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arXiv 2020年

作者： Roundtree, Karina A. Cody, Jason R. Leaf, Jennifer Onan Demirel, H. Adams, Julie A. School of Mechanical Industrial and Manufacturing Engineering Oregon State University Department of Electrical Engineering and Computer Science United States Military Academy Collaborative Robotics and Intelligent Systems Institute Oregon State University

Interest in collective robotic systems has increased rapidly due to the potential benefits that can be offered to operators, such as increased safety and support, who perform challenging tasks in high-risk environments. Human-collective transparency research has focused on how the design of the algorithms, visualizations, and control mechanisms influence human-collective behavior. Traditional collective visualizations have shown all of the individual entities composing a collective, which may become problematic as collectives scale in size and heterogeneity, and tasks become more demanding. Human operators can become overloaded with information, which will negatively affect their understanding of the collectives current state and overall behaviors, which can cause poor teaming performance. An analysis of visualization transparency and the derived visualization design guidance, based on remote supervision of collectives, are the primary contributions of this manuscript. The individual agent and abstract visualizations were analyzed for sequential best-of-n decision-making tasks involving four collectives, composed of 200 entities each. The abstract visualization provided better transparency by enabling operators with different individual differences and capabilities to perform relatively the same and promoted higher human-collective performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Transparency

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The Development Mechanism of Microcontroller-Based Water Level and Temperature Control 5

The Development Mechanism of Microcontroller-Based Water Lev...

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5th International Symposium on Material, Mechatronics and Energy 2018, ISMME 2018

作者： Ka'Ka, S. Tandioga, R. Lewi Muhammad, A.K. Rahman, A. Taufik, A. Mechatronics Study Program Mechanical Engineering Department Ujung Pandang State Polytechnic Makassar South Sulawesi90245 Indonesia

The development of Microcontroller-Based Water Level and Temperature Control is the development of Microcontroller-Based Water Level Control Design. This equipment is a tool that can be used to monitor and control the level and temperature of water. The aim of this research is to make a water level and temperature control device based on microcontroller, and to display the information of water level and temperature on the computer. The research methods used during the implementation process of this research are : literature study, hardware and software design, and data retrieval. The Microcontroller-based Water Level and Temperature Control uses two sensors, namely : ultrasonic sensor to detect water level, then the second sensor is a thermocouple sensor which is used to detect water temperature. This equipment uses a water pump to flow water from one tank to another, and the heater that used to heat water. The device has 2 buttons, where the first button is used to control the water level, and the second button is used to control the level and temperature of the water. Based on the results of the study it can be concluded that this water level and temperature control system works well as expected, where this equipment uses a multi position control system mode that has been programmed in the Arduino software and can display sensor readings in the form graphs using matlab software. © Published under licence by IOP Publishing Ltd.

关键词： Water levels

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Near-Infrared I/II Nanophosphors with Cr3+/Ni2+ Energy Transfer for Bioimaging

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Advanced Optical Materials 2023年第15期11卷

作者： Satpathy, Aishwarya Huang, Wen-Tse Chan, Ming-Hsien Su, Ting-Yi Kamiński, Mikolaj Majewska, Natalia Mahlik, Sebastian Leniec, Grzegorz Kaczmarek, Slawomir M. Hsiao, Michael Liu, Ru-Shi Department of Chemistry National Taiwan University Taipei106 Taiwan Nanoscience and Technology Program Taiwan International Graduate Program Academia Sinica and National Taiwan University Academia Road 128 Nankang Taipei115 Taiwan Genomics Research Center Academia Sinica Academia Road Section 2 Nankang Taipei115 Taiwan Institute of Experimental Physics Faculty of Mathematics Physics and Informatics University of Gdansk Wita Stwosza 57 Gdansk80–308 Poland Department of Technical Physics Faculty of Mechanical Engineering and Mechatronics West Pomeranian University of Technology in Szczecin al. Piastow 19 Szczecin70–310 Poland

In the biomedical field, the use of fluorescence imaging in the second near-infrared (NIR-II) region is growing rapidly because it imparts the advantages of reduced autofluorescence and low photon scattering. The advantage of reduced scattering is that it increases penetration depth in vivo and improves imaging clarity. Herein, this work uses mesoporous silica, a biocompatible template that can be easily modified, functionalized, and loaded with drugs for use in several bioapplications. The ZnGa2O4 spinel oxide system is integrated into mesoporous silica and different concentrations of Cr3+ and Ni2+ are loaded in octahedral sites to obtain the highest emission intensity in the NIR-II region at 1285 nm via energy transfer from Cr3+ to Ni2+. Given that only a few nanophosphor systems with emission in the NIR-II region are available, this work attempts to establish emission in the NIR-II and NIR-I regions to obtain images in vivo with an increased penetration depth to 5 mm and improved clarity for bioimaging purposes. This system will open the door for biomedical research on other NIR-II nanophosphors. © 2023 Wiley-VCH GmbH.

