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2023 International Conference on System Science and engineering, ICSSE 2023

作者： Wong, Shang-Wen Chiu, Yu-Chen Tsai, Chi-Yi Tamkang University Doctoral Program in Robotics College of Engineering New Taipei City Taiwan Tamkang University Department of Electrical and Computer Engineering New Taipei City Taiwan

ISBN: (纸本)9798350322941

This paper proposes a pose estimation system for robot grasping based on a novel Object Affordance Detection and Segmentation (OADS) network. The proposed system consists of four modules: (1) OADS network;(2) point cloud extraction;(3) object pose estimation;(4) grasp pose estimation. Based on the OADS network, the proposed system achieves affordance-based object pose estimation results. The proposed grasp pose estimation system is evaluated on a laboratory-made dual-arm robot. Experimental results show that the proposed system achieves high detection rate and high accuracy in affordance detection and segmentation tasks, leading to a high success rate in object grasping tasks with lab-made dual-arm robot. © 2023 IEEE.

关键词： Object detection

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Synthesis of amorphous silica from rice husk ash using the sol–gel method: Effect of alkaline and alkaline concentration

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Materials Today: Proceedings 2023年 87卷 225-229页

作者： Aprilia S. Rosnelly C.M. Zuhra Fitriani F. Haffiz Akbar E. Raqib M. Rahmah K. Amin A. Baity R.A. Department of Chemical Engineering Engineering Faculty Universitas Syiah Kuala Banda Aceh 23111 Indonesia Doctoral Program School of Engineering Post Graduate Program Universitas Syiah Kuala Banda Aceh 23111 Indonesia Mechanical Engineering Department Engineering Faculty University of Abulyatama Lampoh Keude-Aceh Besar Indonesia

In this study, silica extraction from RHA (rice husk ash) has been successfully performed by alkaline using KOH and NaOH with sol–gel precipitation. The silica gel was characterized for the functional group by FTIR, crystallinity with XRD, structure silica with SEM and particle size with PSA. The results show the higher concentration of solvent led to higher silica. The FTIR analysis revealed vibrations of Si[sbnd]O and Si[sbnd]O[sbnd]Si on the product. Additionally, observed to be amorphous and aggregated, the silica extracted from RHA also exhibited a decrease in all samples. © 2023

关键词： Alkaline extraction Concentration of solvent Potassium hydroxide Rice husk ash Silica Sodium hydroxide

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Thermoeconomic and thermoenvironmental analysis of the chilled water system in a shopping mall

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INTERNATIONAL JOURNAL OF REFRIGERATION 2022年 134卷 304-311页

作者： Abreu, Renata Portela Correia, Victor Hugo Lobo Lourenco, Atilio Barbosa Marques, Adriano da Silva Carvalho, Monica [a]Graduate Program of Mechanical Engineering Federal University of Paraíba João Pessoa Brazil [b]Department of Mechanical Engineering Federal University of Espírito Santo Vitória Brazil [c]Department of Mechanical Engineering Federal Rural University of Pernambuco Cabo de Santo Agostinho Brazil [d]Department of Renewable Energy Engineering Federal University of Paraíba João Pessoa Brazil

This is the first study to apply a combination of two thermoeconomic approaches (UFS and H & S) with Life Cycle Assessment (LCA) to a chilled water system installed in a shopping mall. The objective is to obtain monetary and environmental costs for the thermal energy stored by developing both thermoeconomic and thermoenvir-onmental assessments. The thermoeconomic study determined internal flows, defined inputs and products, and described the productive structure to obtain exergy and monetary costs. The LCA methodology quantified the greenhouse gas emissions associated with equipment operation and energy flows. The results indicated efficient thermoeconomic behavior for the heat exchangers. The monetary and environmental costs of chilled water are, respectively, US$ 0.2267/MJ and 0.8186 kg CO2-eq/MJ.

