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46th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2024

作者： Nigrelli, Emma Stirling, Leia Sienko, Kathleen University of Michigan Department of Mechanical Engineering Ann ArborMI United States University of Michigan Department of Industrial and Operations Engineering Robotics Department Ann ArborMI United States

ISBN: (纸本)9798350371499

Visual observations provide an important foundation for physical therapist (PT) decision making in balance rehabilitation. This study used eye tracking to identify areas of the body focused on by PTs while evaluating standing balance across different exercise difficulties. Eye tracking data were obtained from five PTs who observed and rated older adults performing standing balance exercises, using a five-point scale. Excluding ratings of five, PTs had an average of approximately 215% more mean visits and an average of approximately 195% longer mean average visit durations to the lower extremities (LE) compared to the other regions of the body. However, visits to the LE shortened with increasing balance challenge, with approximately 75% shorter mean average visit durations to the LE for exercises rated as five compared to exercises rated as one. The number of visits to the head increased with balance challenge, with approximately 230% more mean number of visits to the head for ratings of five compared to ratings of one. Shortened visit durations and an increased number of visits to the upper body suggest an increase in whole body scan patterns with increasing challenge level. © 2024 IEEE.

关键词： Physical therapy

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CO2 Laser Fabrication of a Passive continuous-flow T-shaped Polymethyl Methacrylate (PMMA) Micromixer

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Lasers in Manufacturing and Materials Processing 2023年第3期10卷 373-388页

作者： Okello, Job Lazarus El-Bab, Ahmed M. Fath Yoshino, Masahiko El-Hofy, Hassan A. Industrial and Manufacturing Engineering Department University of Science and Technology New Borg El-Arab City Egypt Mechatronics and Robotics Engineering Department University of Science and Technology New Borg El-Arab City Egypt Department of Mechanical Engineering Tokyo Institute of Technology Tokyo Japan On leave from Department of Production Engineering Faculty of Engineering Alexandria University Alexandria Egypt

Since the emergence of microfluidics, the demand for microfluidic devices is ever increasing. Polymethyl methacrylate (PMMA) is extensively used to manufacture microfluidic devices because it is cheap, disposable, and biocompatible. CO2 laser micromachining of PMMA is cheap, fast, and efficient. However, thermal defects affect the process. In this work, a passive continuous-flow T-shaped micromixer was fabricated using a low-power CO2 laser. Microchannels were fabricated on PMMA substrates coated with a 1-µm layer of 99.95% pure aluminium. The power and speed of the laser varied from 1.5 to 7.5 W and 5 to 17.5 mm/s respectively. The effects of the deposited energy on surface roughness, heat-affected zone, and volumetric removal rate were examined. The microchannels were characterized to get the suitable dimensions for the micromixer’s microchannel which was fabricated at 3.0 W and 17.5 mm/s. The micromixer was bonded using the microwave welding technique and tested for leakage using purple dye by varying the flow pressure at intervals of 100 kPa for 20 min. Up to 1.5 MPa, no leakage occurred. Beyond 1.5 MPa, any increase in pressure resulted in leakage from the inlet tubes. Coating PMMA substrates with 99.95% pure aluminium before fabrication reduces thermal defects and improves efficiency. © 2023, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.

关键词： Carbon dioxide lasers

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Stiffness and Vibration Resistance Analysis of Isotropic Stewart Platform (ISP) and Common Stewart Platform (CSP) 23

Stiffness and Vibration Resistance Analysis of Isotropic Ste...

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

作者： Tileukulova, Aisulu Rakhmetova, Perizat Yeshmukhametov, Azamat Koganezawa, Koichi Al-Farabi Kazakh National University Department of Physics and Technology Almaty Kazakhstan Nazarbayev University Department of Robotics Engineering Astana Kazakhstan Satbayev University Department of Robotics and Engineering Tools of Automation Almaty Kazakhstan School of Engineering and Digital Sciences Nazarbayev University Department of Robotics Engineering Astana Kazakhstan Tokai University Department of Mechanical Engineering Japan

ISBN: (纸本)9788993215274

Parallel manipulators found wide applications in the industry such as entertainment, heavy, and aerospace industries. However, the contemporary growth of the economy and industry demands additional and exceptional capabilities for robots. Parallel manipulator applications in the industry are pretty specific and complex rather than serial manipulators. Therefore in this research, we proposed an isotropic Stewart parallel manipulator to enhance robot stiffness and payload capacity capabilities. Moreover, proves the concept by experimental methods. The main contribution of this paper is to rely on robot design, joint positions, and comparison of experimental results to prove the concept idea. The research paper is organized in the following order: introduction, design concept, joint positions and simulation, experimental results, and conclusion. © 2023 ICROS.

