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70th International Astronautical Congress, IAC 2019

作者： van Susante, Paul J. Zacny, Kris Department of Mechanical Engineering - Engineering Mechanics Michigan Technological University 1400 Townsend Drive HoughtonMI49931 United States Honeybee Robotics 2408 Lincoln Ave AltadenaCA91001 United States

In Situ Resource Utilization on the Moon and Mars will be crucial to allow sustainable human space exploration. Since a large fraction of a rockets' mass consists of rocket propellant, the capability to refuel along the journey will significantly increase our capability to explore and/or reduce complexity and risk. Any method to extract water will require various in-situ data to be collected before a final excavation and extraction system can be designed and tested. Current excavation and extraction methods under development for water extraction for human exploration are based on three types, taking many small or one large scoops, drilling or using a fluid to transport the granular materials. For excavating hard rock and ice, limited data exists but traditional methods such as blasting, ripping and water jetting have been considered. After excavation, the material would need to be heated to extract the water (ice) from the minerals. This paper will explore all the excavation methods and discuss some recent result of new prototypes and testing for Mars and Lunar water mining. Copyright © 2019 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Excavation

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Optimizing pulse combustion parameters in carbon anode baking furnaces for aluminum production

Optimizing pulse combustion parameters in carbon anode bakin...

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ASME 2019 International mechanical engineering Congress and Exposition, IMECE 2019

作者： Tajik, Abdul Raouf Shamim, Tariq Ghoniem, Ahmed F. Abu Al-Rub, Rashid K. Mechanical Engineering Department Khalifa University P.O. Box 127788 Abu Dhabi United Arab Emirates Aerospace Engineering Department Khalifa University P.O. Box 127788 Abu Dhabi United Arab Emirates Mechanical Engineering Department Northern Illinois University IL60115 United States Mechanical Engineering Program University of Michigan-Flint MI48502 United States Mechanical Engineering Department Massachusetts Institute of Technology CambridgeMA02139 United States

ISBN: (纸本)9780791859452

Pulsating flame jets have been widely used in open-top carbon anode baking furnaces for aluminum electrolysis. Reducing energy consumption and pollutant emissions are still major challenges in baking (heat-treatment) carbon anode blocks. It is also of immense significance to bake all the anodes uniformly irrespective of their position in the furnace. Baking homogeneity can be enhanced noticeably by optimizing anode baking operational, geometrical, and physical parameters. In the present study, CFD simulations are combined with a response surface methodology to investigate and optimize the effects of pulse pressure, pulse frequency, and mainstream inlet oxygen concentration and mainstream inlet temperature. Two-levels half fractional factorial design with a center point is employed. It is perceived that pulse combustion with short pulse time and high momentum results in significant enhancement of the anode baking furnace energy efficiency. The temperature homogeneity is also significantly improved. It is found that the oxygen concentration is statistically the most significant parameter on NOx and soot formations, followed by the fuel flow rate. For NOx formation, air inlet oxygen concentration has a strong interaction with pulse duration. Coupling CFD models with the response surface methodologies demonstrated great potential in multi-objective optimization of the anode baking process with enhanced energy efficiency and baking uniformity. Copyright © 2019 ASME.

关键词： Anodes

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Corrigendum to "Comparison between the tribological aspects of AISI M-35 with and without diamond-like carbon coating" [Wear 564–565 (2025) 205733] (Wear (2025) 564–565, (S004316482500002X), (10.1016/***.2025.205733))>

