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2024 Transactions of the American Nuclear Society on Winter Conference and Expo, ANS 2024

作者： Bard, Xander Denning, Richard Cao, Lei R. Nuclear Engineering Program Department of Mechanical and Aerospace Engineering 201 W 19th Ave ColumbusOH43220 United States Nuclear Reactor Laboratory College of Engineering 1298 Kinnear Rd ColumbusOH43212 United States

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OC3: A Reactive Velocity Level Motion Planner with Complementarity Constraint-based Obstacle Avoidance for Mobile Robots 19

OC3: A Reactive Velocity Level Motion Planner with Complemen...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Sinha, Anirban Laha, Riddhiman Chakraborty, Nilanjan The Robotics and Autonomous Systems Lab General Electric Research NY United States The Munich Institute of Robotics and Machine Intelligence Tum Germany Stony Brook University The Mechanical Engineering Department NY United States

ISBN: (纸本)9798350320695

This paper presents a novel real-time motion planning method for differential drive mobile robots. Reactive planners, in the context of mobile robots, are usually vulnerable to challenges like local minima, differential constraint satisfaction, and dynamic obstacles. To this end, we present the Off-Center point Complementarity Constraint (OC3) planner, which respects the differential constraints of robot kinematics, can handle dynamic obstacles, and is more robust to the local minima problem compared to traditional methods like artificial potential fields. Our OC3 planner utilizes a virtual contact mechanism at a distal off-center point of the robot for obstacle avoidance, thereby ensuring smooth maneuvers. We formulate the obstacle avoidance problem as a feasibility problem with complementarity constraints, and derive a closed-form solution. This enables fast online computation of collision-free waypoints for the robot off-center. Once a collision-free state of the off-center point is found, inverse velocity kinematics is used to compute the reference control input velocities (? R2) for the robot. We further show that OC3 can be used as a local planner in RRT type of sampling-based global planning framework to avoid the local minimum problem. Our extensive analysis through various case studies and rigorous simulation experiments, using the popular ROS based Turtlebot3 simulator, in the presence of static and dynamic obstacles, demonstrate the efficacy of our framework including real-time proficiency. © 2023 IEEE.

关键词： Mobile robots

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Novel Digital Assessment System for Upper-Limb Movement in Stroke Patients Using Markless-Sensing Technology and Deep Learning Algorithms

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Journal of Shanghai Jiaotong University (Science) 2024年 1-13页

作者： Sheng, Bo Lei, Ximin Cheng, Jian Xie, Qiurong Tao, Jing Chen, Yujie School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200444 China Financial Technology Department Shanghai Rural Commercial Bank Shanghai201201 China Department of Rehabilitation Medicine Fujian University of Traditional Chinese Medicine Fuzhou350122 China School of Mechanical Engineering Xi’an Jiaotong University Xi’an710049 China

Traditional motor function assessment for stroke patients involves subjective scoring by rehabilitation physicians, a process that is time-consuming, expensive, and subject to variability. By utilizing sensors (markers) and machine learning algorithms, digital assessment systems offer the potential for more objective clinical decision support. Nevertheless, these algorithms often rely on feature extraction, which opens up opportunities for improving diagnostic accuracy and reliability. Therefore, this study proposed a novel assessment approach based on markless-sensing technology and deep learning algorithms, which can perform contactless data measurement and nonfeature-based digital assessment. Specifically, the movement data of stroke patients were collected via the Microsoft Kinect V2 with a customized motion tracking system. The raw dataset was then processed by the Savitzky-Golay filter and long short-term memory-attention-based assessment model. A total of 25 volunteers (15 stroke patients and 10 healthy subjects) were recruited for experimental validation by conducting the commonly used clinical scale (wolf motor function test-functional ability scores, WMFT-FAS). The experiments showed that the proposed novel digital assessment system could achieve favorable results: an average accuracy of 91.7%, average precision of 87.4%, average recall of 87.3%, and average F1-score of 87.3%. In summary, the proposed system can provide objective and reasonably accurate assessment outcomes, which might have the potential to offer essential clinical information for rehabilitation physicians to make reasonable clinical intervention plans. (Figure presented.) © Shanghai Jiao Tong University 2024.

