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Load-Side Dynamics Introduces Complex Effects on Orthotic Actuator Performance in Benchmarking

Journal of Mechanisms and robotics 2025年第5期17卷 051012页

作者： Sun, Mingrui Oetomo, Denny Tan, Ying Kulić, Dana Baček, Tomislav Human Robotics Lab Department of Mechanical Engineering The University of Melbourne Parkville VIC 3053 Australia Monash Robotics Faculty of Engineering Monash University Clayton VIC 3800 Australia

Series elastic actuators are increasingly adopted in wearable robots, due to superior sensing and actuating capabilities provided by the added internal compliance. However, when evaluating their performance in benchtop setups, the dynamics of the physical human–robot interface (i.e., external compliance) are usually overlooked despite it causing energy dissipation and delays in power transmission. This work closes the gap by emulating in a test bench the physical human–robot interaction dynamics and validating actuator performance against commonly used performance indices, including torque bandwidth, torque tracking, and transparency. The results show a significant impact of the interaction dynamics on the actuator performance. When interface dynamics is present, decreasing the actuator (internal) compliance has little to no effect on its bandwidth. When delivering a walking torque, decreasing internal (actuator) and external (interface) compliance has the same decreasing effect on the motor’s peak electrical power in the hip joint. Conversely, the motor peak electrical power decreases with an increase in internal (actuator) compliance but increases with an increase in external (interface) compliance in the knee joint. As such, this work demonstrates the importance of including interaction dynamics as a norm in designing and evaluating actuation units in wearable robots.

关键词： Design bio-inspired Torque Stress Actuators Springs collaborative robots and human–robot interaction Control equipment Motors Engines Knee Stiffness

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Experimental investigation of reciprocating ferrofluid marble motion driven by repulsive and attractive magnetic forces: A scheme for mixing enhancement during transportation

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Journal of Molecular Liquids 2025年 426卷

作者： Sarkhosh, Mohammad Hossein Yousefi, Masoud Dabirzadeh, Mohammad Hassan Bijarchi, Mohamad Ali Nejat Pishkenari, Hossein Micro/Nano Robotics Laboratory Department of Mechanical Engineering Sharif University of Technology Tehran Iraq Department of Mechanical Engineering Sharif University of Technology Tehran Iraq

Liquid marbles have found extensive applications in digital microfluidics, particularly in fields such as chemistry, diagnostics, and biotechnology. In this study, we present the first investigation into the reciprocal motion of ferrofluid marbles (FMs) manipulated using both repulsive and attractive magnetic forces. These forces are modulated by varying the magnetic dipole induction within the FM. Key components in this manipulation include Helmholtz coils and a permanent magnet. In previous studies, mixing and transportation operations have been conducted in digital microfluidics sequentially and distinctly. By employing pulse-width modulation (PWM) signals to control the current in the Helmholtz coils, we achieve simultaneous mixing and transport of the FMs, which accelerates these operations for biological applications. Understanding the underlying physics is essential for the practical applications of this technique. Our findings reveal two distinct types of motion: net attraction while oscillating (NAWO) and net repulsion while oscillating (NRWO). We also examine the effects of parameters such as the PWM signal frequency, duty cycle, and Helmholtz coil current. Furthermore, we develop a regime map to distinguish between NAWO and NRWO motions. Finally, an analytical model is proposed and validated through experimental testing to describe the dynamic response of the FMs. © 2025 Elsevier B.V.

关键词： Permanent magnets

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Development of a low-cost microfluidic chip for hyaluronidase-free oocyte denudation in mammals

Biotechnology Notes

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Biotechnology Notes 2025年 6卷 133-142页

作者： Dessouky, Ashraf Hisham El-Hussieny, Haitham El-Sherry, Taymour Mohammed Parque, Victor Fath El-Bab, Ahmed M.R. Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology (E-JUST) Alexandria Alexandria 21934 Egypt Mechanical Engineering Department Helwan University Cairo Cairo 11792 Egypt Department of Theriogenology Veterinary Hospital Faculty of Veterinary Medicine Assiut University Assiut Assiut Egypt of Advanced Science and Engineering Hiroshima University Hiroshima HigashiHiroshima 739-8527 Japan