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Wear 2025年 574-575卷

作者： Martins, Paulo Sérgio Drumond, Ramon Martins da Silva, Ernane Rodrigues Ba, Elhadji Cheikh Talibouya Firpe, Pedro Miraglia Department of Mechanical Engineering Pontifícia Universidade Católica de Minas Gerias Av. Dom José Gaspar 500 Minas Gerais Belo HorizonteCEP 30535-610 Brazil Department of Mechanical Engineering Ibmec Rua Rio Grande do Norte 300 Funcionários Minas Gerais Belo HorizonteCEP: 30130-130 Brazil Materials Engineering Graduate Program Centro Federal de Educação Tecnológica de Minas Gerias Av. Amazonas 5253 Nova Suíça Minas Gerais Belo HorizonteCEP: 30421-169 Brazil Mechanical Engineering Graduate Program Universidade Federal de Uberlândia Av. João Naves de Ávila Avenue 2121 Minas Gerais UberlândiaCEP: 38408-100 Brazil

The authors regret that there was an error on the affiliation of one of the authors found on page 1 of the article. The affiliation for Pedro Miraglia Firpe should be b department of mechanical engineering, Ibmec, Rua Rio Grande do Norte, 300, Funcionários, CEP: 30130–130, Belo Horizonte, Minas Gerais – Brasil, instead of d mechanical engineering Graduate program, Universidade Federal de Uberlândia, Av. João Naves de Ávila Avenue 2121, CEP: 38408–100, Uberlândia, Minas Gerais – Brasil. The authors would like to apologise for any inconvenience caused. © 2025 Elsevier B.V.

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Linearization of two-state thruster models 5

Linearization of two-state thruster models

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5th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2019

作者： Adzkiya, Dieky Nurhadi, Hendro Herlambang, Teguh Department of Mathematics Institut Teknologi Sepuluh Nopember Indonesia Department of Industrial Mechanical Engineering Institut Teknologi Sepuluh Nopember Indonesia Center of Excellence for Mechatronics and Industrial Automation Research Center Institut Teknologi Sepuluh Nopember Indonesia Study Program of Information Systems Universitas Nahdlatul Ulama Surabaya Indonesia

A thruster is a device used for station keeping, attitude control, in the reaction control system, or long-duration, low-thrust acceleration. Thruster is one of the main components in autonomous surface vehicle. In this paper, we discuss the linearization of two-state thruster model by using the Jacobian method. © Published under licence by IOP Publishing Ltd.

关键词： Linearization

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Patient-specific, mechanistic models of tumor growth incorporating artificial intelligence and big data

arXiv

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arXiv 2023年

作者： Lorenzo, Guillermo Ahmed, Syed Rakin Hormuth, David A. Vaughn, Brenna Kalpathy-Cramer, Jayashree Solorio, Luis Yankeelov, Thomas E. Gomez, Hector Department of Civil Engineering and Architecture University of Pavia Pavia27100 Italy Oden Institute for Computational Engineering and Sciences The University of Texas at Austin AustinTX78712 United States Athinoula A. Martinos Center for Biomedical Imaging Department of Radiology Massachusetts General Hospital BostonMA02129 United States Harvard Graduate Program in Biophysics Harvard Medical School Harvard University CambridgeMA02115 United States Massachusetts Institute of Technology CambridgeMA02139 United States Geisel School of Medicine at Dartmouth Dartmouth College HanoverNH02139 United States Livestrong Cancer Institutes The University of Texas at Austin AustinTX78712 United States Weldon School of Biomedical Engineering Purdue University West LafayetteIN47907 United States Department of Ophthalmology University of Colorado Anschutz DenverCO80045 United States Department of Biomedical Engineering The University of Texas at Austin AustinTX78712 United States Department of Oncology The University of Texas at Austin AustinTX78712 United States Department of Imaging Physics MD Anderson Cancer Center HoustonTX77030 United States Department of Diagnostic Medicine The University of Texas at Austin AustinTX78712 United States School of Mechanical Engineering Purdue University West LafayetteIN47907 United States Purdue Center for Cancer Research Purdue University West LafayetteIN47907 United States