关键词： Learning algorithms

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A System for Watering and Autonomously Monitoring Plants

A System for Watering and Autonomously Monitoring Plants

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IEEE Symposium on Systems and Information engineering Design, SIEDS

作者： E. Gutman L. Harrison J. Hart I. Lucas C. Mullane G. C. Lewin Department of Mechanical Engineering Worcester Polytechnic Institute Worcester Massachusetts Department of Robotics Engineering Worcester Polytechnic Institute Worcester Massachusetts

ISBN: (数字)9798331535759

ISBN: (纸本)9798331535766

To alleviate the challenges of plant care, the Great Roboticz Ladiez’ Plant Watering Robot (GRL PWR) team developed SWAMP, a mobile robotic System for Watering and Autonomously Monitoring Plants. SWAMP replicates the plant care a human provides with minimal user input and allows plant owners the freedom to keep their plants anywhere in their homes. From stakeholder analysis, the team categorized the main functionalities required to meet user needs into Customizing Plant Care, Accessing Plants, Assessing Plant Condition, Providing Water, and System Monitoring. The user can input unique watering instructions and plant characteristics. The robot uses a differential drive to autonomously navigate and localize within its environment while safely avoiding obstacles. The robot has an articulated arm to reach plants up to 24 -inches off the ground and set back no more than 2.5 -inches from the edge of the surface. These design choices allow SWAMP to accurately meet the watering needs of each plant, reducing the time commitment required from plant owners. GRL PWR will demonstrate the system in the WPI Gordon Library, providing a real-world environment to assess SWAMP’s ability to map its surroundings, navigate around obstacles, and accurately deliver water to plants.

关键词： Water Visualization Navigation Storage management Robot vision systems User interfaces Stakeholders Robots Monitoring Testing

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Knowledge-guided temperature correction method for soluble solids content detection of watermelon based on Vis/NIR spectroscopy

Artificial Intelligence in Agriculture

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Artificial Intelligence in Agriculture 2025年第1期15卷 88-97页

作者： Zhizhong Sun Jie Yang Yang Yao Dong Hu Yibin Ying Junxian Guo Lijuan Xie College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058PR China College of Chemistry and Materials Engineering Zhejiang A&F UniversityHangzhou 311300PR China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Hangzhou 310058PR China The National Key Laboratory of Agricultural Equipment Technology Beijing 100083PR China Department of Bioproducts and Biosystems Engineering University of MinnesotaSaint PaulMN 55108USA Zhejiang University School of Medicine Division of Scientific Research(ZJU-QILU joint research institute)Hangzhou 310058PR China College of Optical Mechanical and Electrical EngineeringZhejiang A&F UniversityHangzhou 311300PR China College of Mechanical and Electrical Engineering Xinjiang Agricultural UniversityUrumqi 830052PR China

Visible/near-infrared(Vis/NIR)spectroscopy technology has been extensively utilized for the determination of soluble solids content(SSC)in ***,the spectral distortion resulting from temperature variations in the sample leads to a decrease in detection *** mitigate the influence of temperature fluctuations on the accuracy of SSC detection in fruits,using watermelon as an example,this study presents a knowledge-guided temperature correction method utilizing one-dimensional convolutional neural networks(1D-CNN).This method consists of two stages:the first stage involves utilizing 1D-CNN models and gradient-weighted class activation mapping(Grad-CAM)method to acquire gradient-weighted features correlating with *** second stage involves mapping these features and integrating them with the original Vis/NIR spectrum,and then train and test the partial least squares(PLS)*** knowledge-guided method can identify wavelength bands with high temperature correlation in the Vis/NIR spectra,offering valuable guidance for spectral data *** performance of the PLS model constructed using the 15℃ spectrum guided by this method is superior to that of the global model,and can reduce the root mean square error of the prediction set(RMSEP)to 0.324°Brix,which is 32.5%lower than the RMSEP of the global model(0.480°Brix).The method proposed in this study has superior temperature correction effects than slope and bias correction,piecewise direct standardization,and external parameter orthogonalization correction *** results indicate that the knowledge-guided temperature correction method based on deep learning can significantly enhance the detection accuracy of SSC in watermelon,providing valuable reference for the development of PLS calibration methods.

