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DESIGN AND FABRICATION OF A DEPLOYABLE TENSEGRITY MILLIROBOT FOR NEXT-GENERATION GASTROINTESTINAL DIAGNOSTICS AND TREATMENT

DESIGN AND FABRICATION OF A DEPLOYABLE TENSEGRITY MILLIROBOT...

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ASME 2024 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2024

作者： Kazoleas, Christian Zhang, Jiajun Tan, Na Yuan, Sichen The University of Alabama TuscaloosaAL35487 United States Lawrence Technological University SouthfieldMI48075 United States Department of Aerospace Engineering and Mechanics United States A. Leon Linton Department of Mechanical Robotics and Industrial Engineering United States

ISBN: (纸本)9780791888414

The advent of robotics in medicine has brought about a paradigm shift, enabling minimally invasive interventions for in-vivo practices. Pill-based robots, specifically designed at the millimeter scale, have emerged as a viable alternative to traditional endoscopic methods for gastrointestinal tract diagnostics and treatment. These millirobots, capable of navigating the complex and constrained environments of the human body, offer a significant advantage by enabling thorough visualization or targeted drug delivery in a single session without the need for sedation. We previously developed a novel deployable tensegrity robot, designed for gastrointestinal diagnostics and treatment, which addresses the limitations of conventional capsule endoscopes through its unique structure and locomotion mechanism. Tensegrity structures, characterized by a network of components in tension and compression, provide an innovative solution to the challenges of designing robots for in-vivo applications. Our millimeter-scale tensegrity robot leverages the inherent advantages of such structures-lightweight, high stiffness, and adaptability-to navigate through densely packed tissues and high-pressure environments within the GI tract. Inspired by the locomotion of earthworms, the movement mechanism of the robot enables efficient navigation and precise positioning, significantly reducing the risk of retention and ensuring patient safety. This paper investigates the design and fabrication process of the tensegrity robot, focusing on achieving a high folding ratio to facilitate its deployment as a pill-based robot. Through a comparison of the robot's fabricated dimensions with the theoretical design, we evaluate the accuracy of the fabrication process, highlighting the potential of this innovative approach in transforming GI tract diagnostics and treatment. The deployment of such tensegrity-based millirobots marks a new era in medical devices, promising enhanced patient safety and comfort throu

关键词： Endoscopy

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Introducing a comprehensive methodology for optimizing the mass of realistic roofing structural systems using cold-formed steel profiles

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Discover Civil engineering 2024年第1期1卷 1-22页

作者： Fruet, Gustavo Miguel, Letícia Fleck Fadel Federal University of Rio Grande Do Sul Department of Civil Engineering Postgraduate Program in Civil Engineering Porto Alegre Brazil Federal University of Rio Grande do Sul Department of Mechanical Engineering Postgraduate Program in Mechanical Engineering Postgraduate Program in Civil Engineering Porto Alegre Brazil

This study aims to introduce a comprehensive methodology for optimizing complete real structural systems for roofs involving trusses, purlins, and bracing systems jointly, taking into account realistic loads and constraints dictated by technical codes, thereby offering a more accurate representation of practical scenarios. The objective is to achieve the minimum mass through size, shape, and topology optimization of both the main truss and purlin structural subsystems. To achieve this goal, the Enhanced Particle Swarm Optimization (EPSO) algorithm is implemented. An example of a realistic case, which takes into account multiple actual constraints such as stress, displacement, buckling, and natural frequency limits, is thoroughly evaluated. After that, 144 other interactions among dimensions of the building and loads applied are simulated, and the mass of the system is obtained for each one of them. The results indicated that the graphs generated from the various simulations allow for the determination of the optimized mass for different building dimensions. Consequently, the cost and raw material consumption can be estimated for common applications. Therefore, it is concluded that this work presents a significant contribution to structural designers, as the proposed methodology enables structural optimization quickly and easily for practical engineers.

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Implementation of SmartTechLab Digital Twin to AR/VR Technology for Educational Purposes 2nd

Implementation of SmartTechLab Digital Twin to AR/VR Technol...