Infertility in mammals is one of the most intricate medical issues requiring non-traditional interventions. In Vitro Fertilization (IVF) is one of the modern medical technologies currently used to treat infertility. However, current IVF procedures are inaccessible and unaffordable to the majority due to the high cost, the complexity of the procedure, and the reliance on highly qualified operators. For successful IVF, oocyte denudation, the process of removing cumulus cells from oocytes, is often performed. Here, microfluidics offers the potential to enhance denudation procedures and to minimize operator variability. In this paper, we propose the configuration of a microfluidic chip for oocyte denudation whose structure hybridizes inner jagged surfaces and expansion units. The jagged surface units have the role of removing the cumulus cells surrounding the oocyte by using the wall shear stress principle, and the (rounded) expansion units have the role of rotating the cumulus cells for further deployment in subsequent jagged surfaces. The proposed device can be manufactured at a low cost (<1 USD)) by the engraving of CO₂ laser machine on PMMA material, and is able to circumvent the use of enzymatic components such as hyaluronidase. Experiments using computational simulations and manufactured microfluidic chips evaluated distinct geometry configurations of the jagged surfaces and identified the suitable flow rates for maximal shear stress and denudation performance. Manufactured samples of the proposed microfluidic devices have shown the denudation performance of 96.7 % and yield rate of 90 % at a constant flow rate of 1 ml/min. © 2025 The Authors

关键词： CO2 laser In vitro fertilization Microfluidics Oocyte denudation

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A Comparison of Model-Free Controllers for Trajectory Tracking in a Plant-Inspired Soft Arm 13th

A Comparison of Model-Free Controllers for Trajectory Tracki...

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13th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2024

作者： Nazeer, Muhammad Sunny Ansari, Yasmin Tauqeer Falotico, Egidio Laschi, Cecilia Department of Mechanical Engineering College of Design and Engineering National University of Singapore Singapore Singapore Bioinspired Soft Robotics Lab Istituto Italiano di Tecnologia Genoa Italy The Biorobotics Institute Scuola Superiore Sant’Anna Pontedera Italy

ISBN: (纸本)9783031725968

The field of soft robotics is experiencing a transformative phase with the emergence of self-supporting modular soft robot arms, inspired by design principles drawn from climbing plants, which are gaining recognition as a rich source of bio-inspiration. The vision to deploy these systems in highly unstructured environments, qualifies the need to investigate model-free algorithms that facilitate motion capabilities based solely on data regarding system-environment interactions. This paper delves into the development of model-free controllers to enable tracking capabilities in these systems. While the trajectory tracking task is already recognized as challenging in the context of redundant continuum/soft arms, the difficulty is compounded when aiming to generate control policies solely from sequential feedback from the environment. The novelty of this work lies in the development of both learning-based and learning-free model-free computational frameworks to address this task. Both controllers are validated on a 9-DoF modular cable-driven plant-inspired soft arm for moving through multiple trajectories in 3D space. The comparison of these controllers holds significant insights to future directions for the practical applicability of these systems in real-world scenarios, and are promising to pave way for novel application scenarios. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Robotic arms

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Reward invigorates isometric gripping actions

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Journal of Neurophysiology 2025年第4期133卷 1282-1294页

作者： Marbaker, Rachel M. Schmad, Ryan C. Al-Ghamdi, Razan A. Sukumar, Shruthi Ahmed, Alaa A. Department of Mechanical Engineering University of Colorado Boulder Boulder CO United States Department of Electrical Engineering University of Colorado Boulder Boulder CO United States Department of Computer Science University of Colorado Boulder Boulder CO United States Biomedical Engineering Program University of Colorado Boulder Boulder CO United States

Individuals exhibit a propensity to move faster toward more rewarding stimuli. Although this phenomenon has been observed in movements, the effect of reward on implicit control of isometric actions, such as gripping or grasping, is relatively unknown. How reward-related invigoration generalizes to other effortful actions is an important question. Reward invigorates reaching movements and saccades, supporting the idea that reward pays the additional effort cost of moving faster. Effort in isometric force generation is less understood, so here we ask whether and how reward-related invigoration generalizes to isometric force gripping. And if so, what implicit characteristics of gripping change when there is a prospect of reward? Participants (n = 19) gripped a force transducer and the force applied was mapped to radial position of an onscreen cursor. Each trial, a target appeared in one of four locations;increasing grip force moved the cursor toward the target. The gripping action was interchangeable for all target positions. In each block of 100 trials, one target was consistently rewarded, whereas the other targets were not. When gripping to acquire the rewarded target, participants reacted faster, generated force more rapidly and to a greater extent, without increasing variance and without increasing the rising force-time integral. These findings support the generalization of reward-related invigoration in isometric force tasks, and that the brain exquisitely trades-off reward and effort costs to obtain reward more rapidly without increasing variance and without more effort costs than necessary. NEW & NOTEWORTHY Gripping actions are important for day-to-day tasks, for medical diagnostics like strength and force control, and for choice selection in decision-making experiments. Comparing isometric gripping responses to reward and nonreward cues, we observed reward-based invigoration mediated by selective increases in effort. These findings can be leveraged to provide

