An in-vivo rabbit model was developed to enable experiments for deciding the safety criteria for skin injuries in human-robot contact. The skin of the human finger was considered as a part vulnerable to harm during hu...
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Purpose of Review: Biomarkers in the oral cavity of users of next generation tobacco products, such as electronic cigarettes (EC), provide data about effects on oral and systemic health and help predict long-term heal...
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Peg-in-hole manipulation has been a long-standing problem in robotics due to its broad application in both domestic and industrial domains. Due to advances in perception and modeling, deformable object manipulation is...
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Air-side economizers are increasingly used to take advantage of“free-cooling”in data centers with the intent of reducing the carbon footprint of ***,they can introduce outdoor pollutants to indoor environment of dat...
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Air-side economizers are increasingly used to take advantage of“free-cooling”in data centers with the intent of reducing the carbon footprint of ***,they can introduce outdoor pollutants to indoor environment of data centers and cause corrosion damage to the information technology *** evaluate the reliability of information technology equipment under various thermal and air-pollution conditions,a mechanistic model based on multi-ion transport and chemical reactions was *** model was used to predict Cu corrosion caused by Cl_(2)-containing pollutant *** also accounted for the effects of temperature(25℃and 28℃),relative humidity(50%,75%,and 95%),and *** also identified higher air temperature as a corrosion barrier and higher relative humidity as a corrosion accelerator,which agreed well with the experimental *** average root mean square error of the prediction was 13.7Å.The model can be used to evaluate the thermal guideline for data centers design and operation when Cl_(2)is present based on pre-established acceptable risk of corrosion in data centers’environment.
The pinning of quantized magnetic vortices in superconducting YBa_(2)Cu_(3)O_(7-δ)(YBCO or Y123)thin films with Y_(2)BaCuO_(5)(Y211)nanoinclusions have been investigated over wide temperature range(4.2-77 K).The conc...
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The pinning of quantized magnetic vortices in superconducting YBa_(2)Cu_(3)O_(7-δ)(YBCO or Y123)thin films with Y_(2)BaCuO_(5)(Y211)nanoinclusions have been investigated over wide temperature range(4.2-77 K).The concentration of Y211 nanoinclusions has been systematically varied inside YBCO thin films prepared by laser ablation technique using surface modified target *** pinning force density values(Fp∼0.5 TNm^(−3)at 4.2 K,9 T)have been observed for the YBCO film with moderate concentration of Y211 nanoinclusions(3.6 area%on ablation target).In addition,uniform enhancement in critical current density(J_(c))was observed in the angular dependent J_(c)measurement of YBCO+Y211 nanocomposite films.Y211 nanoinclusions have been found to be very efficient in pinning the quantized vortices thereby enhancing the in‐field J_(c)values over a wide range of *** the concentration of Y211 secondary phase into Y123 film matrix results into agglomeration of Y211 phase and observed as increased Y211 nanoparticle *** larger secondary phase nanoparticles are not as efficient pinning centers at lower temperatures as they are at higher temperatures due to substantial reduction of the coherence length at lower *** of the temperature dependence of J_(c)for YBCO+Y211 nanocomposite films has been conducted and possible vortex pinning mechanism in these nanocomposite films has been discussed.
Soft object manipulation poses significant chal-lenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation involves capturing the dynamic changes ...
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The development of reliable building energy models at the urban scale is crucial for analyzing and optimizing the energy efficiency of cities. The bottom-up physics-based approach has been widely employed in Urban Bui...
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Flexion-synergy is a stereotypical movement pattern that inhibits independent joint control for those who have been affected by stroke; this abnormal co-activation of elbow flexors with shoulder abductors significantl...
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ISBN:
(数字)9798350386523
ISBN:
(纸本)9798350386530
Flexion-synergy is a stereotypical movement pattern that inhibits independent joint control for those who have been affected by stroke; this abnormal co-activation of elbow flexors with shoulder abductors significantly reduces range of motion when reaching against gravity. While wearable orthoses based around compliant mechanisms have been shown to accurately compensate for the arm at the shoulder, it is unclear if accurate compensation can also be achieved while minimizing device bulk. In this work, we present a novel, multi-objective simulation-optimization framework towards the goal of designing practical gravity-balancing orthoses for the upper-limb. Our framework includes a custom built *** application to run nonlinear finite element simulations in SolidWorks, and interfaces with a MATLAB-based particle swarm optimizer modified for mul-tiple objectives. The framework is able to identify a set of Pareto-optimal compliant mechanism designs, confirming that compensation accuracy and protrusion minimization are indeed conflicting design objectives. This Pareto set is compared to an approximation of the current state-of-the-art. The execution of the simulation-optimization framework demonstrates a capability of achieving designs that compensate for more than 90% of the arm's gravity, as well as those that exhibit an average protrusion of 15 % of the arm length if not lower, with different trade-offs between these two objectives.
This paper proposes a method to estimate the posture of an athlete moving on a vast field in a sporting event using a pan-tilt-zoom camera. In order to estimate the posture of an athlete on a sports field from a dynam...
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Robotic manipulation of deformable linear objects (DLOs) is an active area of research, though emerging applications, like automotive wire harness installation, introduce constraints that have not been considered in p...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Robotic manipulation of deformable linear objects (DLOs) is an active area of research, though emerging applications, like automotive wire harness installation, introduce constraints that have not been considered in prior work. Confined workspaces and limited visibility complicate prior assumptions of multi-robot manipulation and direct measurement of DLO configuration (state). This work focuses on single-arm manipulation of stiff DLOs (StDLOs) connected to form a DLO network (DLON), for which the measurements (output) are the endpoint poses of the DLON, which are subject to unknown dynamics during manipulation. To demonstrate feasibility of output-based control without state estimation, direct input-output dynamics are shown to exist by training neural network models on simulated trajectories. Output dynamics are then approximated with polynomials and found to contain well-known rigid body dynamics terms. A composite model consisting of a rigid body model and an online data-driven residual is developed, which predicts output dynamics more accurately than either model alone, and without prior experience with the system. An adaptive model predictive controller is developed with the composite model for DLON manipulation, which completes DLON installation tasks, both in simulation and with a physical automotive wire harness.
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