Despite the remarkable advances in cancer diagnosis, treatment, and management that have occurred over the past decade, malignant tumors remain a major public health problem. Further progress in combating cancer may be enabled by personalizing the delivery of therapies according to the predicted response for each individual patient. The design of personalized therapies requires patient-specific information integrated into an appropriate mathematical model of tumor response. A fundamental barrier to realizing this paradigm is the current lack of a rigorous, yet practical, mathematical theory of tumor initiation, development, invasion, and response to therapy. In this review, we begin by providing an overview of different approaches to modeling tumor growth and treatment, including mechanistic as well as data-driven models based on "big data" and artificial intelligence. Next, we present illustrative examples of mathematical models manifesting their utility and discussing the limitations of stand-alone mechanistic and data-driven models. We further discuss the potential of mechanistic models for not only predicting, but also optimizing response to therapy on a patient-specific basis. We then discuss current efforts and future possibilities to integrate mechanistic and data-driven models. We conclude by proposing five fundamental challenges that must be addressed to fully realize personalized care for cancer patients driven by computational models. © 2023, CC BY-NC-SA.

关键词： Big data

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Learning flatness-based controller using neural network

Learning flatness-based controller using neural network

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ASME 2019 Dynamic Systems and Control Conference, DSCC 2019

作者： Ren, Hailin Qi, Jingyuan Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Department of Mechanical Engineering Virginia Tech BlacksburgVA24060 United States Department of Physics Virginia Tech BlacksburgVA24060 United States

ISBN: (纸本)9780791859162

This paper presents a method to imitate flatness-based controllers for mobile robots using neural networks. We present sample case studies for a unicycle mobile robot and an Unmanned Aerial Vehicle (UAV) quadcopter. The goals of this paper are to (1) train a neural network to approximate a previously designed flatness-based controller, which takes in the desired trajectories previously planned in the flatness space and robot states in a general state space, and (2) present a dynamic training approach to learn models with high dimension inputs. It is shown that a simple neural network could adequately compute the highly nonlinear state variables transformation from general state space to flatness space and replace the complicated designed heuristic to avoid the singularities in the control law. This paper also presents a new dynamic training method for models with high dimension independent inputs, serving as a reference for learning models with a multitude of inputs. Training procedures and simulations are presented to show both the effectiveness of this novel training approach and the performance of the well-trained neural network. © 2019 ASME.

关键词： Controllers

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A dynamics simulator for soft growing robots

arXiv

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arXiv 2020年

作者： Jitosho, Rianna Agharese, Nathaniel Okamura, Allison Manchester, Zac Department of Mechanical Engineering Stanford University StanfordCA94305 United States Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors in the context of motion planning. In this paper, we examine a particular class of inflated-beam soft growing robots called "vine robots", and present a dynamics simulator that captures general behaviors, handles robot-object interactions, and runs faster than real time. The simulator framework uses a simplified multi-link, rigid-body model with contact constraints. To narrow the sim-to-real gap, we develop methods for fitting model parameters based on video data of a robot in motion and in contact with an environment. We provide examples of simulations, including several with fit parameters, to show the qualitative and quantitative agreement between simulated and real behaviors. Our work demonstrates the capabilities of this high-speed dynamics simulator and its potential for use in the control of soft robots. Copyright © 2020, The Authors. All rights reserved.

关键词： Motion planning

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Repeatability measurement and kinematic identification of LBR iiwa 7 R800 using monocular camera 2019

Repeatability measurement and kinematic identification of LB...

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Proceedings of the Advances in robotics 2019

作者： Aditya Jain Hardeep Singh Riby Abraham Boby Subir Kumar Saha Swagat Kumar Sumantra Dutta Roy Department of Mechanical Engineering Indian Institute of Technology Delhi New Delhi India TCS Innovation Lab Robotics and Embedded System Group Bangalore India Department of Electrical Engineering Indian Institute of Technology Delhi New Delhi India