关键词： decision making effort grasping movement vigor speed-accuracy tradeoff

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic Systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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GeoRefineNet: A Multistage Framework for Enhanced Cephalometric Landmark Detection in CBCT Images Using 3D Geometric Information 17th

GeoRefineNet: A Multistage Framework for Enhanced Cephalome...

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17th Asian Conference on Computer Vision, ACCV 2024

作者： Viriyasaranon, Thanaporn Ma, Serie Choi, Jang-Hwan Department of Computational Medicine Graduate Program in System Health Science and Engineering Ewha Womans University Seoul Korea Republic of Division of Mechanical and Biomedical Engineering Graduate Program in System Health Science and Engineering Ewha Womans University Seoul Korea Republic of Department of Artificial Intelligence Ewha Womans University Seoul Korea Republic of

ISBN: (纸本)9789819609000

The precise detection of cephalometric landmarks on two-dimensional (2D) radiographs or three-dimensional (3D) computed tomography (CT) images is a fundamental step in various medical fields, especially in research on orthodontics and maxillofacial surgery. Deep learning-based detectors have demonstrated remarkable accuracy in 2D cephalometric analysis, whereas conventional single-view approaches are limited by their reliance on information from a single perspective. This study proposes GeoRefineNet, a novel multistage framework that leverages information from multiple CT scans acquired at various angles. By incorporating geometric knowledge through a 3D heatmap reconstruction process, GeoRefineNet improves robustness, accuracy, and adaptability to various cephalometric configurations. The proposed framework predicts 3D landmark positions on CT images, effectively addressing challenges associated with high-dimensional input data and limited training examples. GeoRefineNet surpasses the existing state-of-the-art models in the 2D and 3D domains, as demonstrated by its superior performance on numerical and clinical datasets. These findings indicate that GeoRefineNet offers a promising avenue for improving the accuracy and reliability of cephalometric landmark detection fostering further advances in clinical diagnosis and treatment planning. Our code is available at https://***/Thanaporn09/***. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Computerized tomography

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Reconfigurable Smart Grid Management for Electric Vehicle Charging and the Integration of Renewable Energy Sources using Pied Kingfisher Optimizer 2

Reconfigurable Smart Grid Management for Electric Vehicle Ch...

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2nd International Conference on Machine Learning and Autonomous Systems, ICMLAS 2025

作者： Sivaramkrishnan, M. Ramkumar, M. Siva Uday, Kaparthi Kanan, Mohammad Raj, C. Mohan Giri, Jayant Karpagam College of Engnieering Dept of EEE India SNS College of Technology Dept of ECE India CVR College of Engineering Ibrahimpatanam EIE Department Hyderabad India College of Engineering University of Business and Technology Department of Industrial Engineering Jeddah21448 Saudi Arabia College of Engineering Zarqa University Department of Mechanical Engineering Zarqa Jordan Centre for Robotics and Industrial Automation Sri Eshwar College of Engineering Department or EEE Coimbatore641202 India Yeshwantrao Chavan College of Engineering Department of Mechanical Engineering Nagpur India Lovely Professional University Division of Research and Development Phagwara India

ISBN: (纸本)9798331505745

Electric Vehicle (EV) charging management under the Smart Grid (SG) framework with incorporated Renewable Energy Sources (RESs) functions to advance Energy Management (EM). The operational cost of EV charging varies because renewable energy availability can change so this affects the financial performance of charging operations. Integration of RESs with the SG becomes challenging for operational system efficiency particularly when renewable energy generation levels are low. To overcome these drawbacks, this manuscript proposes an efficient approach for SG management for EV charging with the integration of RESs. The suggested method is Pied Kingfisher Optimizer (PKO). The main aim of the suggested technique is to minimize the operational expenses of EV charging as well as maximize the efficiency of the SG system. The PKO is used to optimize the scheduling and allocation of energy resources within the SG system. By then, the suggested approach is implemented in MATLAB and contrasted with several other methods that are currently in use. The suggested technique outperforms all existing approaches such as Bald Eagle Search (BES), Red Kite Optimization (RKO), Artificial Neural Network-Particle Swarm Optimization (ANN-PSO), and Coati Optimization Algorithm-Constitutive Artificial Neural Network (COA-CANN). The suggested approach delivers superior performance than conventional methods by reducing operational costs to 638,322$ under coordinated charging and 629,745$ under smart charging without impacting system performance metrics. © 2025 IEEE.