关键词： UFS model H&S model Life Cycle Assessment Greenhouse gases Refrigeration Cooling

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Development of Auxiliary SCADA System for Wind Farm Operation Based on Open Platform Communication

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Journal of the Chinese Society of mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2022年第1期43卷 21-27页

作者： Liu, Jui-Hung Padrigalan, Kathleen Lee, Rong-Mao Department of Mechanical Engineering Southern Taiwan University of Science and Technology Tainan710301 Taiwan Department of Intelligent Robotics National Pingtung University Pingtung900391 Taiwan

The remote supervisory control and data acquisition (SCADA) system is necessary for the wind turbine (WT) operation and the management of a wind farm. Technicians can resolve minor WT failures remotely and prepare equipment and spare parts for an on-site maintenance in advance with the aid of the SCADA system. This work is a case study, malfunction of the SCADA system for a wind farm in middle-Taiwan was encountered but the maintenance of WT manufacturer was no longer available due to the company bankruptcy. Since the emerged SCADA system failure is mainly caused by the storage and access of database, an auxiliary SCADA system based on the open platform communication (OPC) was designed to recover the SCADA system function. The OPC-based SCADA system is capable of retrieving data and reconstructing data structure from the WT controller directly. The rebuilt database has been employed in a front-tier web-based interface to regenerate the monitoring function for this wind farm. © 2022, Chinese mechanical engineering Society. All right reserved.

关键词： Wind turbines

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Analysis of Vibration Characteristics Due to the Effect of Adding Rubber Radial Vibration Damper (RRVD) to the Boring Process 5th

Analysis of Vibration Characteristics Due to the Effect of A...

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5th International Conference on mechanical engineering, ICOME 2021

作者： Hendrowati, Wiwiek Daman, Aida Annisa Amin Guntur, Harus Laksana Darmawan, Fuad Adi Laboratory of Vibration Engineering andAutomotive System Department of Mechanical Engineering Institut Teknologi Sepuluh Nopember Surabaya60111 Indonesia Undergraduate Program of Mechanical Engineering Institut Teknologi Sepuluh Nopember Surabaya60111 Indonesia

ISBN: (纸本)9789811908668

There will be vibrations caused by friction between the rotating workpiece and the insert on the boring bar during the boring process. Vibrations that occur in the workpiece can be suppressed with a Dynamic Vibration Absorber (DVA). Therefore, the boring process produces a rough surface and damages the components of the lathe. In this research, DVA is placed on a workpiece by utilizing force damping in the radial direction and it is called as Rubber Radial Vibration Damper (RRVD) with rubber as a damping element. An analysis of the effect of RRVD addition on the vibration reduction response of the workpiece was carried out. The variations in this study are mass of RRVD (AISI 4340 and Copper Alloy), cutting parameters, and the ratio of length per diameter (L/D) of the workpiece overhang 7, 8, and 9. The simulation results showed that the main system's highest natural frequency and amplitude occurred at the L/D 7 without RRVD or with RRVD. In addition, the RRVD Copper Alloy mass variation has a lower natural frequency and amplitude than the AISI 4340. Based on this research, it was found that the most stable and well-reduced system was in the main system with L/D 8 and using RRVD Copper Alloy mass. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Vibration analysis

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Design and Hybrid Impedance Control of a Compliant and Balanced Wrist Rehabilitation Device 48

