The trend in robotics has shifted from collaboration with humans to learning and reproducing human skills, reflecting a growing social demand. In response, it is imperative to consider both hardware and software aspec...
The trend in robotics has shifted from collaboration with humans to learning and reproducing human skills, reflecting a growing social demand. In response, it is imperative to consider both hardware and software aspects in the design of robots. On the hardware side, the robot should be equipped with adequate sensors for mimicking human motion and force, and its design should meet necessary requirements such as workspace, degree of freedom, payload capacity, and weight, all of which are contingent upon the intended use of the robot. On the software side, the robot should be equipped with a real-time system and stable control algorithms to ensure safe operation. This paper presents the ExSLeR arm which meets the requirements for human skill learning. The performance of the ExSLeR arm is validated by a set of experiments through motion tracking with heavy payload and compliant interaction control tasks.
Extremely high strength can only be achieved through the use of magnesium alloys devoid of rare earth elements, as well as the development of a microstructure for a nanocrystalline matrix and the dispersion of stable ...
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Fiducial marker (FM) systems have a wide range of applications, such as augmented reality, human-robot interaction, medical surgery, robot navigation, and swarm robotics. Moreover, FMs enable to calibrate optical sens...
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This work describes the development, demonstration, and performance evaluation study of a wearable human machine interface for robotic teleoperation. We present a novel tetherless human machine interface in the form o...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
This work describes the development, demonstration, and performance evaluation study of a wearable human machine interface for robotic teleoperation. We present a novel tetherless human machine interface in the form of a backpack, wearable 3D arm motion capture sensors, finger flexion sensors, and pneumatic haptic feedback muscles. The system is integrated in a complete teleoperation framework, enabling users to be immersed in a remote environment through virtual reality headgear, facilitating intuitive manipulation of an industrial articulated arm. The human machine interface samples the kinematic configuration of the user’s arm, hand, and fingers using multiple inertial measurement units and capacitive sensors respectively, and streams it to the teleoperation software stack. The gripping forces experienced at the robot’s end-effector are acquired using a custom three-dimensional Hall-effect magnetic sensor. The system simultaneously renders the kinesthetic and tactile feedback on the user’s fingers through custom designed pneumatically actuated soft robotic haptic muscles. The efficacy of the human machine interface and the teleoperation system was tested and evaluated by conducting user studies, which showed 31.4% faster teleoperation compared to a keypad controller, and 60% less gripping force utilized with haptics enabled. The findings of the study guided the design and prototype development of a printed electronics based stretchable sleeve and glove motion capture unit to improve the portability, ergonomics, and user experience of the human machine interface.
Polymer-based optical sensors, renowned for their flexibility and stretchability, have found extensive application as displacement sensors in the soft robotics and wearable robotics. Emitting from LEDs, light traverse...
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ISBN:
(数字)9788993215380
ISBN:
(纸本)9798331517939
Polymer-based optical sensors, renowned for their flexibility and stretchability, have found extensive application as displacement sensors in the soft robotics and wearable robotics. Emitting from LEDs, light traverses through a transparent and flexible polymer core, thereby modulating the intensity of light detected by photodiodes contingent upon alterations in the core's cross-sectional area induced by sensor deformation. Due to its polymer composition, it offers flexibility, enabling free deformation, while its ability to measure light intensity demonstrates immunity to external magnetic and electric fields. In this study, a novel haptic sensor was devised by integrating color filters into polymer-based optical sensors to detect specific wavelengths from the LED's initial spectrum. Pressing of Red, Green, and Blue color filters enclosing the core enables light transmission through the filters. The spectrometer detects wavelengths ranging from 415nm to 680nm through eight channels, sufficiently covering the visible spectrum. Furthermore, it was ascertained that wavelength classification by color filters remains unaffected even with a decrease in initial intensity of light due to sensor deformation. Hence, the application of this sensor in wearable robotics or soft robotics is envisaged to facilitate simultaneous displacement measurement and haptic feedback, enhancing control and measurement capabilities.
Novel bioactive injectable composites based on biopolymeric hydrogels reinforced with insulin-functionalized silica particles were *** insulin(INS)was immobilized on the surface of amine-modifed silica particles emplo...
