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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Shalabi, Mohamed Essam El-Hussieny, Haitham Abouelsoud, A.A. Fath Elbab, Ahmed M.R. Egypt-Japan University for Science and Technology Department of Mecharonics and Robotics Engineering New Borg Al-Arab city Alexandria Egypt Cairo Egypt Cairo University Electronics and Communication Department Cairo Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University for Science and Technology Mechanical Eng. Department Assiut University Egypt New Borg El-Arab City Alexandria Egypt

ISBN: (纸本)9781728163215

This paper presents the control of an automotive air-spring suspension system using a Z-number based fuzzy inference system. One of automotive suspension functions is to isolate vehicle body from road disturbance which is described by transmissibility coefficient. There is a conflict between ride comfort and handling requirements. Lower transmissibility coefficient results in improving passengers' comfort. In this study, an air-spring suspension system is connected to two additional volumes of different sizes via ON-OFF valves that are controlled by the proposed control strategy. The stiffness of the suspension system is the control parameter that is controlled by changing the enclosed pressure and the total air volume inside the air-spring within one of four chosen levels. The proposed Z-number control scheme is characterized by two components;constraint and reliability. The interpolating reasoning of the Z-number fuzzy is constructed and applied. Genetic Algorithm is used to estimate the optimal control gains and switching levels of the air volumes. The proposed control system is applied to a simulated quarter car model to evaluate system performance. Then, the proposed controller is compared to a conventional fuzzy controller and a fuzzy controller merged with discrete volume control. The results show that the proposed controller improves the air suspension performance compared to the other controllers with a maximum acceleration of 1.1 cm/s2. © 2019 IEEE.

关键词： Fuzzy control

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Toward Vision-based Adaptive Configuring of A Bidirectional Two-Segment Soft Continuum Manipulator

Toward Vision-based Adaptive Configuring of A Bidirectional ...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Jiewen Lai Kaicheng Huang Bo Lu Henry K. Chu Department of Mechanical Engineering The Hong Kong Polytechnic University Hung Hom KLN Hong Kong T Stone Robotics Institute The Chinese University of Hong Kong Shatin NT Hong Kong

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

In soft robotics, developing an effective way of robot-environment interaction is a challenging task due to the soft nature of the material that makes the manipulator. This paper demonstrates a vision-based approach to configure a two-segment soft continuum robot manipulator into an user-defined configuration and interact with unknown objects on plane. The soft robot manipulator actuated by cable-driven mechanism, is composed of two cascade continuum segments which are made from poly-dimethyl-siloxane (PDMS). The overall robot configuration can be determined in a point-wise manner on image plane provided by an eye-to-hand system. One can define the end-effectors' location on the visual system to re-shape the manipulator. The visual servoing fashion allows the robot to optimize its posture to its best fit without developing any complicated model. Experiments on prototype indicate that the proposed model-free approach can be well employed, even when the manipulator is bearing a payload. By adaptively adjusting manipulator's stiffness to a quasi-deadlock status, the payload capacity is up to nearly 6 times of the manipulator's mass itself.

关键词： Manipulators Soft robotics Robot sensing systems Visualization Prototypes

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Nanomanipulation of Colloidal Particles via Optothermallygated Photon Nudging

Nanomanipulation of Colloidal Particles via Optothermallygat...

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Novel Optical Materials and Applications, NOMA 2019

作者： Li, Jingang Liu, Yaoran Zheng, Yuebing Materials Science and Engineering Program and Texas Materials Institute University of Texas at Austin AustinTX78712 United States Department of Mechanical Engineering University of Texas at Austin AustinTX78712 United States

We report an all-optical technique for versatile nanomanipulation and assembly of various colloidal particles on a solid substrate by harnessing both photothermal effects and optical scattering forces. © 2019 The... 详细信息

ISBN: (纸本)9781943580644

关键词： Micromanipulators

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Globally exponentially stable attitude observer with Earth velocity estimation

Globally exponentially stable attitude observer with Earth v...

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作者： Batista, Pedro Silvestre, Carlos Oliveira, Paulo Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau China Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal

This paper presents a novel observer for attitude estimation based on a triad of high-grade rate gyros aided by a body-fixed vector measurement of a constant inertial vector, departing from the majority of solutions that consider at least two of these vectors. A cascade approach is proposed, where the first block estimates a vector that is related to the angular velocity of the Earth and a second block estimates the attitude. While the topological characteristics are relaxed in the attitude observer so that global exponential stability is achieved, an additional stage is also devised that yields estimates directly on the special orthogonal group, preserving global convergence of the estimation error. Simulation results with realistic sensor noise were performed, including extensive Monte Carlo runs. These results illustrate the convergence of the proposed solution, as well as the achievable performance and robustness to sensor noise. © 2019 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd

