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IEEE International Conference on Soft robotics (RoboSoft)

作者： Jiyeon Cho Taejun Park Simon Kim Yong-Lae Park Department of Mechanical Engineering Institute of Advanced Machines and Design Institute of Engineering Research Seoul National University Seoul Korea Soft Robotics and Bionics Lab. Seoul National University Seoul Korea

Cable-driven force transmission is one of the most widely used actuation mechanisms in robotics, finding applications in robotic arms, grippers, and wearable robots. However, measuring cable tension directly is challenging due to limited space and difficulties in attaching sensors to flexible cables. In this paper, we propose a single-axis load cell designed for direct integration into a high-strength woven cable, enabling tension measurement. A small portion of the cable becomes slightly stretchable by infusing an uncured polymer into its weaving pattern, and a liquid-metal thin-film soft sensor is affixed externally. As the cable experiences axial strain, the thin-film soft sensor stretches and changes its electrical resistance, providing real-time tension information. To mitigate the hysteresis and the nonlinearity caused by the viscoelastic effect of the cable and tendon materials, a metal spring casing surrounds the sensor, making the behavior of the sensor governed by that of the spring. The proposed sensor is experimentally characterized, and the result shows a linearity in the range of 5 N to 100 N with negligible hysteresis. It is tested with a twisted-string actuator to control the axial force generated by the actuator through a closed-loop control as an application.

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Importance Measure for Dynamic Probabilistic Risk Assessment and Cost Savings for Safety Systems and Components 18

Importance Measure for Dynamic Probabilistic Risk Assessment...

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18th International Probabilistic Safety Assessment and Analysis, PSA 2023

作者： Shah, Asad Ullah Amin Kim, Junyung Aldemir, Tunc Kang, Hyun Gook Mechanical Aerospace and Nuclear Engineering Department Rensselaer Polytechnic Institute 110 8th Street TroyNY12180 United States Nuclear Engineering Program The Ohio State43210 University 201 West 19th Avenue ColumbusOH United States

ISBN: (纸本)9780894487927

Importance measures (IMs) in probabilistic risk assessment are used to evaluate the significance of the basic event in terms of its contribution to the risk. In traditional PRA, the IMs are calculated based on an event's occurrence and non-occurrence, which is invalid in dynamic probabilistic risk assessment (DPRA). The uncertainties associated with the random variables (RVs) usually have their distributions based on their likelihood of occurrences. The DPRA framework suggested by the author in the previous research provides the cumulative distribution-based conditional core damage probability profile for the accident scenarios. Conventional measures such as Fussell-Vessely (FV) and Risk Achievement Worth (RAW) are designed for traditional PRA to identify the safety significance of the basic events and therefore difficult to apply to DPRA. In this research, the cumulative distribution function (CDF) based IM was leveraged to identify the importance of basic events in an SBO accident. FV and RAW, were calculated and compared with CDF based IM. Since the CDF-based IM provides a single value for the effect of uncertainties in RV over a complete risk profile, this measure was leveraged to re-evaluate the safety significance of the basic events after implementing the new system, the US diverse and flexible coping strategies. The criteria for the CDF-based IM were established to re-categorize the components from risk-informed safety classification (RISC)-1 and RISC-3 categories to RISC-2 and RISC-4 categories. However, since the initial selection of the RVs was based on safety significance, almost all the components were identified as safety significant. However, if the domain of RVs is expanded, this re-categorization may lead to substantial cost savings. © 2023 Proceedings of 18th International Probabilistic Safety Assessment and Analysis, PSA 2023. All Rights Reserved.

关键词： CDF-based importance measure cost-savings dynamic probabilistic risk assessment Safety-classification station blackout scenario

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Energy Management by Operation Scheduling for Blood Analyzer in a Hospital

Energy Management by Operation Scheduling for Blood Analyzer...

