different algorithms from the family of deep learning and computer vision. Each of them is a good solution to one or more specific needs; however, each algorithm has its own limitations. Combining these methods using ensemble learning is a way to accomplish background-agnostic fish localization in real-time. A specific combination called weighted voting learns an optimal set of weights, such that the highest weight goes to the algorithm with the highest prediction accuracy. Results presented for two underwater datasets with significantly varying background and illumination demonstrate that weighted voting can produce consistent localization irrespective of the environment.

关键词： Location awareness Accuracy Machine learning algorithms Semantic segmentation Fish Prediction algorithms Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Sustainable Development of Activated Carbon Derived Fish Gill Waste for Environmental and Energy Storage Applications

SSRN

引用

SSRN 2024年

作者： Senthilkumar, Kandasamy Kamalraj, T.N. Keerthana, P. Ramesh, Sivalingam Naveenkumar, M. Department of Food Technology Kongu Engineering College Erode638060 India Department of Chemical Engineering Kongu Engineering College Erode638060 India Department of Mechanical Robotics and Energy Engineering Dongguk University 30 Pildong Jung-gu Seoul04620 Korea Republic of Easwari Engineering College India

The increasing abundance of biomass and bio-waste materials has highlighted the necessity for sustainable methods to reuse and repurpose these resources. Fish waste constitutes a significant portion of biomass waste, frequently overlooked and dumped in inland regions. This study centers on the transformation of fish waste, particularly Trevally fish feces, into activated carbon. The main objective of the present study is to devise an economical and competent method for producing activated carbon from fish waste. The activated carbon produced is thoroughly analyzed, which includes a detailed evaluation of its physical and chemical attributes. In the present work, an attempt also investigates the various uses of activated carbon synthesized from fish waste. The material has substantial potential in water treatment and purification, particularly in environmental applications. In addition, the research examines the material's appropriateness for treating wastewater, specifically targeting the elimination of contaminants. In the field of energy, activated carbon generated from fish waste is utilized in ultra-capacitors, functioning as a renewable and environmentally friendly method of storing energy. The electrochemical properties of these ultra-capacitors are extensively examined. The study investigates the applicability of this groundbreaking method for storing energy. Furthermore, it emphasizes the significance of effective resource allocation, resulting in a favorable influence on both environment and energy sector. © 2024, The Authors. All rights reserved.

关键词： Activated carbon

来源：评论

学校读者我要写书评

暂无评论

Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform

Design and Development of the MIT Humanoid: A Dynamic and Ro...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Andrew SaLoutos Elijah Stanger-Joncs Yanran Ding Matthew Chignoli Sangbae Kim Biomimetic Robotics Laboratory at the Department of Mechanical Engineering Massachusetts Institute of Technology (MIT) Cambridge MA USA

Enabling humanoid robots to achieve human-level athletic feats, such as running and jumping, is at the frontier of robotics research. To execute these behaviors, a robot platform must have high power density and robust mechanical and electrical systems. In this paper, we present the MIT Humanoid, a robust research platform that is designed to meet these requirements and be able to perform highly dynamic, parkour-style motions. The robot is just over 1 m tall and weighs approximately 24 kg, with 18 actuated degrees of freedom, each of which has a custom high-torque proprioceptive motor module. We also present initial hardware results from our new platform, demonstrating model-based controllers for pose control, walking, and jumping. The robot's high control bandwidth allows us to achieve stable pose control and walking, and the high power density allows the robot to achieve vertical jumps of roughly 30 cm, as measured by torso displacement.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Highly Thermally Stable, Highly Electrolyte-Wettable Hydroxyapatite/Cellulose Nanofiber Hybrid Separators for Lithium-Ion Batteries

引用

ACS Applied Energy Materials 2023年第7期6卷 3862-3871页

作者： Liu, Yi Li, Chunxing Li, Chao Liang, Zhenye Hu, Xueshan Liu, Hao Zhang, Ze Cui, Meng Chen, Gang Wan, Jiayu Zhang, Xiangwu Tao, Jinsong State Key Lab of Pulp and Paper Engineering South China University of Technology Guangzhou510640 China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen518055 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Fiber and Polymer Science Program Department of Textile Engineering Chemistry and Science Wilson College of Textiles North Carolina State University RaleighNC27695-8301 United States

Separators have an important influence on the safety and performance of lithium-ion batteries (LIBs). However, traditional polyolefin-based separators suffer from poor thermal stability and weak electrolyte wettability. Here, by using hydroxyapatite (HAP) and cellulose nanofibers (CNFs) as raw materials, we fabricated a unique HAP/CNF hybrid separator. The separators exhibit excellent thermal properties, with high thermal stability (up to 250 °C) and outstanding flame retardancy. The separators also demonstrate excellent electrolyte wettability. Compared to polypropylene (PP) separators, the HAP/CNF separators show a smaller contact angle with electrolytes, 17.2° for HAP/CNF and 45.5° for PP. Meanwhile, the HAP/CNF separators illustrate an excellent smoothness of 68.0 nm. In addition, the batteries assembled with the hybrid separators display a better performance compared with the batteries assembled with commercial PP separators. The raw materials are green, and the fabrication processes are free of organic solvents. We envision that the HAP/CNF hybrid separator could be a promising separator candidate for next-generation high-safety and high-performance LIBs. © 2023 American Chemical Society.

关键词： Thermodynamic stability

来源：评论

学校读者我要写书评

暂无评论

Testing and Evaluation of Field-programmable Gate Arrays for Applications in High Radiation Environment

Testing and Evaluation of Field-Programmable Gate Arrays for...

引用

2024 Annual Conference on Transactions of the American Nuclear Society, ANS 2024

作者： Keller, Marlin Cao, Lei Raymond Kandlakunta, Praneeth Department of Physics The Ohio State University 191 W. Woodruff Ave ColumbusOH43210 United States Nuclear Reactor Laboratory College of Engineering The Ohio State University 1298 Kinnear Rd ColumbusOH43212 United States Nuclear Engineering Program Department of Mechanical and Aerospace Engineering The Ohio State University 201 W. 19th Ave ColumbusOH43210 United States

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：