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2nd EAI International Conference on Automation and Control in Theory and Practice, EAI ARTEP 2024

作者： Nazim, Anastasiia Židek, Kamil Balog, Michal Kalman, Olha Svetlík, Jozef Department of Industrial Engineering and Informatics Faculty of Manufacturing Technologies with the seat in Prešov Technical University of Košice Prešov Slovakia Department of Production Technology and Robotics Faculty of Mechanical Engineering Technical University of Košice Košice Slovakia

ISBN: (纸本)9783031592379

This article focuses on the implementation of the SmartTechLab Digital Twin to augmented reality (AR) and virtual reality (VR) technologies for educational purposes. The article begins by discussing the growing popularity of AR and VR technologies in various industries and their potential applications in education. The article then moves on to describe the process of setting up a digital laboratory, including selecting appropriate hardware and software to utilize AR and VR technologies effectively. For creating several models, different software tools were used: Autodesk Inventor, Reality Scan, and the Matterport device scanner. After conducting research, the most accurate models were imported into the Unreal Engine. Also, some widgets were added, which describe machines and tools used in the manufacturing line and are visible in virtual reality. The article also describes the concept of transferring information to augmented and virtual reality and explores the possibilities of using this model with immersive technologies. The article concludes by highlighting the limitations of AR/VR devices and emphasizes the importance of integrating AR and VR technologies into the modern educational landscape. It also emphasizes the need for further research and collaboration. Ultimately, the implementation of the SmartTechLab Digital Twin to AR and VR technologies has the potential to revolutionize education and provide highly immersive and effective learning experiences for students. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Virtual environments

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Physical Properties of Biochar Produced from Pyrolysis of Arabica Coffee Pulp: The Effect of Pre-Washing Process 3

Physical Properties of Biochar Produced from Pyrolysis of Ar...

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3rd International Symposium on Advances and Innovation in mechanical engineering, ISAIME 2022

作者： Setiawan, A. Muhammad, F. Nurjannah, S. Riskina, S. Muhammad Hakim, L. Mechanical Engineering Department Faculty of Engineering Universitas Malikussaleh Jalan Batam Kampus Bukit Indah Lhokseumawe24352 Indonesia Magister Program in Renewable Energy Engineering Faculty of Engineering Universitas Malikusssaleh Jalan Batam Bukit Indah Lhokseumawe24352 Indonesia Chemical Engineering Department Faculty of Engineering Universitas Malikussaleh Bukit Indah Lhokseumawe24352 Indonesia

Coffee pulp is a potential source of biomass which abundantly available in coffee exporter countries such as Brazil, Colombia, Indonesia etc. It is necessary to develop technologies to convert coffee pulp into value-added products. This study aims to investigate the slow pyrolysis process of arabica coffee pulp in a pilot scale reactor and evaluate the properties of resulting biochar. Prior to pyrolysis experiment, some of coffee pulp were soaked in tap water for 20 h with a ratio of water to coffee pulps of 1:5. As comparison, another set of pyrolysis experiment was carried out without soaking and washing of feedstock. The pyrolysis process was carried out in a batch reactor at temperatures within the range of 400 to 420°C. During the run, the reaction temperature versus time was recorded and products yield were quantified. Characterization of biochar product was performed under proximate, bomb calorimeter and density analyses. The yield of biochar and pyrolytic oil, respectively were 33% and 36%. Biochar characterization results suggested a significant decrease in the ash content when washing pretreatment was applied. Increases in the calorific value and bulk density were also observed from pre-washed coffee pulp sample. © Published under licence by IOP Publishing Ltd.

关键词： Pyrolysis

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Electrochemical Monitoring of Intracellular Reactive Oxygen Species Based on Automated Nanoprobe Platform

Electrochemical Monitoring of Intracellular Reactive Oxygen ...