Design and Hybrid Impedance Control of a Compliant and Balan...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yellewa, Mwayi E Mohamed, Abdelfatah Ishii, Hiroyuki Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wrist rehabilitation robotic devices have delivered the repetitive and gradual training necessary to rehabilitate individuals with wrist impairments properly. Generally, there are two approaches for the design of the wrist rehabilitation devices. In one approach, the motors are placed on the forearm with complex transmission mechanisms to reduce the weight and inertia. In the other approach, rotary motors are placed close to the wrist joints with simple design, and this leads to high weight and inertia. In this paper, a simple design of two-degrees of freedom compliant and balanced wrist rehabilitation device is proposed. It can provide the radial-ulnar deviation and flexion-extension rehabilitation motions. In the proposed design, the servomotors that are placed close to the wrist joints are counterweight balanced to reduce the inertia and the required torques. The balancing is carried out by optimizing the center of mass of the device in the SolidWorks model. A custom design series elastic unit is proposed to be coupled to the servomotor to achieve the compliance for safe human-robot interaction. Based on the device dynamics modeled by ADAMS software, hybrid position and force tracking impedance control is developed for position and force tracking through the different therapeutic exercises. The device is shown to be capable of achieving the different therapeutic exercises compliantly such as the passive, active-assisted and isometric exercises. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System 48

Optimum Design of a Wire-Driven Redundant Spherical Parallel...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Gamal, Ahmed Mohamed, Abdelfatah Iwata, Hiroyasu Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to such cases, their high cost and the lack of professional caregivers arise the need for robotic rehabilitation systems. On the other hand, the existing robotic systems for foot-drop rehabilitation are heavy and bulky. Therefore, in this paper, a lightweight foot-drop rehabilitation system based on a wire-driven redundant spherical parallel manipulator (RSPM) is developed. The proposed RSPM can provide 3-DOF movements to exercise the dorsiflexion, plantarflexion, supination, lateral and medial rotations. Kinematic and static analyses are performed for the proposed rob RSPM. In order to guarantee permissible positive tensions for the wires of the RSPM, a new performance index is introduced, called permissible tension index. Optimum design based on optimizing certain performance indices is carried out to obtain the proper dimensions of the movable platform design parameters of the proposed RSPM. A new index called permissible tension index is introduced to guarantee permissible positive tensions for the wires of the RSPM. A weighted sum of the global kinematic dexterity, global minimized transmission and the global permissible tension indices is considered for the objective function of the optimization process. The RSPM performance is evaluated over its range of motion and the reaction forces exerted on the ankle are shown to be tolerable by an injured ankle. Additionally, the Jacobian-based kinematic controller is shown to be capable of tracking the normal gait trajectories with acceptable tracking errors. © 2022 IEEE.

关键词： Kinematics

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A Comparison of Model-Free Controllers for Trajectory Tracking in a Plant-Inspired Soft Arm 13th

A Comparison of Model-Free Controllers for Trajectory Tracki...

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13th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2024

作者： Nazeer, Muhammad Sunny Ansari, Yasmin Tauqeer Falotico, Egidio Laschi, Cecilia Department of Mechanical Engineering College of Design and Engineering National University of Singapore Singapore Singapore Bioinspired Soft Robotics Lab Istituto Italiano di Tecnologia Genoa Italy The Biorobotics Institute Scuola Superiore Sant’Anna Pontedera Italy

ISBN: (纸本)9783031725968

The field of soft robotics is experiencing a transformative phase with the emergence of self-supporting modular soft robot arms, inspired by design principles drawn from climbing plants, which are gaining recognition as a rich source of bio-inspiration. The vision to deploy these systems in highly unstructured environments, qualifies the need to investigate model-free algorithms that facilitate motion capabilities based solely on data regarding system-environment interactions. This paper delves into the development of model-free controllers to enable tracking capabilities in these systems. While the trajectory tracking task is already recognized as challenging in the context of redundant continuum/soft arms, the difficulty is compounded when aiming to generate control policies solely from sequential feedback from the environment. The novelty of this work lies in the development of both learning-based and learning-free model-free computational frameworks to address this task. Both controllers are validated on a 9-DoF modular cable-driven plant-inspired soft arm for moving through multiple trajectories in 3D space. The comparison of these controllers holds significant insights to future directions for the practical applicability of these systems in real-world scenarios, and are promising to pave way for novel application scenarios. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Robotic arms

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Development of a low-cost microfluidic chip for hyaluronidase-free oocyte denudation in mammals

Biotechnology Notes

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Biotechnology Notes 2025年 6卷 133-142页

