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Mobile Robot Using Unbalanced Road Adaption Device

Journal of Institute of Control, robotics and Systems 2024年第1期30卷 20-26页

作者： Lim, Ji-Ho Lee, Sang-Yeob Shin, Dongwon Department of Mechanical System Engineering Kumoh National Institute of Technology Korea Republic of AI Robotics R&D Division Korea Institute of Robotics & Technology Convergence Korea Republic of

This study investigated a mobile robot capable of navigating unbalanced road surfaces solely via its mechanical structure, utilizing an unbalanced road adaptation device. This adaptation device was designed by introducing a height adaptor to the existing suspension mechanism, with each component consisting of links and shock absorbers. With these components, the robot excelled in adapting to unbalanced road surfaces. To validate the performance of the designed robot, a degree-of-freedom analysis was conducted, and the robot’s driving stability was evaluated through driving simulations. © ICROS 2024.

关键词： Mobile robots

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On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots

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Journal of Mechanisms and robotics 2025年第6期17卷 061013页

作者： Shihora, Neel Lawson, Jared Moubarak, Paul Reese, Maximilian Wang, Long Simaan, Nabil Department of Mechanical Engineering Vanderbilt University NashvilleTN37235 United States Robotics and Digital Solutions Johnson & Johnson CincinnatiOH45242 United States Robotics and Digital Solutions Johnson & Johnson Santa ClaraCA95054 United States Department of Mechanical Engineering Stevens Institute of Technology HobokenNJ07030 United States

Wire-actuated/tendon-actuated mechanisms suffer from discontinuity in their performance measures stemming from the limitation of unilateral actuation due to tendon actuation (pull-only actuation). Using traditional Jacobian-based performance measures ignores these limitations and can underestimate the expected position/orientation (pose) uncertainty for a given design. In this paper, we put forth the notion of wire-tension transition zones, and we illustrate how these tension transition zones can be used to modify the definition of the traditional Jacobian when calculating the expected robot performance in terms of dexterity, end-effector pose uncertainty and compliance. We use wire-actuated continuum robots as an illustrative robot architecture. We compare the expected performance of three-wire versus four-wire designs while considering somewhat realistic design parameters drawn from surgical robotics as an application domain. The results of our simulation studies emphasize the importance of carefully using the reduced Jacobin with tension transition zones to capture the performance measure discontinuities due to wires/tendons going slack. Furthermore, the results show that the traditional approach underestimates the uncertainty in the position of the end-effector by as much as 50% (effects of joint-level uncertainty) and 206% (compliance performance analysis) in the case of a three-wire design alternative. We believe that this contribution supports medical robotic system designers in architecture selection and comparative design performance analysis while avoiding unpleasant surprises that would otherwise be encountered if traditional performance measures were used. Copyright © 2025 by ASME;reuse license CC-BY 4.0.

关键词： End effectors

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An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild 8

An Open-Source Soft Robotic Platform for Autonomous Aerial M...

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8th Conference on Robot Learning, CoRL 2024

作者： Bauer, Erik Blöchlinger, Marc Strauch, Pascal Raayatsanati, Arman Cavelti, Curdin Katzschmann, Robert K. Soft Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Switzerland

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally, researchers have relied on offboard perception systems, which are limited to expensive and impractical specially equipped indoor environments. In this work, we introduce a novel platform for autonomous aerial manipulation that exclusively utilizes onboard perception systems. Our platform can perform aerial manipulation in various indoor and outdoor environments without depending on external perception systems. Our experimental results demonstrate the platform's ability to autonomously grasp various objects in diverse settings. This advancement significantly improves the scalability and practicality of aerial manipulation applications by eliminating the need for costly tracking solutions. To accelerate future research, we open source3 our ROS 2 software stack and custom hardware design, making our contributions accessible to the broader research community. © 2024 Proceedings of Machine Learning Research.