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2023 Annual IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023

作者： Ma, Yanmei Hu, Weikang Ruan, Muyang Zhan, Zhen Zhang, Yi Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China City University of HongKong Department of Biomedical Engineering Hong Kong

ISBN: (纸本)9798350344486

The electrochemical detection of endogenous molecules from a single cell is a crucial technique for understanding fundamental cellular processes at the subcellular level and uncovering cellular heterogeneity. However, high throughput intracellular detection has posed significant challenges. This paper proposes a simple method for fabricating a nanoprobe for the electrochemical monitoring of intracellular reactive oxygen species (ROS), which are important signaling molecules that play a key role in a wide range of cellular processes, including apoptosis, proliferation, and differentiation. Combined with the automated nanoprobe platform, the study successfully achieved minimally invasive and efficient intracellular ROS detection in living cells. Moreover, the results reveal that the average ROS concentration in the cytoplasm and nucleus is uneven, which has important implications for the understanding of cellular redox signaling. © 2023 IEEE.

关键词： Nanoprobes

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Embodied Supervision: Haptic Display of Automation Command to Improve Supervisory Performance

Embodied Supervision: Haptic Display of Automation Command t...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Alia Gilbert Sachit Krishnan R. Brent Gillespie Department of Robotics University of Michigan Department of Mechanical Engineering University of Michigan

A human operator using a manual control interface has ready access to their own command signal, both by efference copy and proprioception. In contrast, a human supervisor typically relies on visual information alone. We propose supplying a supervisor with a copy of the operator’s command signal, hypothesizing improved performance, especially when that copy is provided through haptic display. We experimentally compared haptic with visual access to the command signal, quantifying the performance of N=10 participants attempting to determine which of three reference signals was being tracked by an operator. Results indicate an improved accuracy in identifying the tracked target when haptic display was available relative to visual display alone. We conjecture the benefit follows from the relationship of haptics to the supervisor’s own experience, perhaps muscle memory, as an operator.

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Magnetic Force Enhanced Sustainability and Power of Cam-Based Triboelectric Nanogenerator

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Research 2021年第1期2021卷 370-380页

作者： Hakjeong Kim Hee Jae Hwang Nghia Dinh Huynh Khanh Duy Pham Kyungwho Choi Dahoon Ahn Dukhyun Choi Department of Mechanical Engineering(Integrated Engineering Program) Kyung Hee UniversityYongin 17104Republic of Korea Department of Mechanical Engineering Korea Aerospace UniversityGoyang 10540Republic of Korea Division of Mechanical Engineering Kongju National UniversityCheonan 31080Republic of Korea

Since the first invention of triboelectric nanogenerators(TENGs)in 2012,many mechanical systems have been applied to operate TENGs,but mechanical contact losses such as friction and noise are still big obstacles for improving their output performance and ***,we report on a magnet-assembled cam-based TENG(MC-TENG),which has enhanced output power and sustainability by utilizing the non-contact repulsive force between the *** investigate the theoretical and experimental dynamic behaviors of MC-TENGs according to the effects of the contact modes,contact and separation times,and contact forces(i.e.,pushing and repulsive forces).We suggest an optimized arrangement of magnets for the highest output performance,in which the charging time of the capacitor was 2.59 times faster than in a mechanical cam-based TENG(C-TENG).Finally,we design and demonstrate a MC-TENG-based windmill system to effectively harvest low-speed wind energy,~4 m/s,which produces very low ***,it is expected that our frictionless MC-TENG system will provide a sustainable solution for effectively harvesting a broadband of wasted mechanical energies.

关键词： friction magnets generator

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Comparative Analysis of AD8232 and BioAmp EXG Pill Analog Front-End Devices in ECG Signal Processing 11

Comparative Analysis of AD8232 and BioAmp EXG Pill Analog Fr...

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11th IEEE Conference on Systems, Process and Control, ICSPC 2023

作者： Mamee, Tanakrit Manorost, Panason Chamroon, Chakkapong Thunsiri, Kittiya Chiang Mai University Program in Mechanical Engineering Department of Mechanical Engineering Chiang Mai Thailand Ku Leuven University Faculty of Bioscience Engineering Leuven Belgium Biomedical Engineering Institute Chiang Mai University Chiang Mai Thailand Chiang Mai University Department of Mechanical Engineering Chiang Mai Thailand Chiang Mai University Faculty of Engineering Chiang Mai Thailand

