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Realtime Delayless Estimation of Derivatives of Noisy Sensor Signals for Quasi-Cyclic Motions with Application to Joint Acceleration Estimation on an Exoskeleton

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IEEE robotics and Automation Letters 2018年第3期3卷 1647-1654页

作者： Tanghe, Kevin Aertbeliën, Erwin Vantilt, Jonas Moltedo, Marta Bǎcek, Tomislav Lefeber, Dirk De Schutter, Joris Robotics Research Group KU Leuven Department of Mechanical Engineering HeverleeB-3001 Belgium Department of Mechanical Engineering Vrije Universiteit Brussel Brussels1050 Belgium

The control of mechatronic systems can often be enhanced if realtime information on the derivatives of a signal is available. These derivatives are not always measurable by sensors and should be estimated. Simple numerical derivatives cannot be applied, due to noise on the measured signals. Several researchers managed to reduce the noise and calculate the derivative but as a drawback the estimation has a time delay. In this letter, we focus on the realtime derivative estimation of quasi-cyclic signals. Cycles of these signals are very similar but not exactly alike. At each time instant, the derivatives of the previous cycle are fed to a linear state estimator as virtual measurements. This allows to have a delay-free estimation. The proposed method is tested experimentally on a human walking in an exoskeleton with rotary joint encoders. Results show that it is possible to estimate the angular acceleration of hip, knee, and ankle joint in realtime without delay. The algorithm is compared with the technique of adaptive oscillators with non-linear filter, used in literature for a similar application. Our method estimates acceleration better both in steady-state and transient periods. © 2016 IEEE.

关键词： Delay control systems

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Microstreaming flow arising from cells excited by surface acoustic waves 23

Microstreaming flow arising from cells excited by surface ac...

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23rd International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2019

作者： Salari, Alinaghi Appak-Baskoy, Sila Kolios, Michael C. Tsai, Scott S.H. Canada Biomedical Engineering Graduate Program Ryerson University Canada Department of Chemistry and Biology Ryerson University Canada Department of Physics Ryerson University Canada Department of Mechanical and Industrial Engineering Ryerson University Canada

ISBN: (纸本)9781733419000

The interaction of an acoustic field and an elastic material (e.g., microbubble) can give rise to the formation of a steady-state flow called acoustic streaming. In biomechanics, cells can be modelled as viscoelastic materials, and therefore, are able to sustain mechanical perturbations. Here, we demonstrate that adherent cells can induce acoustic microstreaming once excited by surface acoustic waves in a polydimethylsiloxane (PDMS) microfluidic device. This streaming flow is captured by confocal microscopy at different heights of the cell and compared to numerical results for two cells with different shapes. © 2019 CBMS-0001.

关键词： Cells

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Binary Channel Fuzzy Self-Adjusted Neural Network for Solving Time-Changing QP Problems

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IEEE Transactions on Neural Networks and Learning Systems 2025年 PP卷 PP页

作者： Luo, Yamei Ren, Qingyi Zheng, Zihao Chen, Siyuan Ma, Xin Liu, Yu Li, Xiaoli Yu, Junzhi Zhang, Zhijun The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Shatin Hong Kong South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Southern University of Science and Technology Institute for Robotics Shenzhen518055 China Peking University College of Engineering Beijing100871 China South China University of Technology Key Library of Autonomous Systems and Network Control Ministry of Education School of Automation Science and Engineering Guangzhou510640 China Institute for Super Robotics Huangpu Guangzhou510555 China Nanchang University Jiangxi Thousand Talents Plan Nanchang330031 China Jishou University College of Computer Science and Engineering Jishou416000 China Guangdong Artificial Intelligence and Digital Economy Laboratory Pazhou Laboratory Guangzhou510335 China Shaanxi University of Technology Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Hanzhong 723001 China Changsha Normal University School of Information Science and Engineering Changsha410100 China Guangdong University of Petrochemical Technology School of Automation Science and Engineering Institute of Artificial Intelligence and Automation Maoming525000 China