关键词： Stiffness

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Wear Analysis of copper based surface composites prepared by friction stir processing

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Materials Today: Proceedings 2022年 62卷 475-480页

作者： Loganathan, K. Hariram, S. Devanathan, C. Giri, R. Kumar, S. Department of Mechanical Engineering Rajalakshmi Engineering College Chennai Thandalam 602 105 India Department of Robotics and Automation Rajalakshmi Engineering College Chennai Thandalam 602 105 India

Copper based surface composites are widely getting importance in various applications because of their decent mechanical, tribological and thermal properties. In the present experimental work, an attempt was made to prepare the surface composites with copper material as substrate using friction stir processing method. Three specimens were prepared by adding aluminium oxide, boron carbide and the mixture of both particles to the surface of the copper and stirred using a square pin profiled tool. The various process parameters of the friction stir process were maintained constant. The wear behaviour of the specimen such as wear rate, coefficient of friction, and friction force was studied using Pin on disc method. The test results revealed that hybrid surface composites had better wear resistance due to/ the low coefficient of friction and friction force followed by boron carbide and aluminium oxide particles mixed surface composites. The friction force was 20 times higher than the friction coefficient and this factor remains constant for the entire test run. © 2022

关键词： Aluminum oxide

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ADVANCING AUTONOMOUS BACKING OF TRACTOR-TRAILER SYSTEMS: A DYNAMIC MODEL APPROACH

ADVANCING AUTONOMOUS BACKING OF TRACTOR-TRAILER SYSTEMS: A D...

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ASME 2024 International mechanical engineering Congress and Exposition, IMECE 2024

作者： Sah, Dhirendra K. Selekwa, Majura F. Mechatronics and Robotics Laboratory Department of Mechanical Engineering North Dakota State University FargoND58102 United States

ISBN: (纸本)9780791888636

Recent developments in sensing and information processing technology have seen an increased interest in applications of autonomous vehicles. Many driverless vehicles have been tested in various places and environments across the world. Automated backing of tractor-trailer systems is one of the problems yet to be fully addressed in this endeavor, even experienced drivers find it challenging to perform backup maneuvers of tractor-trailer systems in confined spaces. Achieving a fully automated backup maneuver of a tractor-trailer vehicle requires, among other things, the presence of a high-fidelity mathematical model of the vehicle. Often this problem is approached from a kinematic standpoint where the vehicle and the trailer are modeled using a bicycle structure formulation by concentrating weights at the axle centers only, which limits not only the maneuverability of the vehicle system but also its speed. This paper proposes a dynamic model of a tractor-trailer that treats the system as a finite structure of interconnected multi-bodies subjected to various forces and moments emanating from terramechanics and other non-conservative forces acting on the vehicle. This approach presents are more realistic motion of the vehicle even in confined spaces enabling it to avoid colliding with unintended objects during the maneuver. Simulation results by using such a model show that the vehicle can autonomously perform back up maneuvers in as limited clearances as 5% of the vehicle width at moderate speeds without significant slip. Copyright © 2024 by ASME.

关键词： Truck trailers

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Geometric Mechanics of Contact-Switching Systems

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IEEE robotics and Automation Letters 2023年第12期8卷 8343-8349页

作者： Prasad, Hari Krishna Hari Hatton, Ross L. Jayaram, Kaushik Animal Inspired Movement and Robotics Laboratory Paul M. Rady Department of Mechanical Engineering University of Colorado Boulder BoulderCO80302 United States Mechanical Industrial and Manufacturing Engineering Oregon State University CorvallisOR97331 United States

Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This letter introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on a toy robot model that can make continuous limb swings and discrete contact switches. The kinematics of this model form a hybrid shape-space and by extending the generalized Stokes' theorem to compute discrete curvature functions called stratified panels, we determine average locomotion generated by gaits spanning multiple contact modes. Using this tool, we also demonstrate the ability to optimize gaits based on the system's locomotion constraints and perform gait reduction on a complex gait spanning multiple contact modes to highlight the method's scalability to multilegged systems. © 2023 IEEE.