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Novel bioactive injectable composites based on biopolymeric hydrogels reinforced with insulin-functionalized silica particles were *** insulin(INS)was immobilized on the surface of amine-modifed silica particles employing covalent attachment by EDC/NHS chemistry and via electrostatic *** resulting formulations were examined for the morphology(SEM),chemical composition(FTIR,XPS)as well as protein *** facilitate the injectability and support the bone regeneration,developed particles were dispersed in biopolymeric sol composed of collagen,chitosan and lysinemodifed hyaluronic acid and crosslinked with *** means of rheological study,the sol-gel in situ transition of obtained systems was *** was found in vitro study that MG-63 cells cultured on the developed composites exhibit signifcantly higher alkaline phosphatase(ALP)activity,compared to the pristine ***,the biomineralization ability in the simulated body fluid(SBF)model was also *** fndings suggest that proposed herein novel hydrogel-based composites might be the promising formulation for regeneration of bone defects,especially as a less-cost effective support/alternative for BMP-2 systems.
In this paper the role of solid nonlinearity on the fluid-structure interaction (FSI) is studied. First a simple mass-spring-damper system with a third-degree spring is coupled with a linear sloshing system to study t...
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The beginning of the paper introduces the idea of neural networks by presenting the neuron models and artificial neural networks. Next, the flow of operations used in the development of convolutional neural networks i...
The beginning of the paper introduces the idea of neural networks by presenting the neuron models and artificial neural networks. Next, the flow of operations used in the development of convolutional neural networks is presented, as well as an overview of popular architectures used in model development. After introducing the theoretical issues, a project using the EfficientNet architecture to recognize medical images taken by MRI is presented. The project describes: the selection and parameters of the MRI image database representing different types of brain tumors, the process of implementation and appropriate modification of the EfficientNet architecture used to classify images, the presentation of the results of learning the convolutional neural network and the images that highlight on the basis of which area the convolutional neural network classifies images.
A SOFC triple combined cycle power generation, consisting of a solid oxide fuel cell and gas turbine combined cycle is revealed to give efficiency improvement while reducing the amount of emissions in power generation...
A SOFC triple combined cycle power generation, consisting of a solid oxide fuel cell and gas turbine combined cycle is revealed to give efficiency improvement while reducing the amount of emissions in power generation. It comes from the fact that the exhaust heat generated from a cycle is further utilized for power generation in the next cycle. Studies concerning its designs and optimizations have been investigated, including the characteristics of the system. This study investigates the load following the response of a hydrogen-fueled triple combined cycle, where both the fuel cell and gas steam turbine run on hydrogen fuel. The hydrogen fuel consumed will be provided by a hydrogen generation system of a proton exchange membrane electrolyzer (PEMEC). The generated hydrogen is then stored in a hydrogen tank until further use. The Hydrogen generation triple combined cycle system is interconnected with a substation of renewable energy. Surplus electricity from renewables will be directed to power the electrolyzer.
Ultrasound is a safe, noninvasive diagnostic technique used to measure internal structures such as tissues, organs, and arterial and venous blood flow. Skin-mounted wearable ultrasound devices can enable long-term con...
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ISBN:
(数字)9781735532554
ISBN:
(纸本)9798331599362
Ultrasound is a safe, noninvasive diagnostic technique used to measure internal structures such as tissues, organs, and arterial and venous blood flow. Skin-mounted wearable ultrasound devices can enable long-term continuous monitoring of patients to provide solutions to critical healthcare needs. However, stretchable ultrasound devices that are composed of ultrasonic transducers embedded in an elastomer matrix are incompatible with existing rigid acoustic matching layers, leading to reduced energy transmission and reduced imaging resolution. Here, a systematic study of soft composites with liquid metal (LM) fillers dispersed in elastomers reveals key strategies to tune the acoustic impedance of soft materials. Experiments supported by theoretical models demonstrate that the increase in acoustic impedance is primarily driven by the increase in density with negligible changes to the speed of sound through the material. By controlling the volume loading and particle size of the LM fillers, we create a material that achieves a high acoustic impedance 4.8 Mrayl, (> 440% increase over the polymer matrix) with low modulus (< 1 MPa) and high stretchability (> 100% strain). When the device was mechanically strained, we observed a small decrease in acoustic impedance (< 15%) with negligible decrease in sound transmittance and impact on attenuation for all droplet sizes. The stretchable acoustic matching layer was then integrated with a wearable ultrasound device and the ability to measure motion was demonstrated using a phantom model as is performed in Doppler ultrasound.
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