A novel binary channel fuzzy self-adjusted neural network (BCF-SANN) is proposed and researched for solving time-changing quadratic programming (QP) problems in this article. Unlike the fixed parameters of the typical zeroing neural network, the main parameters of the proposed BCF-SANN are time-changing, and its errors are adaptively quickly convergent. The biggest advantage of the novel neural network is that it combines a fuzzy self-adjusted controller, which takes the errors and derivatives of errors as fuzzy inputs and neural networks, further improving the convergence and robustness of the neural networks. To design the novel neural network, a time-changing QP problem is first established;then, using Lagrange’s law, the time-changing QP problem is transformed into a time-changing matrix equation;and finally, based on the time-changing parameter neural dynamics method, a novel BCF-SANN is proposed. The detailed design process is given in this article, and the convergence and robustness of the proposed BCF-SANN are proved by theoretical analysis. Through comparative experiments, it is demonstrated that the proposed BCF-SANN has a faster convergence rate and stronger robustness than the traditional zeroing neural network and 1-D fuzzy recurrent neural network (RNN). © 2012 IEEE.

关键词： Recurrent neural networks

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Concept selection and Kinematic modeling of hand rehabilitation robotic device

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IOP Conference Series: Materials Science and engineering 2021年第1期1132卷

作者： Sunil Meby Mathew A.P. Sudheer Mechatronics/Robotics Laboratory Department of Mechanical Engineering National Institute of Technology Calicut Kerala India

Rehabilitation using an exoskeleton is one of the widely accepted methods for the recovery of lost motor abilities. Most of the present research concentrates on either soft or rigid exoskeletons. In this paper, the design of a five-finger exoskeleton is discussed along with the advantage of soft and rigid bodied exoskeletons. Concept selection for the designs is done using the standard procedure of screening and scoring. Forward and inverse kinematic modeling of thumb and index finger is performed with Denavit-Hartenberg (DH) method.

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Evaluation of open-ended, clustering, and discrete choice methods for user requirements development in a low-income country context

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Development engineering 2023年 8卷

作者： Sabet Sarvestani, Amir Gonzalez, Richard Johnson, Timothy R.B. Coulentianos, Marianna J. Sienko, Kathleen H. Design Science Program University of Michigan 1075 Beal Ave Ann ArborMI48109 United States Department of Psychology University of Michigan 530 Church St. Ann ArborMI48109 United States Department of Obstetrics & Gynecology Medical School University of Michigan L4000 Women's SPC 5276 Ann ArborMI48109 United States School of Design and Creative Arts Loughborough University LoughboroughLE11 3TU United Kingdom Department of Mechanical Engineering University of Michigan 2350 Hayward St. G.G. Brown Ann ArborMI48109 United States

High quality user requirements are positively correlated with successful design outcomes, but engaging stakeholders within low-income contexts can present financial and time-related challenges to product developers from non-local industrial and academic institutions with limited knowledge of the context. Existing literature provides guidance for engaging stakeholders during the early stages of product design in high-income country contexts, but few studies have examined the effectiveness of these methods in low-income country contexts. This study evaluated three user requirements elicitation and prioritization methods including open-ended, clustering, and discrete choice. Ghanaian healthcare delivery stakeholders with varying types of expertise, years of experience, and from various types of healthcare facilities were recruited to allow for diversity of responses. Participants included physicians (n = 10), nurses/midwives (n = 16), biomedical technicians (n = 14), and public health officers (n = 7). A hypothetical mechanical device for managing and treating postpartum hemorrhage was chosen to characterize each method's ability to elicit and prioritize user requirements. The open-ended method captured general requirements of a design concept, yet resulted in predominantly generic requirements. The results from the open-ended method were used to inform the clustering and discrete choice methods. The clustering and discrete choice methods were useful for inferring in-depth user requirements and eliciting stakeholder priorities. The clustering method revealed that usability and affordability were high-priority requirements among all four stakeholder groups. An individual difference scaling analysis was performed using the clustering method outcomes, which indirectly identified ease-of-use, availability, and effectiveness as the priority user requirements categories. Stakeholders ranked ease-of-use as the highest-priority user requirement, followed by performance, cost,