关键词： Visible/near-infrared spectroscopy Temperature correction Watermelon Knowledge-guided Convolutional neural network

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3D CAPSULE COMPLIANT GRIPPER BASED ON SHAPE OPTIMIZATION FOR SURGICAL MANIPULATION: ENHANCING PRECISION IN LYMPH NODE ISOLATION

3D CAPSULE COMPLIANT GRIPPER BASED ON SHAPE OPTIMIZATION FOR...

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

作者： Llanos, Estefania Hermoza Choi, Myung-Jin Sauer, Roger A. Corves, Burkhard Huesing, Mathias Klinkel, Sven Saxena, Anupam Institute of Mechanism Theory Machine Dynamic and Robotics RWTH Aachen University Aachen Germany Structural Analysis and Dynamics RWTH Aachen University Aachen Germany Faculty of Civil and Environmental Engineering Gdańsk University of Technology Gdańsk Poland Faculty of Civil and Environmental Engineering Ruhr University Bochum Germany Department of Mechanical Engineering Indian Institute of Technology Assam Guwahati India Mechanical Engineering Department Indian Institute of Technology Kanpur India

ISBN: (纸本)9780791888414

Compliant grippers hold great promise in improving precision and safety in Minimally Invasive Surgery (MIS), offering versatile solutions for tissue manipulation while minimizing trauma. A novel focus on a capsule-shaped compliant gripper introduces innovative design methodologies, including shape optimization and consideration of axillary lymph node dimensions. By integrating compliant beams internally and optimizing their shape and size, this gripper offers enhanced precision and adaptability in tissue manipulation, addressing specific challenges in delicate surgical interventions such as lymph node dissection in breast cancer surgery. An isogeometric approach for the analysis of geometrically nonlinear beam structures enables a seamless integration of exact geometry in CAD (Computer-Aided Design) into the analysis framework. It incorporates frictionless beam contact conditions based on a regularized penalty law, which enables an efficient and accurate simulation of the compliant grippers. Optimization results demonstrate the efficacy of the methodology in shape optimizing a set of compliant beams tailored for delicate tissue manipulation. Continued research and refinement of these methodologies are essential for furthering the field of compliant gripper design and their application in medical and surgical contexts. Copyright © 2024 by ASME.

关键词： Shape optimization

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Mapping extreme vertical forces induced by air-wake on a simplified ship model

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Marine Systems and Ocean Technology 2025年第3期20卷 1-9页

作者： Setiawan, Heri Bhirawa, Tunggul Ocean Engineering Program Institut Teknologi Bandung Bandung Indonesia Department of Mechanical Engineering The University of Melbourne ParkvilleVIC Australia

Helicopters, the primary vehicles for aerial support in naval operations, are the subject of our study. As the helicopter navigates above the ship’s landing deck, the unsteady flows formed in this region will translate into fluctuating aerodynamic forces on the helicopter. Understanding these forces and their extreme nature is crucial for ensuring the safety and stability of helicopters during naval operations. However, it is observed that many studies overlook the extremes in wind fluctuations as a critical contributor to ship-helicopter operation safety. They mainly focused on the time-averaged parameters, such as mean velocity and turbulence intensity, to characterise the highly fluctuating air-wake flow. This study introduces a method to identify extreme air-wake-induced aerodynamic vertical forces, one possible extreme event that the aircraft may face as it approaches the landing deck. The vertical forces are quantified by calculating the vertical drag acting on the helicopter fuselage using the strip approach proposed by Stepniewski and Keys (Rotary-wing aerodynamics. Courier Corporation, New York, 1984). Example calculations are conducted using experimental air-wake data recorded without the influence of the rotor thrust (Setiawan et al in Ocean Eng 260:111931, 2022). On average, it is shown that the helicopter will face strong downward forces as it hovers above the ship’s landing deck. However, more importantly, there are several instances where the vertical drag acting on the fuselage reaches five times higher than the average value. This highlights the potential risks and the urgent need for quantifying extreme events related to ship -helicopter landing operations. © The Author(s), under exclusive licence to Sociedade Brasileira de Engenharia Naval 2025.