关键词： Particle swarm optimization (PSO)

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Electric Vehicle Charging Navigation Using Waterwheel Plant Algorithm for Coordinating Smart Grids and Intelligent Transportation Systems 2

Electric Vehicle Charging Navigation Using Waterwheel Plant ...

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2nd International Conference on Machine Learning and Autonomous Systems, ICMLAS 2025

作者： Siva Ramkumar, M. Sivaramkrishnan, M. Uday, Kaparthi Kanan, Mohammad Mohan Raj, C. Giri, Jayant SNS College of Technology Dept of ECE India Karpagam College of Engnieering Dept of EEE India CVR College of Engineering EIE Department Hyderabad India College of Engineering University of Business and Technology Department of Industrial Engineering Jeddah21448 Saudi Arabia College of Engineering Zarqa University Department of Mechanical Engineering Zarqa Jordan Centre for Robotics and Industrial Automation Sri Eshwar College of Engineering Department or EEE Coimbatore641202 India Yeshwantrao Chavan College of Engineering Department of Mechanical Engineering Nagpur India Lovely Professional University Division of Research and Development Phagwara India

ISBN: (纸本)9798331505745

The efficient charging of electric vehicles (EVs) remains essential to create sustainable mobility while EVs transform into crucial elements of upcoming transportation systems. The present EV charging navigation systems deal with three main issues including grid congestion and inadequate charging station (CS) selection and delays from traffic *** paper proposes a novel Waterwheel Plant Algorithm (WWPA) for optimizing EV charging navigation within the Smart Grid (SG) and Intelligent Transportation Systems (ITS). The suggested method strives to enhance SG-EV coordination through demand balancing in addition to charge price reduction and decreased grid congestion levels. WWPA algorithm serves as the proposed method to optimize EV charging schedules. The MATLAB platform serves as the implementation environment for the proposed method which demonstrates superior performance than Multi-agent Reinforcement Learning (MARL), Deep Reinforcement Learning (DRL), Coati-Northern Goshawk Optimization (Coati-NGO) and Grey Sail Fish Optimization (GSFO). Results demonstrate that the WWPA algorithm reduces average charging expenses by 18.14% throughout diverse charging operations as it produces superior performance than existing algorithms operating in the SG ITS. © 2025 IEEE.

关键词： Reinforcement learning

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Design of monitoring and control device for biogas production in a pilot scale anaerobic digester 4

Design of monitoring and control device for biogas productio...

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4th International Symposium on Advances and Innovation in mechanical engineering, ISAIME 2023

作者： Daud, Muhammad Sabarullah Nurjannah, Siti Setiawan, Adi Hasibuan, Arnawan Faisal Yusuf, Edy Electrical Engineering Department Faculty of Engineering Universitas Malikussaleh Jalan Batam Kampus Bukit Indah Lhokseumawe24352 Indonesia Magister Program in Renewable Energy Engineering Faculty of Engineering Universitas Malikusssaleh Jalan Batam Bukit Indah Lhokseumawe24352 Indonesia Mechanical Engineering Department Faculty of Engineering Universitas Malikussaleh Jalan Batam Kampus Bukit Indah Lhokseumawe24352 Indonesia

Monitoring and control in the biogas production process play important role to optimize the processes occurred inside the digester and help to achieve a stable and safe process. Anaerobic digestion is a complex process involving several groups of microorganisms that are sensitive to many operating factors. Therefore, it is important to monitor and detect the process imbalances at an early stage, thus action can be taken in time to prevent the failure. The purpose of this study is to design an appropriate biodigester to produce biogas from culinary food waste and a smart-based design device which can help in monitoring and controlling the process to enhance the biogas yields and control the process of purifying biogas into biomethane. The research method in this study consists of several stages including designing the reactors and instrumentation, fabrication and installation, testing and calibration of the sensors. Performance of biodigester plants was evaluated based on data gained from the sensors. The efficiency of digesters equipped with control and monitoring instruments is better than ordinary manual digesters. Smart-based digesters can increase the rate of gas production more measurably and be recorded systematically and in real time. It can be concluded that a smart biogester equipped with a microcontroller and monitoring with Web Application can save the time and improve biogas production and safety. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Anaerobic digestion

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