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Power and Renewable Energy engineering (PREE), International Conference on

作者： Chanwich Phromthanakit Pattarabordee Khaigunha Amnart Suksri Tanakorn Wongwuttanasatian Energy Engineering Program Faculty of Engineering Khon Kaen University Khon Kaen Thailand Department of Electrical Engineering Faculty of Engineering Nakhon Phanom University Nakhon Phanom Thailand Department of Electrical Engineering Faculty of Engineering Khon Kaen University Khon Kaen Thailand Department of Mechanical Engineering Faculty of Engineering Khon Kaen University Khon Kaen Thailand

ISBN: (数字)9798350366808

ISBN: (纸本)9798350366815

Currently, many patients visit hospitals to check for bodily abnormalities, prompting hospitals to operate blood specimen analyzers (Cobas-8000) in laboratories to accommodate blood samples at all times. However, the number of patients is not consistently high, leading to inefficient usage of the chemical analysis machines. This research presents energy management for the Cobas-8000 model C702 blood specimen analyzer by scheduling the machine's operation to match the volume of blood samples, thereby reducing operational costs. These costs include electricity usage and the depreciation of the analyzer equipment. The research categorizes conditions based on the number of blood tests sent for analysis and the operational status of the analyzer, which includes Full Operation Mode, Standby Mode, and Off Mode, considering two situations before and after implementing the proposed method. Previously, the results indicate that the energy consumption of the blood specimen analyzer does not correspond to the volume of blood samples, resulting in unnecessary depreciation costs. By introducing the proposed scheduling, divided into six case studies, it is demonstrated that energy consumption and equipment depreciation can be significantly reduced, achieving a total cost reduction of 47.95%-59.71 % per year compared to the existing continuous full operation mode.

关键词： Solid modeling Energy consumption Analytical models Renewable energy sources Costs Hospitals Electricity Energy management Sustainable development Blood

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A Sequential Deep Learning Algorithm for Sampled Mixed-integer Optimisation Problems

arXiv

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arXiv 2023年

作者： Chamanbaz, Mohammadreza Bouffanais, Roland Rio Tinto Centre for Mine Automation Australian Centre for Field Robotics The University of Sydney Australia Department of Mechanical Engineering Faculty of Engineering University of Ottawa Canada

Mixed-integer optimisation problems can be computationally challenging. Here, we introduce and analyse two efficient algorithms with a specific sequential design that are aimed at dealing with sampled problems within this class. At each iteration step of both algorithms, we first test the feasibility of a given test solution for each and every constraint associated with the sampled optimisation at hand, while also identifying those constraints that are violated. Subsequently, an optimisation problem is constructed with a constraint set consisting of the current basis—namely, the smallest set of constraints that fully specifies the current test solution—as well as constraints related to a limited number of the identified violating samples. We show that both algorithms exhibit finite-time convergence towards the optimal solution. Copyright © 2023, The Authors. All rights reserved.

关键词： Learning algorithms

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Low intensity mechanical signals promote proliferation in a cell-specific manner:Tailoring a non-drug strategy to enhance biomanufacturing yields

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Mechanobiology in Medicine 2024年第4期2卷 59-68页

作者： M.Ete Chan Christopher Ashdown Lia Strait Sishir Pasumarthy Abdullah Hassan Steven Crimarco Chanpreet Singh Vihitaben S.Patel Gabriel Pagnotti Omor Khan Gunes Uzer Clinton T.Rubin Department of Biomedical Engineering College of Engineering and Applied SciencesRenaissance School of MedicineStony Brook UniversityStony BrookNY11794-5280USA Medical Scientist Training Program Renaissance School of MedicineStony Brook UniversityStony BrookNY11794USA Department of Endocrine Neoplasia and Hormonal Disorders MD Anderson Cancer CenterHoustonTX77030USA Department of Mechanical and Biomedical Engineering College of EngineeringBoise State UniversityBoiseID83725-205USA Center for Biotechnology New York State Center for Advanced Technology in Medical BiotechnologyStony Brook UniversityStony BrookNY11794-5281USA