关键词： Product design

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The development of virtual laboratory on fluid materials 6

The development of virtual laboratory on fluid materials

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6th International Seminar on Mathematics, Science, and Computer Science Education, MSCEIS 2018

作者： Jannati, E.D. Setiawan, A. Siahaan, P. Rochman, C. Susanti, D. Samantha, Y. Mechanical Engineering Study Program Majalengka University Majalengka Indonesia Department of Mechanical Engineering Education Universitas Pendidikan Indonesia Bandung Indonesia Department of Physics Education Universitas Pendidikan Indonesia Bandung Indonesia Department of Physics Education UIN Sunan Gunung Djati Bandung Indonesia Department of Informatics Engineering Majalengka University Majalengka Indonesia

This study aims to study the development of laboratory learning media on the concept of fluids. The method used in this study is the research and development (R & D) method of implementation up to step 7, namely: (1) literature study, (2) needs analysis, (3) design of virtual lab learning media, (4) development of lab learning media virtual, (5) validation, (6) product testing, (7) product revision. Virtual laboratory learning media, have gone through a phase validation test by two material experts and one media expert who showed that laboratory learning media on fluid materials are feasible to be applied in learning. the results of sponsored pretest and posttest for students showed a significant increase. Recommended to be applied in a virtual learning laboratory is suitable to be applied in the Faculty of engineering, Majalengka University. © 2019 IOP Publishing Ltd.

关键词： Laboratories

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Design and Analysis of Minimally Invasive Surgical Robot

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IOP Conference Series: Materials Science and engineering 2021年第1期1132卷

作者： Ch. V S N Vasundhara A P Sudheer Mechatronics/Robotics Lab Department of Mechanical Engineering National Institute of Technology Calicut Kerala India

Minimally Invasive Surgical robots are commonly seen in medical centres for surgical purposes. However, the major challenges seen with such robotic systems are its heavy weight, costly and lack of capability to reconfigure according to the patient-specific needs. In this paper, a robot is proposed to overcome the difficulties with existing robotic systems. Six different concepts are proposed in this paper which are modelled in SolidWorks software. The best design has been selected using the concept scoring technique. Besides, the forward and inverse kinematics for the best concept is achieved using the Denavit-Hartenberg (D-H) modelling technique. Finally, results obtained from the analytical model has been verified using Peter Corke Toolbox in MATLAB. The trajectory planning of the selected concept has be done using the third-order polynomial equation and it is plotted using MATLAB.

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Modelling of torso and dual arms for a humanoid robot with fixed base by using screw theory for dexterous applications

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IOP Conference Series: Materials Science and engineering 2021年第1期1132卷

作者： Shifa Sulaiman A P Sudheer Mechatronics/Robotics Laboratory Department of Mechanical Engineering National Institute of technology Calicut Kerala India

Most of the humanoid robots are facing problems due to non-dexterous arms while working in complex environments. Kinematic and dexterity analyses help to study and solve the manipulation difficulties of a robot. This paper presents the kinematic and dexterity analyses of torso and dual arms for a tree type upper body humanoid robot with fixed base using screw theory formulation. Orientation workspace and reachability analyses of the dual arms are done for determining the dexterity of the robot. In this paper, orientation workspace of the tree type upper body is obtained by converting the rotation matrix to Euler angle set representation. The upper body of the humanoid robot is designed with three Degrees of freedom (DoF) in the torso, two DoF in the neck, five DoF in each arm.