关键词： Bioimaging

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Dynamic Synthesis of a Crank-Rocker Mechanism Minimizing its Joint-Forces

Dynamic Synthesis of a Crank-Rocker Mechanism Minimizing its...

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作者： Villegas, Claudio Hüsing, Mathias Corves, Burkhard Institute of Mechanism Theory Machine Dynamics and Robotics RWTH Aachen University Aachen Germany Department of Mechanical Engineering University of Bio-Bio Concepcion Chile

Dynamic Joint-Forces in a mechanism produce vibration and wear, decreasing its life span. Many studies have been carried out on optimization of mechanisms dynamic behaviour;however, few of it are focused on the reduction of Joint-Forces. Therefore, this work presents a method to obtain the link lengths of Function Generation Four-Bar Linkages, minimizing the maximum dynamic force in the joints. The study assumes that the crank rotates with constant angular velocity and the rocker moves a high amount of inertia between two positions. Hence, the mechanism mass and inertia is considered negligible. The equations of motion are set up together with Dead-Center Construction method after Alt. To analyze the behaviour of the Joint-Forces, all the equations are parametrized, finding out that the maximum Joint-Force is minimizable for every task given. The minimization of the Joint-Forces is achieved by using simple algorithms as Bisection and Regula-Falsi Illinois. The results show that this method reduces the maximal Joint-Force by a mean value of 8.5%, with respect to the Dead-Center Construction method with Transmission Angle Minimization. Moreover, for some tasks, the force reduction could reach up to 60%. Furthermore, this method solves the problem of null-length crank and rocker for centric crank-rocker mechanisms, generated by the Transmission Angle minimization. © 2019, Springer Nature Switzerland AG.

关键词： Equations of motion

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Cell Nanomechanics Based on Dielectric Elastomer Actuator Device

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Nano-Micro Letters 2019年第4期11卷 690-708页

作者： Zhichao Li Chao Gao Sisi Fan Jiang Zou Guoying Gu Mingdong Dong Jie Song Institute of Nano Biomedicine and Engineering Department of Instrument Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Shanghai Engineering Research Center of Advanced Dental Technology and Materials Shanghai Ninth People’s HospitalShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Interdisciplinary Nanoscience Center(iNANO) Aarhus UniversityAarhus 8000Denmark

As a frontier of biology,mechanobiology plays an important role in tissue and biomedical *** is a common sense that mechanical cues under extracellular microenvironment affect a lot in regulating the behaviors of cells such as proliferation and gene expression,*** such an interdisciplinary field,engineering methods like the pneumatic and motor-driven devices have been employed for ***,such techniques usually rely on complex structures,which cost much but not so easy to *** elastomer actuators(DEAs)are well known as a kind of soft actuation technology,and their research prospect in biomechanical field is gradually concerned due to their properties just like large deformation(>100%)and fast response(<1 ms).In addition,DEAs are usually optically transparent and can be fabricated into small volume,which make them easy to cooperate with regular microscope to realize real-time dynamic imaging of *** paper first reviews the basic components,principle,and evaluation of DEAs and then overview some corresponding applications of DEAs for cellular mechanobiology *** also provide a comparison between DEA-based bioreactors and current custom-built devices and share some opinions about their potential applications in the future according to widely reported results via other methods.

关键词： Dielectric elastomer actuator mechanical stimulus Bioreactor Mechanobiology

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Role of hydrogen in decarbonizing China’s electricity and hard-to-abate sectors

arXiv

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arXiv 2024年

作者： Yang, Haozhe He, Gang Masanet, Eric Deshmukh, Ranjit Bren School of Environmental Science and Management University of California Santa Barbara Santa BarbaraCA93106 United States Andlinger Center for Energy and Environment Princeton University PrincetonNJ08540 United States Marxe School of Public and International Affairs Baruch College City University of New York New York10010 United States Department of Mechanical Engineering University of California Santa BarbaraCA93106 United States Environmental Studies Program University of California Santa Barbara Santa BarbaraCA93106 United States

Green hydrogen has the potential to address two pressing problems in a zero-carbon energy system: balancing seasonal variability of solar and wind in the electricity sector, and replacing fossil fuels in hard-to-abate sectors. However, the previous research only separately modeled the electricity and hard-to-abate sectors, which is unable to capture how the interaction between the two sectors influences the energy system cost. In this study, focusing on China, we deploy an electricity system planning model to examine the cost implications of green hydrogen to fully decarbonize the electricity system and hard-to-abate sectors. Our results reveal that green hydrogen enables a 17% reduction in the levelized cost of a zero-carbon electricity system relative to that without hydrogen—however, cost savings hinge on the availability of underground hydrogen storage capacities and electric transmission expansion. More importantly, coupling hydrogen infrastructure in the electricity and hard-to-abate sectors not only reduces energy costs compared to a decoupled energy system but also makes green hydrogen cost-competitive compared to fossil fuel-based gray and blue hydrogen in China. © 2024, CC BY.