关键词： Open source software

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Taguchi and ANN approaches for predicting the FSW parameters to analyse the mechanical properties

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Interactions 2024年第1期245卷 1-12页

作者： Manickam, Selvaraj Kavitha, N. Rao, N. Srinivasa Indira, K.P. Pydi, Hari Prasadarao Cheepurupalli, N. Rao Department of Automation and Robotics IMPACT College of Engineering and Applied Sciences Bangalore India Department of Physics NPR College of Engineering and Technology Tamilnadu Natham Dindigul624 401 India Department of Mechanical Engineering Shri Vishnu Engineering College for Women Bhimavaram India Department of Biomedical Engineering Saveetha School of Engineering SIMATS Chennai Kuthambakkam India Department of Mechanical Engineering College of Engineering and Technology Bule Hora University Bule Hora Ethiopia Department of Mineral Processing and Metallurgical Engineering Faculty of Mines Aksum University Aksum Ethiopia

Taguchi design utilized to execute mathematical analysis to assess friction stir welding factors on the mechanical properties like ultimate tensile strength (UTS) and Hardness (BHN). Tool rotational speed (TO), pin depth of tool (PI) and welding speed (WE) were selected. The collected experimental data were used to train ANN model using the LM backpropagation algorithm, aiming to achieve accurate predictions of the maximize the mechanical properties. The optimized ANN was structured as a multilayer perceptron with a feed-forward architecture, consisting of 3 input nodes, 10 neurons in the hidden layer, and 2 output node (3-10-3 structure). The developed model accurately which predicted UTS and BHN values, with an overall R of 0.99335 which indicates a high level of accuracy. The optimal settings for UTS at the highest and lowest levels in Exp. No 8 and Exp. No 3 are identified as TO3-WE2-PI1(1600 rpm, 200 mm/min, and 0.3 mm) and TO1-WE3-PI3 (1200 rpm, 250 mm/min, and 0.9 mm). © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Aluminum alloys

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Investigating the Failure Mechanisms During the Epoxy-Coated Bearing Steel–Steel and Uncoated Bearing Steel–Steel Interactions (Crack Formation, Surface Tears, Schallamach-like Waves) and Their Corrosion Resistance in NaCl Environment

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-21页

作者： Alavanthar, Amirthalakshmi Bhaumik, Shubrajit Paleu, Viorel Department of Science and Humanities Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics and Robotics Department Mechanical Engineering Faculty "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania

The anti-wear properties of coatings are important to enhance the life of the steel surfaces. Thus, understanding the wear mechanisms of any coating matrix is important while designing and choosing a new coating matrix on steel surfaces. The present work investigated the thermal, mechanical, anti-wear, and anti-corrosion performance of semi-liquid epoxy-coated EN8 steel surfaces under reciprocating motion. The semi-liquid LY556 epoxy mixed with HY951 hardener was used to coat EN8 surfaces. The tribo-tests were conducted at different loads (5 N, 10 N, 15 N, and 20 N), spindle frequencies (1 Hz, 2 Hz, 3 Hz, and 4 Hz), and temperatures (40 °C, 60 °C, 80 °C, and 100 °C), maintaining a stroke length of 15 mm. The differential scanning calorimeter readings indicated the glass transition temperature of the cured epoxy to be 80 °C with the endothermic peak at 119 °C. The thermal degradation of the cured epoxy was found to be 330 °C using a thermal gravimetric analyzer. Artificial neural network models indicated that the frictional coefficient of the coated EN 8 samples increased with an increase in load, frequency, and temperature with the minimum frictional coefficient at 40 °C (0.0767 ± 0.014). The coating peel-off was observed from 80 °C. The optical microscope and scanning electron microscope images of the coating wear scar exhibited cracks and Schallamach-like material waves. Additionally, the corrosion studies indicated a significant corrosion resistance of the coated bars even after 120 h as compared to non-coated bars. Thus, the present work will be highly beneficial in developing new anti-wear and anti-corrosive coatings for steel surfaces. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Cracks

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Optimization Process to Develop Tungsten Carbide Reinforced with Aluminium MMCs Using Surface Plots and ANN

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Journal of The Institution of Engineers (India): Series D 2024年 1-9页