关键词： Angular velocity

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Peristaltic regimes in esophageal transport

arXiv

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arXiv 2021年

作者： Elisha, Guy Acharya, Shashank Halder, Sourav Carlson, Dustin A. Kou, Wenjun Kahrilas, Peter J. Pandolfino, John E. Patankar, Neelesh A. Department of Mechanical Engineering McCormick School of Engineering Northwestern University Technological Institute 2145 Sheridan Road EvanstonIL60201 United States Theoretical and Applied Mechanics Program McCormick School of Engineering Northwestern University Technological Institute 2145 Sheridan Road EvanstonIL60201 United States Division of Gastroenterology and Hepatology Feinberg School of Medicine Northwestern University 676 North St. Clair Street Arkes Suite 2330 ChicagoIL60611 United States

A FLIP device gives cross-sectional area along the length of the esophagus and one pressure measurement, both as a function of time. Deducing mechanical properties of the esophagus including wall material properties, contraction strength, and wall relaxation from these data is a challenging inverse problem. Knowing mechanical properties can change how clinical decisions are made because of its potential for in-vivo mechanistic insights. To obtain such information, we conducted a parametric study to identify peristaltic regimes by using a 1D model of peristaltic flow through an elastic tube closed on both ends and also applied it to interpret clinical data. The results gave insightful information about the effect of tube stiffness, fluid/bolus density and contraction strength on the resulting esophagus shape through quantitive representations of the peristaltic regimes. Our analysis also revealed the mechanics of the opening of the contraction area as a function of bolus flow resistance. Lastly, we concluded that peristaltic driven flow displays three modes of peristaltic geometries, but all physiologically relevant flows fall into two peristaltic regimes characterized by a tight contraction. Copyright © 2021, The Authors. All rights reserved.

关键词： Fluid structure interaction

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First and second law analyses of wastewater cooled condenser for a refrigeration system

First and second law analyses of wastewater cooled condenser...

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作者： Karacayli, Ibrahim Altay, Lutfiye Hepbasli, Arif Air Conditioning and Refrigeration Technology Program Ege High Vocational School Ege University Bornova Izmir35100 Turkey Department of Mechanical Engineering Faculty of Engineering Ege University Bornova Izmir35100 Turkey Department of Energy Systems Engineering Faculty of Engineering Yaşar University Bornova Izmir35100 Turkey

In this study, a vapour compression refrigeration (VCR) system with a wastewater (WW) cooled condenser at a temperature range of 27-29°C was designed. The cooling capacity of the system using R134a as the refrigerant was 1.09 kW. The condenser consisted of a coaxial heat exchanger with a capacity of 1 kW. This paper dealt with energy and exergy analyses of the VCR system using WW, as a heat sink. Experiments were performed in order to evaluate the energetic and exergetic performances of the wastewater-cooled condenser (WWC) and the overall system. The convective heat transfer coefficient of WW and refrigerant in the condenser, overall heat transfer coefficient of the WWC, total amount of heat removed by WW, amount of cooling effect, coefficient of performance (COP), exergy destruction rate, and second law efficiencies of the WWC and VCR system were calculated under different WW temperatures and flowrates. Increasing volumetric flowrate of WW from 200 L/h to 400 L/h caused 4.4% improvement in COP, 12.0% reduction in exergy destruction, and 10.3% increase in exergy efficiency. © 2019 Inderscience Enterprises Ltd.

关键词： Exergy

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FEM analysis and optimization of backup and work roll chocks for rolling mill housing by using Ansys 14.5

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AIP Conference Proceedings 2024年第1期3178卷

作者： Vasim A. Shaikh Milind M. Patil Nandkishor M. Sawai Chandrmani Yadav Kishor B. Waghulde Automation and Robotics Sandip Institute of Technology and Research Centre Mahiravani Trimbak Road Nashik Maharashtra-India Department of Mechanical Engineering Sandip Institute of Technology and Research Centre Mahiravani Trimbak Road Nashik Maharashtra-India Dr. D. Y. Patil Institute of Technology Pimpri Pune Maharashtra-India

Applying the science of finite element analysis, it is possible to determine the displacements, strains, and stresses that a component would experience under various loads. The results of finite element analysis are used in product development, product optimization, and conceptual studies of novel concepts. This study analyzed and optimized the cold rolling mill roll chock using Ansys14.5. The investigation involves applying modifications to the existing top backup chock, bottom backup chock, and top and work roll chock designs while taking into account a single material (Fe 316). The optimized chock would use less material while still being strong enough compared to existing chocks. Based on observations, after modifications were implemented to bottom work roll chocks, the equivalent stress and total deformation were reduced by 34.45% and 92.68%, respectively, compared to the existing bottom work roll chocks. The weight of the top and bottom working roll chocks decreased by 32.7% and 27.7%, respectively, after optimization. The best results indicate that it will be advantageous to construct Rolling Mill Housing with less weight while maintaining the same strength, which will be cost-effective and long-lasting.