Biomanufacturing relies on living cells to produce biotechnology-based therapeutics,tissue engineering constructs,vaccines,and a vast range of agricultural and industrial *** the escalating demand for these bio-based products,any process that could improve yields and shorten outcome timelines by accelerating cell proliferation would have a significant impact across the *** these goals are primarily achieved using biological or chemical strategies,harnessing cell mechanosensitivity represents a promising–albeit less studied–physical pathway to promote bioprocessing endpoints,yet identifying which mechanical parameters influence cell activities has remained *** tested the hypothesis that mechanical signals,delivered non-invasively using low-intensity vibration(LIV;<1 g,10–500 Hz),will enhance cell expansion,and determined that any unique signal configuration was not equally influential across a range of cell *** frequency,intensity,duration,refractory period,and daily doses of LIV increased proliferation in Chinese Hamster Ovary(CHO)-adherent cells(t79%in 96 hr)using a particular set of LIV parameters(0.2 g,500 Hz,3-30 min/d,2 hr refractory period),yet this same mechanical input suppressed proliferation in CHO-suspension cells(-13%).Another set of LIV parameters(30 Hz,0.7 g,2-60 min/d,2 hr refractory period)however,were able to increase the proliferation of CHO-suspension cells by 210%and T-cells by 20.3%.Importantly,we also reported that T-cell response to LIV was in-part dependent upon AKT phosphorylation,as inhibiting AKT phosphorylation reduced the proliferative effect of LIV by over 60%,suggesting that suspension cells utilize mechanism(s)similar to adherent cells to sense specific LIV *** image velocimetry combined with finite element modeling showed high transmissibility of these signals across fluids(>90%),and LIV effectively scaled up to T75 ***,when LIV is tailored to the target cell populati

关键词： Biomanufacturing Cell proliferation mechanical stimulation Biomechanics Adherent cells Suspension cells Stem cells Vibration

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Design and Analysis of a Robot for Automated Intravitreal Injection

Design and Analysis of a Robot for Automated Intravitreal In...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Meng, Yuming Wu, Jiahao Liu, Lin Brelen, Marten Erik Liu, Yunhui Harbin Institute of Technology Department of Engineering and Automation Shenzhen China The Chinese University of Hong Kong T Stone Robotics Institute the Department of Mechanical and Automation Engineering Hong Kong Hong Kong The Chinese University of Hong Kong Department of Ophthalmology and Visual Sciences Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Intravitreal injection is an essential operation of treating ophthalmic diseases, in which an injection needle pierces the sclera and then injects therapeutic agent into the vitreous cavity. The traditional injection method is strict in the surgeon's skills and limited efficiency. This paper presents a four-degree-of-freedom (DOF) automated intravitreal injection robot to replace the manual operation. The robot enables active needle manipulation, press and drug injection. For safer operation, a double-linearly-actuated mechanism is used to implement a remote center of motion (RCM) tilt joint that allows the injection needle to rotate around the injection port. And also an easily replaceable fixture is introduced to restrain the unconscious movement of the eyeball. All drives of the injection robot are placed at the rear end, enabling the robot to perform automatic injection actions flexibly. A prototype is built to validate the feasibility of the mechanism and the preliminary tests are conducted. © 2022 IEEE.

关键词： Needles

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Investigation of Ga2O3 Radiation Sensitivity and Resistance to High Temperatures

Investigation of Ga2O3 Radiation Sensitivity and Resistance ...

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2023 Transactions of the American Nuclear Society Annual Meeting and Technology Expo, ANS 2023

作者： Remy, Jarod Blue, Thomas Paranthaman, Parans Cao, Lei R. Nuclear Engineering Program Department of Mechanical and Aerospace Engineering The Ohio State University 281 W. Lane Ave ColumbusOH43210 United States Oak Ridge National Laboratory 5200 1 Bethel Valley Rd. Oak RidgeTN37830 United States

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Biodegradable Humidity Actuators for Sustainable Soft robotics using Deliquescent Hydrogels

Biodegradable Humidity Actuators for Sustainable Soft Roboti...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Alexander Keller Qiukai Qi Yogeenth Kumaresan Andrew T. Conn Jonathan Rossiter Department of Engineering Mathematics University of Bristol Bristol England Bristol Robotics Laboratory University of West England Bristol England Department of Mechanical Engineering University of Bristol Bristol England