作者： Arunadevi, M. Patil, Chetan Kapadani, Kaustubh R. Chapke, Yashwant Sridevi, G. Kumar, R. Vaishnava Shekokar, Santosh R. Kawade, Mahesh M. Department of Mechanical Engineering Dayananda Sagar College of Engineering Bengaluru560111 India Department of Mechanical Engineering Dr. Vishwanath Karad MIT WPU Maharashtra Pune411038 India Department of Mechanical Engineering PES Modern COE Maharashtra Pune411005 India Department of Automation and Robotics JSPM’S Rajarshi Shahu College of Engineering Maharashtra Pune India Department of Mechanical Engineering Centurion University of Technology and Management Odisha Paralakhemundi761200 India Department of Civil Engineering R.V.R. & ampJ.C. College of Engineering Andhra Pradesh Chowdavaram Guntur522019 India Department of Mechanical Engineering Padm. Dr. V. B. Kolte College of Engineering Maharashtra Malkapur India Department of Mechanical Engineering PES’s Modern College of Engineering Savitribai Phule Pune University Maharashtra Pune411005 India

Material selected for this study is A356 and four percentage of tungsten carbide (WC) powder for the fabrication of metal matrix composites. In this paper, a methodology is identified to find the co-relating higher order and the interactive influences of different input parameters affecting performance characteristics such as MRR, tool wear rate and surface roughness in wire electric discharge machining process using surface plots and artificial neural network. Voltage, flushing pressure, pulse on time and discharge current are the process parameters needed to be optimized to achieve optimum material removal rate, surface roughness and tool wear rate. Finding the ideal set of process parameters is achieved using artificial neural network which is a supervised machine learning algorithm and results are compared with RSM method. Results show that supervised machine learning technique (ANN) is performing better than the Response surface methodology (RSM) in terms of performance predictions. © The Institution of Engineers (India) 2024.

关键词： Tungsten carbide

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Modeling Public Concerns for Unmanned Aerial System Operations in the National Airspace System

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Journal of Air Transportation 2024年第1期32卷 3-11页

作者： Philpott, Robert Winer, Eliot Iowa State University AmesIA50010 United States Department of Aerospace Engineering Human Computer Interaction Program United States Department of Mechanical Engineering Human Computer Interaction Program United States

The Unites States commercial unmanned aerial system (UAS) market was valued at $99.6 million in 2020 and is projected to reach $3.7 billion by 2030. Applications for these commercial UAS range from risk mitigation and surveillance to package delivery. Coupled with these emerging applications are the unique factors that arise with a commercial UAS’s compact size and low-altitude flights among the civilian populace. In this work, a value model was created to attempt to aid in determining the infringement of aUAS operation configuration on a civilian environment. Value functions were developed in an additive model that measures infringement (a UAS’s encroachment or trespass on a right or privilege of a civilian) based on these attributes. The resulting value model was tested by running 100,000 random simulations. Analysis of the simulation results and sensitivity analysis of the model showed that fleet size, proximity, duration of the operation within a certain proximity, and total operation duration were the attributes that drove a UAS operation’s infringement on an environment. A use case of an Amazon delivery application was then examined. This is a realistic scenario simulated to study if duration of an operation and time near a structure are kept to a minimum, the infringement of an operation remained low. This study provides initial determination of how infringement of UAS can be quantified and what infringement values may look like for different operational scenarios. © 2023 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Sensitivity analysis

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Exploring Classification, Size, and Quality of Mangifera Indica L. Through Image Processing and AI Techniques 2

Exploring Classification, Size, and Quality of Mangifera Ind...