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Thousand-fold increase in plasmonic light emission via combined electronic and optical Excitations

arXiv

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arXiv 2021年

作者： Cui, Longji Zhu, Yunxuan Nordlander, Peter Di Ventra, Massimiliano Natelson, Douglas Department of Physics and Astronomy and Smalley-Curl Institute Rice University HoustonTX77005 United States Paul M. Rady Department of Mechanical Engineering University of Colorado BoulderCO80309 United States Materials Science and Engineering Program University of Colorado BoulderCO80309 United States Department of Electrical and Computer Engineering Rice University HoustonTX77005 United States Department of Materials Science and Nanoengineering Rice University HoustonTX77005 United States Department of Physics University of California San Diego San DiegoCA92093 United States

Surface plasmon enhanced processes and hot-carrier dynamics in plasmonic nanostructures are of great fundamental interest to reveal light-matter interactions at the nanoscale. Using plasmonic tunnel junctions as a platform supporting both electrically-and optically excited localized surface plasmons, we report a much greater (over 1000×) plasmonic light emission at upconverted photon energies under combined electro-optical excitation, compared with electrical or optical excitation separately. Two mechanisms compatible with the form of the observed spectra are interactions of plasmon-induced hot carriers and electronic anti-Stokes Raman scattering. Our measurement results are in excellent agreement with a theoretical model combining electro-optical generation of hot carriers through non-radiative plasmon excitation and hot-carrier relaxation. We also discuss the challenge of distinguishing relative contributions of hot carrier emission and the anti-Stokes electronic Raman process. This observed increase in above-threshold emission in plasmonic systems may open avenues in on-chip nanophotonic switching and hot carrier photocatalysis. © 2021, CC BY-NC-SA.

关键词： Tunnel junctions

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Off The Beaten Sidewalk: Pedestrian Prediction In Shared Spaces For Autonomous Vehicles

arXiv

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arXiv 2020年

作者： Anderson, Cyrus Vasudevan, Ram Johnson-Roberson, Matthew Robotics Institute University of Michigan Ann ArborMI48109 United States Department of Naval Architecture and Marine Engineering University of Michigan Ann ArborMI48109 United States Department of Mechanical Engineering University of Michigan Ann ArborMI48109 United States

Pedestrians and drivers interact closely in a wide range of environments. Autonomous vehicles (AVs) correspondingly face the need to predict pedestrians’ future trajectories in these same environments. Traditional model-based prediction methods have been limited to making predictions in highly structured scenes with signalized intersections, marked crosswalks, or curbs. Deep learning methods have instead leveraged datasets to learn predictive features that generalize across scenes, at the cost of model interpretability. This paper aims to achieve both widely applicable and interpretable predictions by proposing a risk-based attention mechanism to learn when pedestrians yield, and a model of vehicle influence to learn how yielding affects motion. A novel probabilistic method, Off the Sidewalk Predictions (OSP), uses these to achieve accurate predictions in both shared spaces and traditional scenes. Experiments on urban datasets demonstrate that the realtime method achieves state-of-the-art performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Forecasting

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Miniaturized circuitry for capacitive self-sensing and closed-loop control of soft electrostatic transducers

arXiv

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arXiv 2020年

作者： Ly, Khoi Kellaris, Nicholas McMorris, Dade Johnson, Brian K. Acome, Eric Sundaram, Vani Naris, Mantas Humbert, J. Sean Rentschler, Mark E. Keplinger, Christoph Correll, Nikolaus Department of Mechanical Engineering University of Colorado BoulderCO United States Materials Science and Engineering Program University of Colorado BoulderCO United States Department of Electrical Engineering University of Colorado BoulderCO United States Department of Computer Science University of Colorado BoulderCO United States

Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft robotic systems with the compliance and resiliency that makes them well-adapted for unstructured and dynamic environments. While actuation mechanisms for soft robots vary widely, soft electrostatic transducers such as dielectric elastomer actuators (DEAs) and hydraulically amplified self-healing electrostatic (HASEL) actuators have demonstrated promise due to their muscle-like performance and capacitive self-sensing capabilities. Despite previous efforts to implement self-sensing in electrostatic transducers by overlaying sinusoidal low-voltage signals, these designs still require sensing high-voltage signals, requiring bulky components that prevent integration with miniature, untethered soft robots. We present a circuit design that eliminates the need for any high-voltage sensing components, thereby facilitating the design of simple, low cost circuits using off-the-shelf components. Using this circuit, we perform simultaneous sensing and actuation for a range of electrostatic transducers including circular DEAs and HASEL actuators and demonstrate accurate estimated displacements with errors under 4%. We further develop this circuit into a compact and portable system that couples HV actuation, sensing, and computation as a prototype towards untethered, multifunctional soft robotic systems. Finally, we demonstrate the capabilities of our self-sensing design through feedback-control of a robotic arm powered by Peano-HASEL actuators. Copyright © 2020, The Authors. All rights reserved.

关键词： Electroactive polymer actuators

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