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SSRN 2023年

作者： Leal, Elisângela Martins Coura, Dimas Pereira Graduate Program in Mechanical Engineering Department of Mechanical Engineering School of Mining Federal University of Ouro Preto Brazil

The steelmaking industry in Brazil plays a vital role in the country's energy landscape, being a major electricity consumer. To remain globally competitive, the industry requires a strategic plan for efficient energy use, low environmental impact, and cost reduction. One promising approach is implementing thermoelectric power plants that utilize waste gases from steelmaking. This study analyzes the energy, exergy, environmental, and economic aspects of such a plant, considering green hydrogen addition achieved through water electrolysis using photovoltaic power. A computational model with Scilab is used, validated with data from a real thermal power plant. Computer simulations using different fuel mixtures show that adding up to 30% hydrogen to blast furnace gas achieves energy and exergy efficiency equivalent to the reference scenario (scenario zero) while reducing fuel costs. Effective energy management within organizations can lead to significant financial gains. The real operating model (scenario zero) exhibited a lower exergetic efficiency of 23.87%, highlighting the need for sustainable solutions. Embracing hydrogen-based technologies can pave the way for a greener, more energy-efficient future in Brazil. © 2023, The Authors. All rights reserved.

关键词： Economic analysis

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Exploring Robot-Assisted Optical Coherence Elastography for Surgical Palpation

Exploring Robot-Assisted Optical Coherence Elastography for ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yeonhee Chang Elan Z. Ahronovich Nabil Simaan Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea Department of Mechanical Engineering Vanderbilt University Nashville TN USA

Optical Coherence Elastography (OCE) is a method that discerns local tissue stiffness using optical information. This method has recently been explored for laryngeal cancer tumor margin detection but has not been widely deployed clinically. Part of the challenge hindering such clinical deployment is the need for controlled high-precision mechanical probing of the tissue. This paper explores the concept of robot-assisted optical coherence elastography(OCE) and presents a preliminary system integration used to demonstrate the approach for stiffness mapping and discerning tumor margins. The approach is demonstrated on a custom Cartesian stage robot, and a custom-built OCE system comprised of an 830 nm broad-band laser with a vector-analysis method for phase gradient estimation and strain imaging. The paper illustrates one of the advantages of robot-controlled probing in terms of increasing the accuracy of the OCE system in a large range of displacement and strain. By leveraging motion information from the robot, online re-calibration of the OCE strain map may be achieved, thereby reducing OCE errors. After calibration, it is shown that the error in estimating the local Young's modulus is 0.485% in the silicon phantom and 0.531% in the agar phantom. These results suggest that future integration of optical coherence tomography(OCT) in clinically deployable robots may offer advantages in enabling local stiffness map estimation using OCE.

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GESCE: Graph-based Ergodic Search in Cluttered Environments

GESCE: Graph-based Ergodic Search in Cluttered Environments

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Burhanuddin Shirose Adam Johnson Bhaskar Vundurthy Howie Choset Matthew Travers Department of Mechanical Engineering Carnegie Mellon University USA Department of Electronics and Computer Engineering Carnegie Mellon University USA The Robotics Institute Carnegie Mellon University USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this paper, we present a novel motion planning algorithm that inherits the strengths of both optimization and search-based planners. Optimization-based planners use the gradient of an objective function to generate a desired path, whereas search-based planners operate on a graph capturing the salient topology of a robot’s free space. A class of optimization-based planners leverages prior information, modeled as a probability distribution of target locations in an environment, to guide path generation. We embrace one specific measure, referred to as ergodicity, which encourages a robot to spend a proportion of its time, weighted by the distribution, where it is likely to find targets of interest. Methods that minimize ergodicity were not designed to handle obstacles in the environment, and augmented approaches that add "soft" constraints for obstacles to the cost function may still yield a path that collides with an obstacle. In this work, we present a hybrid approach that first generates a graph of the environment’s free space, followed by searching the graph with ergodicity as a heuristic. Our approach not only restricts the search to the free space, thereby avoiding obstacles by design, but also generates trajectories with low ergodicity values. Extensive testing on 125 test scenarios with varying degrees of clutter, information distribution, and robot start locations illustrate the efficacy of our algorithm.

关键词： Weight measurement Search problems Linear programming Time measurement Probability distribution Planning Trajectory Topology Intelligent robots Testing

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An Intelligent Garbage Sorting Robot System Based on Machine Vision and Knowledge Base

An Intelligent Garbage Sorting Robot System Based on Machine...