Intelligent materials offer new avenues when designing sustainable robotics as they allow for the creation of dynamic constructs which react autonomously to changes in the environment, such as humidity. Here we present a novel humidity actuator which exploits the unique property of deliquescent salts to allow for the spontaneous rehydration of hydrogels in ambient environments. By soaking a 2% w/v alginate, 3% w/v Agar composite in 1M calcium chloride, an intelligent humidity-driven actuator was developed. The hydrogel was able to gain 73.8±7.1% of its weight from a dehydrated state in just 6 hours through water absorption from ambient air. Using this novel formulation, linear and bilayer bending actuators were constructed. In addition to this, a biodegradable deliquescence-actuated artificial flower was demonstrated, highlighting this material's potential to act as an intelligent humidity actuator for the construction of environmentally-reactive biomimetic sustainable robotics.

关键词： Actuators Absorption Hydrogels Calcium Biomimetics Intelligent materials Humidity

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Machine learning-driven insights into phase prediction for high entropy alloys

Journal of Alloys and Metallurgical Systems

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Journal of Alloys and Metallurgical Systems 2024年 8卷

作者： Jain, Reliance Jain, Sandeep Dewangan, Sheetal Kumar Boriwal, Lokesh Kumar Samal, Sumanta Department of Robotics and Automation Prestige Institute of Engineering Management and Research Madhya Pradesh Indore452010 India Department of Advanced Materials Science and Engineering Sungkyunkwan University Suwon16419 Korea Republic of Department of Materials Science and Engineering Ajou University Suwon16499 Korea Republic of Department of Mechanical Engineering Prestige Institute of Engineering Management and Research Madhya Pradesh Indore452010 India Department of Metallurgical Engineering and Materials Science Indian Institute of Technology Indore Simrol Madhya Pradesh Indore453552 India

The unique properties of high-entropy alloys (HEAs) have attracted considerable attention, largely due to their dependence on the choice among three distinct phases: solid solution (SS), intermetallic compound (IM), or a blend of both (SS + IM). For this reason, precise phase prediction is key to identifying the optimal element combinations needed to develop HEAs with the required characteristics. Due to large compositional domain of HEAs is opportune to design new HEAs with desired output. A machine learning tool is exploited to discover and characterize high entropy alloys with satisfying targets. Herein, a method of designing substitutional high entropy alloys with optimization of input features and predict their phase formation, using different ML algorithms are proposed. The ML models such as multi layer precreptron MLP, Decision Tree (DT), Random Forest (RF), Gradient Boosting (GB), KNN, XGB nad SVM Classifier algorithm were used for the identifying the phase of HEAs. After assessing the accuracy and tuning of each model, an random forest classifier (accuracy = 0.914. precision = 0.916, ROC-AUC score = 0.97) model showed the best predictive capabilities for phase prediction. The new HEA was designed based on prediction and successfully validated with thermodynamic simulation. Data Availability: Data will be made available on request © 2024 The Authors

关键词： High-entropy alloys

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Interactive Car-Following: Matters but NOT Always

Interactive Car-Following: Matters but NOT Always

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International Conference on Intelligent Transportation

作者： Chengyuan Zhang Rui Chen Jiacheng Zhu Wenshuo Wang Changliu Liu Lijun Sun Department of Civil Engineering McGill University Quebec Canada Robotics Institute Carnegie Mellon University Pennsylvania USA Department of Mechanical Engineering Carnegie Mellon University Pennsylvania USA

Following a leading vehicle is a daily but challenging task because it requires adapting to various traffic conditions and the leading vehicle's behaviors. However, the question ‘Does the following vehicle always actively react to the leading vehicle?’ remains open. To seek the answer, we propose a novel metric to quantify the interaction intensity within the car-following pairs. The quantified interaction intensity enables us to recognize interactive and non-interactive car-following scenarios and derive corresponding policies for each scenario. Then, we develop an interaction-aware switching control framework with interactive and non-interactive policies, achieving a human-level car-following performance. The extensive simulations demonstrate that our interaction-aware switching control framework achieves improved control performance and data efficiency compared to the unified control strategies. Moreover, the experimental results reveal that human drivers would not always keep reacting to their leading vehicle but occasionally take safety-critical or intentional actions - interaction matters but not always.

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