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2nd International Conference on Mechanics, Electronics, Automation and Automatic Control, MEAAC 2024

作者： Wanthong, Irin Sri-On, Theeraphat Seangsri, Soontaree Khaengkarn, Sorada Srisertpol, Jiraphon Mechatronics Engineering Program School of Mechanical Engineering Suranaree University of Technology Nakhon Ratchasima Thailand Department of Mechatronics and Robotics Engineering School of Engineering and Innovation Rajamangala University of Technology Tawan-ok Chonburi Thailand

ISBN: (纸本)9781643685403

This paper introduces methods for efficiently classifying mangoes intended for export, a market valued at approximately 4,500 million baht annually. The classification process is divided into two primary components: size categorization and quality assessment. The first phase involves categorizing mango sizes into four distinct categories (M, 1L, 2L, 3L), while the second phase focuses on assessing mango quality, particularly detecting anthracnoseâ€"a prevalent disease affecting mangoes. This detection is achieved through image processing techniques, where images are converted into binary representations and analyzed using both Artificial Neural Networks (ANNs) and Convolutional Neural Networks (CNNs). Comparative analysis reveals that CNN outperforms ANN in size classification, achieving a remarkable train accuracy of 99.16% and a test accuracy of 88.0%. Furthermore, in quality classification, CNN demonstrates a train accuracy of 91.0% and a test accuracy of 88.0%. These findings underscore the effectiveness of CNN techniques in accurately classifying mangoes for export, thereby facilitating improved quality control and market competitiveness. Â© 2024 The Authors.

关键词： Convolutional neural networks

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Thermoelastic rotating contact of an FGM coating with temperature-dependent and arbitrary varying properties

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Science China(Technological Sciences) 2023年第4期66卷 1038-1049页

作者： ZHOU JiaLin SHEN Fei LIU Jing EL-BORGI Sami KE LiaoLiang Department of Mechanics School of Mechanical EngineeringTianjin UniversityTianjin 300350China College of Engineering Huazhong Agricultural UniversityWuhan 430070Chin Mechanical Engineering Program Engineering BuildingTexas A&M University at QatarP.O.Box 23874Qatar

This paper investigates the frictional thermoelastic contact of a rigid spherical punch and functionally graded material(FGM)coated half-space with arbitrarily varying material *** material parameters include the elastic modulus,Poisson’s ratio,heat conduction parameter,and thermal expansion *** material parameters of the FGM coating and half-space are assumed to be temperature *** spherical punch is rotated in the FGM-coated half-space at a constant angular *** generated frictional heat is related to the friction coefficient,contact radius,angular velocity,and contact pressure.A theoretical formula for the thermoelastic rotating contact problem is established and solved using the finite element *** main objective of this paper is to investigate the effects of temperature dependence,gradient index,friction coefficient,angular velocity,and gradient form on the surface temperature and stresses.

关键词： rotating punch frictional heat functionally graded materials temperature dependence arbitrary properties

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Hybrid air conditioning and seawater desalination system assisted by solar energy: thermoeconomic investigation and optimization

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Journal of engineering and Applied Science 2024年第1期71卷 148页

作者： Yosry, Nashwa Elgendy, Essam Mostafa, Ahmed Fatouh, Mohamed Mechanical Power Engineering Department Faculty of Engineering at El-Mattaria Helwan University Cairo Egypt Mechanical Engineering Department College of Engineering & ampTechnology at Arab Academy for Science Technology & ampMaritime Transport Sheraton Cairo Egypt Energy and Renewable Energy Engineering Program Faculty of Engineering and Technology Egyptian Chinese University Ain Shams Egypt

The demand for freshwater has become progressively critical due to population growth and water scarcity. The current work investigates the energetic performance of a hybrid absorption refrigeration and desalination system. A parametric study for the system operating conditions has been performed to get the optimal conditions. Also, economic analysis and a multi-objective optimization method are used with the aim of maximizing the energy utilization factor of the system and minimizing total costs. The specific cost of desalinated water from the multi-objective optimization is calculated as (1.728 Cent/L) with the greatest energy utilization factor of (2.214). It turns out that, the system performs optimum at condensation and generation temperatures of 30 and 65 °C respectively, with resultant COP and GOR of 0.84 and 1.37. Using the optimum conditions, TRNSYS has been used to investigate the transient performance of the system for Marsa–Matrouh City in Egypt. The cooling and freshwater demands are 10 kW and 24 L/h. It was concluded that the input energy required to run the hybrid system decreased by about 65% less than that required for separate systems. With the assistance of solar energy, it became clear that the energy required was 60% less than the hybrid system as well. © The Author(s) 2024.

关键词： Hybrid systems

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