ISBN: (纸本)9798350340860

The development of compact portable ECG monitoring devices often entails the pursuit of downsizing measurement systems. This objective frequently involves additional efforts, such as custom PCB fabrication for analog front-end systems and exploration of alternative electrode types and configurations. In this study, we investigate the feasibility of using the BioAmp EXG Pill, a miniature commercial analog front-end board, in comparison to the well-established AD8232. Our analysis focuses on comparing ECG signals from five adult subjects, examining both frequency components using the welch estimation method and ECG parameters extracted from time-domain signals. The results reveal that both devices provided similar outcomes in time-domain measurements, with a slightly lower standard deviation observed in the AD8232. In terms of spectral density, both devices proficiently captured low-frequency components within the 0-3 Hz range. However, in higher-frequency domains, the AD8232 demonstrated superior capability in capturing finer frequency details. © 2023 IEEE.

关键词： Electrocardiograms

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Action tremor features discovery for essential tremor and Parkinson's disease with explainable multilayer BiLSTM

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Computers in Biology and Medicine 2024年 180卷 108957页

作者： Teo, Yu Xuan Lee, Rui En Nurzaman, Surya Girinatha Tan, Chee Pin Chan, Ping Yi Department of Electrical & Robotics Engineering School of Engineering Monash University Malaysia Malaysia Department of Mechanical Engineering School of Engineering Monash University Malaysia Bandar Sunway Malaysia

The tremors of Parkinson's disease (PD) and essential tremor (ET) are known to have overlapping characteristics that make it complicated for clinicians to distinguish them. While deep learning is robust in detecting features unnoticeable to humans, an opaque trained model is impractical in clinical scenarios as coincidental correlations in the training data may be used by the model to make classifications, which may result in misdiagnosis. This work aims to overcome the aforementioned challenge of deep learning models by introducing a multilayer BiLSTM network with explainable AI (XAI) that can better explain tremulous characteristics and quantify the respective discovered important regions in tremor differentiation. The proposed network classifies PD, ET, and normal tremors during drinking actions and derives the contribution from tremor characteristics, (i.e., time, frequency, amplitude, and actions) utilized in the classification task. The analysis shows that the XAI-BiLSTM marks the regions with high tremor amplitude as important in classification, which is verified by a high correlation between relevance distribution and tremor displacement amplitude. The XAI-BiLSTM discovered that the transition phases from arm resting to lifting (during the drinking cycle) is the most important action to classify tremors. Additionally, the XAI-BiLSTM reveals frequency ranges that only contribute to the classification of one tremor class, which may be the potential distinctive feature to overcome the overlapping frequencies problem. By revealing critical timing and frequency patterns unique to PD and ET tremors, this proposed XAI-BiLSTM model enables clinicians to make more informed classifications, potentially reducing misclassification rates and improving treatment outcomes. © 2024 The Authors

关键词： Classification (of information)

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Omnichannel Retail in Small and Medium-Sized Enterprises: Insights from Indonesia

Omnichannel Retail in Small and Medium-Sized Enterprises: In...

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2023 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2023

作者： Febriani, Atik Sopha, Bertha Maya Wibisono, Muhammad Arif Universitas Gadjah Mada Department of Mechanical and Industrial Engineering Yogyakarta Indonesia Institut Teknologi Telkom Purwokerto Industrial Engineering Program Faculty of Industrial Engineering and Design Purwokerto Indonesia

ISBN: (纸本)9798350323153

An omnichannel retail strategy integrates multiple channels, enabling customers to shop across all available online and offline channels at the same time. This strategy is required to overcome different obstacles that develop as a result of changes in the retailer's business environment. This study aims to provide an overview of the extent to which SMEs in Indonesia implement an omnichannel strategy. Omnichannel retail implementation in SMEs has shown positive developments in recent years. They recognize the importance of providing a consistent and unified shopping experience across multiple channels. In this context, the marketplace is essential for SMEs to expand their reach of customers in various locations. However, despite positive developments, there are still some challenges to implementing omnichannel for SMEs in Indonesia. These challenges include dynamic changes in consumer behavior, limited staff capabilities, and the mindset of SME leaders or owners. © 2023 IEEE.

关键词： multichannel omnichannel retail SMEs strategy

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