作者： Dessouky, Ashraf Hisham El-Hussieny, Haitham El-Sherry, Taymour Mohammed Parque, Victor Fath El-Bab, Ahmed M.R. Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology (E-JUST) Alexandria Alexandria 21934 Egypt Mechanical Engineering Department Helwan University Cairo Cairo 11792 Egypt Department of Theriogenology Veterinary Hospital Faculty of Veterinary Medicine Assiut University Assiut Assiut Egypt of Advanced Science and Engineering Hiroshima University Hiroshima HigashiHiroshima 739-8527 Japan

Infertility in mammals is one of the most intricate medical issues requiring non-traditional interventions. In Vitro Fertilization (IVF) is one of the modern medical technologies currently used to treat infertility. However, current IVF procedures are inaccessible and unaffordable to the majority due to the high cost, the complexity of the procedure, and the reliance on highly qualified operators. For successful IVF, oocyte denudation, the process of removing cumulus cells from oocytes, is often performed. Here, microfluidics offers the potential to enhance denudation procedures and to minimize operator variability. In this paper, we propose the configuration of a microfluidic chip for oocyte denudation whose structure hybridizes inner jagged surfaces and expansion units. The jagged surface units have the role of removing the cumulus cells surrounding the oocyte by using the wall shear stress principle, and the (rounded) expansion units have the role of rotating the cumulus cells for further deployment in subsequent jagged surfaces. The proposed device can be manufactured at a low cost (<1 USD)) by the engraving of CO₂ laser machine on PMMA material, and is able to circumvent the use of enzymatic components such as hyaluronidase. Experiments using computational simulations and manufactured microfluidic chips evaluated distinct geometry configurations of the jagged surfaces and identified the suitable flow rates for maximal shear stress and denudation performance. Manufactured samples of the proposed microfluidic devices have shown the denudation performance of 96.7 % and yield rate of 90 % at a constant flow rate of 1 ml/min. © 2025 The Authors

关键词： CO2 laser In vitro fertilization Microfluidics Oocyte denudation

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Quantifying Joint Movement Variability in Healthy and Hemiplegic Gait using OpenSim 2

Quantifying Joint Movement Variability in Healthy and Hemipl...

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2nd IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation, IATMSI 2024

作者： Rafiq, Tabassum Younis, Sadia Narayan, Jyotindra Institute of Information Management and Technology Department of Biotechnology Uttar Pradesh Aligarh202001 India Government College of Engineering and Technology Department of Biomedical Engineering Jammu and Kashmir Ganderbal193504 India Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India

ISBN: (纸本)9798350360523

This study delves into the scaling capabilities of OpenSim, a biomechanical modeling tool, to scrutinize musculoskeletal alterations accompanying the hemiplegic condition compared to a healthy model. Contralateral hemiplegia (CH), characterized by unilateral paralysis, induces profound changes in bone size and significantly influences an individual's gait. Motivated by understanding the biomechanical repercussions of CH on human movement, we conducted a comprehensive investigation involving ten patients with CH, with a median age of 46 years (range: 39 to 52.0 years and height: 1.75 0.6 m). Ten healthy controls with similar body attributes were±also recruited. We assessed musculoskeletal changes post-CH using bone length data from MRI reports obtained from a hospital. Inverse kinematics in OpenSim are facilitated for a detailed comparison of joint angles between unhealthy and healthy individuals. The gait data is visualized and analyzed using statistical metrics such as mean absolute deviation, box plots, and a two-sample t-test. The results revealed significant differences in hip and ankle joint angles between healthy and hemiplegic individuals, underscored by low p-values. Interestingly, no significant difference was observed in knee joint angles (p-value = 0.9126). These findings contribute to a valuable understanding of hemiplegia-related musculoskeletal changes, offering potential avenues for tailored interventions to improve mobility and quality of life. © 2024 IEEE.

关键词： Inverse kinematics

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