关键词： Hybrid systems

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Intermittent oxidation kinetics and metal/oxide interfacial undulation

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Physical Review B 2024年第8期110卷 085402-085402页

作者： Dongxiang Wu Xianhu Sun Judith C. Yang Guangwen Zhou Department of Mechanical Engineering & Materials Science and Engineering Program Department of Chemical and Petroleum Engineering

The phenomenon of oxygen adsorption induced surface restructuring is widespread across various metal-oxygen systems, yet its impact on initiating bulk oxide formation remains largely unexplored. Through in situ atomic-resolution electron microscopy observations of surface oxidation of Cu(110) and Cu85Au15(110), we unveil intermittent oxide-film growth modulated by oxygen-induced surface restructuring. This modulation is evidenced by repeated pinning of the Cu2O growth front at isolated Cu columns of the c(6×2)-O reconstruction, owing to required long-range diffusion of Cu and O atoms to the Cu2O growth front. We reveal that Cu vacancies, generated at the Cu2O growth front, are injected into the Cu2O/Cu interface, inducing hill and valley undulation of the Cu2O film. In contrast, atomic vacancies produced during the Cu85Au15(110) oxidation preferentially migrate into interfaces between Au-rich and Au-poor regions in the bulk, resulting in a flat and adherent Cu2O film. These findings demonstrate the critical role of oxygen-induced surface restructuring in modulating oxide film growth kinetics and the manipulability of the fate of injected vacancies by alloying, thereby offering insights applicable to a broader range of metal-oxygen systems for fine-tuning oxidation kinetics and enhancing oxide/metal interfacial adhesion.

关键词： Surface & interfacial phenomena Surface reconstruction Surface growth Density functional theory Transmission electron microscopy

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Thermal Performance of the Heat Pipe and Thermoelectric Sterilization Face Mask 3rd

Thermal Performance of the Heat Pipe and Thermoelectric Ster...

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3rd International Conference on Experimental and Computational Mechanics in engineering, ICECME 2021

作者： Septiadi, Wayan Nata Marianti, Komang Manik Adi, Made Nara Pradipta Alim, Muhamad Rizkiantoro, Cheto Ramadhani, Dandi Dwipayana, Anak Agung Gde Agung Krisnanta Department of Mechanical Engineering Udayana University Bali Indonesia Bachelors Program in Mechanical Engineering Udayana University Bali Indonesia

ISBN: (纸本)9789811936289

The spread of the coronavirus has been the focus the world's attention. The government has issued a new regulation on the coronavirus that obligates the entire community to always wear a face mask and implement social distancing to prevent the spread of viruses. These issues have been impacted by an increase in the use of face masks throughout the world and in Indonesia. Moreover, the World Health Organization (WHO) suggested using medical face masks. Furthermore, in the health care sector, the possible loading of pathogens in sub-micrometer sizes and properties such as splash resistance and the ability to prevent infection by reducing the concentration of inhaled particulates has created limitations on the types of face masks that can be used. Therefore it is necessary to design a face mask sterilizer device that can extend the life span of masks, thereby decreasing the masks consumption. An investigation on mask sterilizer devices based on heat pipes and thermoelectrics was conducted in this study. The objective of this study was to investigate the thermal performance of the mask sterilizer device. The method used was an experimental method using variations in the input voltage on the thermoelectric, namely 9 V, 10 V, and 11 V, and the microcontroller was also adjusted to control the temperature by 70 ℃, 80 ℃, and 90 ℃. The results showed that the thermoelectrics can generate heat with a temperature difference between the hot side and the cold side that can reach 80.11 ℃. In terms of voltage, the greater voltage that was given led to a greater resulting temperature of the sterilization device and reduced the amount of time to achieve the minimum sterilization temperature. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Sterilization (cleaning)

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Car Engine and Chassis Assembly Training Simulation Using VR Technology

Car Engine and Chassis Assembly Training Simulation Using VR...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Noya, Miguel Yehezkiel Asy'ari, Muhammad Zacky Kuswandi, Christian Bernard Sukra, Zener Lie Automotive and Robotics Program Binus Aso School of Engineering Bina Nusantara University Computer Engineering Department Jakarta Indonesia

ISBN: (纸本)9798350381290

The process of educating and learning about the automotive industry is still ongoing, and one of the most effective techniques is the provision of direct practice. Such a system is regarded as effective, albeit with certain downsides. One of them is the restricted area and time required to conduct the exercise, as well as the significant risk of accidents during vehicle engine assembly. Based on these justifications, Vehicle Engine Assembly Simulation with Virtual Reality (VR) Technology is now available as an alternate means of educating students about the automotive industry, particularly car engine assembly. This concept employs a virtual environment that allows users to perceive the automobile world in real time through an immersive experience. VR allows users to directly disassemble automobile engines. This virtual reality application was created utilizing the Oculus Quest 2 platform and the Unity Game Engine. © 2023 IEEE.

关键词： Virtual reality

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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Qadri, Munzir Harjanto, Danang Karuna Miharja, Jonathan Astuti, Winda Mariana, Yosica Tan, Sofyan Solihin, Mahmud Iwan University of Muhammadiyah Jakarta Engineering Faculty Mechanical Engineering Department Jakarta10510 Indonesia Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Binus Aso School of Engineering Bina Nusantara University Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Ucsi University Departement of Mechanical & Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350381290

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time. © 2023 IEEE.

关键词： Proportional control systems

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