关键词： Ship models

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Verification of the Usefulness of the Virtual Reality Application for URM Assembly 15

Verification of the Usefulness of the Virtual Reality Applic...

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15th International Conference on Computer and Automation engineering, ICCAE 2023

作者： Svetlik, Jozef Kovac, Juraj Pollak, Martin Kocisko, Marek Stejskal, Tomas Sasala, Michal Technical University of Košice Faculty of Mechanical Engineering Department of Production Systems and Robotics Košice Slovakia Technical University of Košice Faculty of Mechanical Engineering Department of Industrial and Digital Engineering Košice Slovakia Technical University of Košice Faculty of Manufacturing Technologies Department of Computer Aided Manufacturing Technologies Prešov Slovakia

ISBN: (纸本)9798350396225

The article deals with the use of virtual reality in assembly processes. It defines the basic concepts regarding montage and virtual reality. In the individual chapters of the article, the hardware and software resources necessary to implement the assembly simulation in virtual reality are listed and described. The specific Virtual Reality software Pixyz Review is also described in more detail, where its functions and a specific example of assembling the URM assembly are listed. © 2023 IEEE.

关键词： Virtual reality

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Intelligent Adaptive RRT∗Path Planning Algorithm for Mobile Robots

Intelligent Adaptive RRT∗Path Planning Algorithm for Mobile...

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2023 Advances in Science and engineering Technology International Conferences, ASET 2023

作者： Khattab, Omar Yasser, Ahmed Jaradat, Mohammad A. Romdhane, Lotfi American University of Sharjah Mechatronics Engineering Graduate Program Sharjah United Arab Emirates American University of Sharjah Mechanical Engineering Department Sharjah United Arab Emirates

ISBN: (纸本)9781665454742

In this paper a new variant of the widely used Rapidly exploring Random Tree (RRT∗) algorithm is proposed. The main goal of this variant is to improve the efficiency of the generated path, in both computation time and the quality of the path. In a previous work by the authors, an improved version RRT∗N was proposed, where a normal probability distribution was used to control the generation of the random nodes. The proposed variant utilizes an intelligent fuzzy logic system (FLS) to control the generation of the random nodes and commands the robot to the required target introducing an intelligent fuzzy adaptive RRT∗N path planning approach (FA-RRT∗N). The proposed approach not only reduced the time required about 29.5 % of the time required by the RRT∗, but also generally resulted in shorter path about 63% of the path generated by the traditional RRT∗. © 2023 IEEE.

关键词： Motion planning

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Increasing the fatigue strength of threaded joints of oil and gas equipment by plastic deformation of the thread under high load before make-up

Increasing the fatigue strength of threaded joints of oil an...

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2022 International Conference on Applied Sciences, ICAS 2022

作者： Kopei, V.B. Onysko, O.R. Panchuk, V.G. Odosii, Z.M. Kusyi, Y.M. Ivano-Frankivsk National Technical University of Oil and Gas Department of Computerized Mechanical Engineering 15 Karpatska Street Ivano-Frankivsk76019 Ukraine Lviv Polytechnic National University Department of Robotics and Integrated Mechanical Engineering Technologies 8 Bandery Street Lviv79013 Ukraine

Uneven distribution of stresses in the thread can cause fatigue failure of the joint, usually in the area of the first roots of the thread. This problem is very relevant for shouldered threaded joints of oil and gas equipment, which operate under conditions of significant cyclic loads. One of the ways to equalize the stresses in the thread is plastic deformation of the thread with a high load before make-up. The influence of various methods of such pre-deformation of the tool joint of drill pipes and the connection of sucker rods on the fatigue life in the thread roots of the pin and box has been studied. A method for optimizing the load for pre-deformation was proposed and it was found that the optimal load can increase the fatigue life by 5 times. The study was carried out by finite element analysis of the axisymmetric model in Abaqus/CAE and calculation of the fatigue life from the Brown-Miller dependence using fe-safe. © 2023 Institute of Physics Publishing. All rights reserved.

关键词： Plastic deformation

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