ISBN: (纸本)9781450366502

In this paper, we have performed the kinematic identification and repeatability analysis of LBR iiwa 7 R800 (7 axis serial link robot) using monocular camera mounted at the end-effector of the robot. We started the process with the camera calibration process to identify intrinsic and extrinsic parameters of the camera used. In order to determine the pose of the end-effector using camera for repeatability analysis, we have used a 9x6 checkerboard for the repeatability experiment and for kinematic identification we have used ArUco markers. For repeatability analysis, we have used poses from ISO 9283 standards. Also we have used dispersion as a statistical means for quantifying the repeatability analysis. Subsequently, we have compared the results of kinematic identification with those from laser sensors and the theoretical CAD data sheet provided for the robot. Also in this paper, the algorithm has been introduced for measuring repeatability under force control mode and consequently, a single point repeatabilty has been evaluated.

关键词： Industrial robot Camera Repeatability Kinematic Identification

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Chemo-mechanical model of a cell as a stochastic active gel

arXiv

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arXiv 2021年

作者： Deshpande, Vikram DeSimone, Antonio McMeeking, Robert Recho, Pierre Engineering Department University of Cambridge Cambridge United Kingdom Scuola Internazionale Superiore di Studi Avanzati TriesteI-34136 Italy The BioRobotics Institute Department of Excellence in Robotics and A.I. Sant’Anna School for Advanced Studies PisaI-56127 Italy Mechanical Engineering and Materials Departments University of California Santa Barbara United States School of Engineering University of Aberdeen Aberdeen United Kingdom Université Grenoble Alpes Laboratoire Interdisciplinaire de Physique CNRS GrenobleF-38000 France

While it is commonly observed that the shape dynamics of mammalian cells can undergo large random fluctuations, theoretical models aiming at capturing cell mechanics often focus on the deterministic part of the motion. In this paper, we present a framework that couples an active gel model of the cell mechanical scaffold with the complex cell metabolic system stochastically delivering the chemical energy needed to sustain an active stress in the scaffold. Our closure assumption setting the magnitude of the fluctuations is that the chemo-mechanical free energy of the cell is controlled at a target homeostatic value. Our model rationalizes the experimental observation that the cell shape fluctuations depend on the mechanical environment that constraints the cell. We apply our framework to the simple case of a cell migrating on a one dimensional track to successfully capture the different regimes of the cell mean square displacement along the track as well as the magnitude of the long time scale effective diffusive motion of the cell. © 2021, CC BY-NC-ND.

关键词： Cells

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Haptic shared steering control with an adaptive level of authority based on time-to-line crossing ⁎

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IFAC-PapersOnLine 2019年第19期52卷 49-54页

作者： Hugo M. Zwaan Sebastiaan M. Petermeijer David A. Abbink Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Delft the Netherlands

Traditional driver-automation interaction trades control over the vehicle back and forth between driver and automation. Haptic shared control offers an alternative by continuously sharing the control through torques on the steering wheel and pedals. When designing additional feedback torques, part of the design choice lies in the stiffness around the neutral steering point: also called the Level of Haptic Authority (LoHA), which is usually static and tuned to balance safety benefits (better at high LoHA) with conflicts torques in case of different intentions between automation and driver (higher conflict torques with increased LoHA). In this paper we explore the idea of situation-adaptive LoHA: in this case during lane-keeping by changing the LoHA based on time to lane crossing (TLC). Consequently, when safety margins are high (e.g., when driving on a wide road) the LoHA is low, but the LoHA would only increase when safety margins decrease. We propose two alternative design approaches to apply the LoHA: symmetrically and asymmetrically (i.e., only increase of LoHA in the direction of the low TLC). We compared these design in an explorative driving simulator study (n=14) to driving with two static LoHA designs (low and high). We found that compared to the high LoHA controller, both adaptive LoHA controllers designs resulted in similar safety margins, but at decreased conflict torques. Hence, a TLC-based adaptive LoHA controller seems to be an effective approach to mitigate conflicts while maintaining the safety benefits associated with HSC.

关键词： Haptic Shared Control Adaptive Level of Haptic Authority Human-Machine interaction driving simulator

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