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Light-driven C-H activation mediated by 2D transition metal dichalcogenides

arXiv

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arXiv 2022年

作者： Li, Jingang Zhang, Di Guo, Zhongyuan Jiang, Xi Larson, Jonathan M. Zhu, Haoyue Zhang, Tianyi Gu, Yuqian Blankenship, Brian Chen, Min Wu, Zilong Huang, Suichu Kostecki, Robert Minor, Andrew M. Grigoropoulos, Costas P. Akinwande, Deji Terrones, Mauricio Redwing, Joan M. Li, Hao Zheng, Yuebing Materials Science & Engineering Program Texas Materials Institute Walker Department of Mechanical Engineering The University of Texas at Austin AustinTX78712 United States Laser Thermal Laboratory Department of Mechanical Engineering University of California BerkeleyCA94720 United States Tohoku University Sendai980-8577 Japan Materials Sciences Division Lawrence Berkeley National Laboratory BerkeleyCA94720 United States Department of Chemistry and Biochemistry Baylor University WacoTX76798 United States Department of Materials Science and Engineering The Pennsylvania State University University ParkPA16802 United States Chandra Family Department of Electrical & Computer Engineering The University of Texas at Austin AustinTX78712 United States Department of Materials Science and Engineering University of California BerkeleyCA94720 United States Energy Storage and Distributed Resources Division Lawrence Berkeley National Laboratory BerkeleyCA94720 United States National Center for Electron Microscopy Molecular Foundry Lawrence Berkeley National Laboratory BerkeleyCA94720 United States Center for Two-Dimensional and Layered Materials The Pennsylvania State University University ParkPA16802 United States Department of Physics Department of Chemistry The Pennsylvania State University University ParkPA16802 United States 2D Crystal Consortium Materials Research Institute The Pennsylvania State University University ParkPA16802 United States

C-H bond activation enables the facile synthesis of new chemicals. While C-H activation in short-chain alkanes has been widely investigated, it remains largely unexplored for long-chain organic molecules. Here, we report light-driven C-H activation in complex organic materials mediated by 2D transition metal dichalcogenides (TMDCs) and the resultant solid-state synthesis of luminescent carbon dots in a spatially-resolved fashion. We unravel the efficient H adsorption and a lowered energy barrier of C-C coupling mediated by 2D TMDCs to promote C-H activation. Our results shed light on 2D materials for C-H activation in organic compounds for applications in organic chemistry, environmental remediation, and photonic materials. © 2022, CC BY-NC-SA.

关键词： Chemical activation

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Large scale polymer toughening of two-dimensional materials revealed by in situ TEM fracture tests and multiscale simulations

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European Journal of Mechanics, A/Solids 2025年 114卷

作者： Zhang, Yue Li, Chunyu Zhang, Xu Wen, Jianguo Sumant, Anirudha V. Strachan, Alejandro Espinosa, Horacio D. Department of Mechanical Engineering Northwestern University EvanstonIL60208 United States School of Materials Engineering Purdue University West LafayetteIN47907 United States Theoretical and Applied Mechanics Program Northwestern University EvanstonIL60208 United States Center for Nanoscale Materials Argonne National Laboratory LemontIL60439 United States

Two-dimensional (2D) materials offer significant potential for applications in energy-harvesting devices, batteries, sensors, and transistors. However, their intrinsic brittleness makes them prone to mechanical failure, limiting their practical use. In this work, we perform in situ transmission electron microscopy (TEM) fracture tests on monolayer MoSe2 and uncover an extrinsic toughening effect induced by an ultrathin adsorbed polystyrene adlayer. This adlayer substantially enhances the fracture resistance of the 2D flakes. Through a combination of molecular dynamics simulations and finite element analysis, we elucidate the molecular mechanism behind this toughening effect. It arises from the active crack-bridging behavior of entangled polymer chains and the formation of a fracture process zone that stabilizes crack propagation and increases the energy required for crack extension. The proposed toughening mechanism offers a pathway to improving the mechanical reliability of 2D material-based devices by mitigating the risk of sudden failure. © 2025 Elsevier Masson SAS

关键词： Crack propagation

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