关键词： Zero-carbon

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Energy-Tank Based Force Control for 3D Contour Following 20th

Energy-Tank Based Force Control for 3D Contour Following

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20th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2019

作者： Hamaza, Salua Georgilas, Ioannis Richardson, Thomas Bristol Robotics Laboratory BristolBS16 1QY United Kingdom Department of Mechanical Engineering University of Bath Bath United Kingdom Department of Aerospace Engineering University of Bristol Bristol United Kingdom

ISBN: (纸本)9783030238063

Manipulation has been a major topic in robotics since its earlier developments. In the last few years, a new research area has focused in the introduction of manipulation capabilities on mobile robots. Several challenges are faced when mobile robots interact with unknown environments, for which inherent compliance is a key feature to achieve the intended outcome in a safe and robust way. This paper proposes a unified method of force control with energy-tank based methods to tackle 3D contour following. This method is tailored for manipulators that are designed for aerial applications, and addresses the interaction with unknown surfaces by also tackling the safety aspect, i.e. the response generated during contact loss. © Springer Nature Switzerland AG 2019.

关键词： Mobile robots

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Keyfilter-aware real-time UAV object tracking

arXiv

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arXiv 2020年

作者： Li, Yiming Fu, Changhong Huang, Ziyuan Zhang, Yinqiang Pan, Jia School of Mechanical Engineering Tongji University Shanghai201804 China Advanced Robotics Centre National University of Singapore Singapore Singapore Department of Mechanical Engineering Technical University of Munich Munich Germany Computer Science Department University of Hong Kong Hong Kong Hong Kong

Correlation filter-based tracking has been widely applied in unmanned aerial vehicle (UAV) with high efficiency. However, it has two imperfections, i.e., boundary effect and filter corruption. Several methods enlarging the search area can mitigate boundary effect, yet introducing undesired background distraction. Existing frame-by-frame context learning strategies for repressing background distraction nevertheless lower the tracking speed. Inspired by keyframe-based simultaneous localization and mapping, keyfilter is proposed in visual tracking for the first time, in order to handle the above issues efficiently and effectively. Keyfilters generated by periodically selected keyframes learn the context intermittently and are used to restrain the learning of filters, so that 1) context awareness can be transmitted to all the filters via keyfilter restriction, and 2) filter corruption can be repressed. Compared to the state-of-the-art results, our tracker performs better on two challenging benchmarks, with enough speed for UAV real-time applications. Copyright © 2020, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving

Risk Assessment and Planning with Bidirectional Reachability...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ming-Yuan Yu Ram Vasudevan Matthew Johnson-Roberson Robotics Institute University of Michigan Ann Arbor MI USA Department of Mechanical Engineering University of Michigan Ann Arbor MI USA Department of Naval Architecture and Marine Engineering University of Michigan Ann Arbor MI USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Risk assessment to quantify the danger associated with taking a certain action is critical to navigating safely through crowded urban environments during autonomous driving. Risk assessment and subsequent planning is usually done by first tracking and predicting trajectories of other agents, such as vehicles and pedestrians, and then choosing an action to avoid future collisions. However, few existing risk assessment algorithms handle occlusion and other sensory limitations effectively. One either assesses the risk in the worst-case scenario and thus makes the ego vehicle overly conservative, or predicts as many hidden agents as possible and thus makes the computation intensive. This paper explores the possibility of efficient risk assessment under occlusion via both forward and backward reachability. The proposed algorithm can not only identify the location of risk-inducing factors, but can also be used during motion planning. The proposed method is evaluated on various four-way highly occluded intersections with up to five other vehicles in the scene. Compared with other risk assessment algorithms, the proposed method shows better efficiency, meaning that the ego vehicle reaches the goal at a higher speed. In addition, it also lowers the median collision rate by 7.5× when compared to state of the art techniques.

关键词： Risk management Planning Prediction algorithms Autonomous vehicles Robot sensing systems Navigation Probabilistic logic

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A Sensory Feedback Control Law for Octopus Arm Movements

A Sensory Feedback Control Law for Octopus Arm Movements

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IEEE Conference on Decision and Control

作者： Tixian Wang Udit Halder Ekaterina Gribkova Rhanor Gillette Mattia Gazzola Prashant G. Mehta Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign Coordinated Science Laboratory University of Illinois at Urbana-Champaign Neuroscience Program University of Illinois at Urbana-Champaign Department of Molecular and Integrative Physiology University of Illinois at Urbana-Champaign National Center for Supercomputing Applications University of Illinois at Urbana-Champaign Carl R. Woese Institute for Genomic Biology University of Illinois at Urbana-Champaign

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by biologists. The proposed control law is distinct from prior work which has mainly focused on open-loop control strategies. Several analytical results are described including characterization of the equilibrium and its stability analysis. Numerical simulations demonstrate life-like motion of the soft octopus arm, qualitatively matching behavioral experiments. Quantitative comparison with bend propagation experiments helps provide the first explanation of such canonical motion using a sensory feedback control law. Several remarks are included that help draw parallels with natural pursuit strategies such as motion camouflage or classical pursuit.

关键词： Numerical simulation Stability analysis Biology Feedback control Behavioral sciences

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