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第42届中国控制会议

作者： Maorong Zhang Qingchuan Xu Aijia Luo Yuqi Kong Wenzheng Chi Lining Sun Department of Intelligent Manufacturing School of Mechanical and Electric Engineering Soochow University Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University

Garbage disposal has always been a widely concerned environmental problem. At present, garbage sorting mainly depends on manual work, with low efficiency, poor accuracy and easy to harm the staff. One way to solve the problem is to develop robots with garbage sorting function instead of manual operation. This paper presents a design scheme of intelligent garbage sorting robot system based on machine vision and knowledge base. The coarse localization of garbage is firstly detected by the YOLO v5 algorithm with the RGB camera and the bounding box of the garbage can be obtained in the image coordinate system. Then, the depth information of the garbage is retrieved by the depth camera, and the garbage coordinates are *** the coordinate conversion, the position of the garbage is set as the robot navigation target and the trajectory planning is carried out. When the robot reaches the target position, the YOLO algorithm is then utilized to refine the classification and the position of the garbage and the robot arm equipped on the robot is utilized to pick up the garbage. After the garbage recognition,the garbage type and the corresponding garbage bin location information can be retrieved according to the knowledge *** the same time, it stores the garbage information of the current position in the knowledge base to facilitate the subsequent optimization of the cruise track. Finally, the robot navigates to the corresponding bin location, puts down the garbage, and completes the garbage sorting task. Experimental results show that this method can accurately identify garbage and effectively improve the efficiency of garbage sorting.

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Human-in-the-loop Optimization of Hip Exoskeleton Assistance During Stair Climbing

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IEEE Transactions on Biomedical engineering 2025年 PP卷 PP页

作者： Park, Dongho An, Jimin Lee, Dawit Kang, Inseung Young, Aaron J. Woodruff School of Mechanical Engineering the Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA30332-0405 United States the Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332-0405 United States the Department of Mechanical Engineering Carnegie Mellon University PittsburghPA15213 United States the Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332 United States the Department of Bioengineering Stanford University StanfordCA94305 United States the Woodruff School of Mechanical Engineering the Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA30332-0405 United States

—This study applies human-in-the-loop optimization to identify optimal hip exoskeleton assistance patterns for stair climbing. Ten participants underwent optimization to individualize hip flexion and extension assistance, followed by a validation comparing optimized assistance (OPT) to biological hip moment-based assistance (BIO), no assistance (No-Assist), and no exoskeleton (No-Exo) conditions. OPT reduced metabolic cost by 4.5% compared to No-Exo, 11.44% compared to No-Assist, and 5.02% compared to BIO, demonstrating the effectiveness of the optimization approach. Statistical analysis revealed distinct characteristics in optimal assistance timing and magnitude that deviated systematically from biological hip moment patterns. Compared to BIO, OPT exhibited later peak flexion timing (76.4 ± 3.7% vs 65.0%), shorter flexion duration (29.2 ± 3.6% vs 40.0%), later peak extension timing (26.7 ± 3.8% vs 20.0% of gait cycle), and higher peak flexion magnitude (11.1 ± 1.5 Nm vs 10.0 Nm). While individual optimal assistance profiles varied across participants, comparison between individually optimized parameters and the best subject-independent parameters identified through post-hoc analysis showed consistency. On average, metabolic rate convergence was achieved after 18 iterations, while most exoskeleton control parameters did not reach our convergence criteria within 20 iterations. These findings demonstrate that human-in-the-loop optimization can effectively identify task-specific assistance patterns for stair climbing, while the consistency between individual and subject-independent parameters suggests the potential for developing generalized assistance strategies. The systematic differences between optimized and biological moment-based assistance underscore the fundamental distinctions between biological torque-based control and optimal control for exoskeleton assistance. © 2025 IEEE Computer Society. All rights reserved.

关键词： Exoskeleton (robotics)

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Folding angle and wing flexibility influence the flight performance of origami winged fruits

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Nonlinear Dynamics 2024年第13期112卷 10995-11011页

作者： Cai, Jing-Fang Hsu, Ya-Chun Yen, Yu-Chen Lee, Yun-Chung Peyton, Bernie Huang, Mei-Jiau Yu, Hon-Tsen Juang, Jia-Yang Department of Mechanical Engineering National Taiwan University Taipei106319 Taiwan Department of Life Science National Taiwan University Taipei106319 Taiwan Berkeley CA United States Program in Nanoengineering and Nanoscience Graduate School of Advanced Technology National Taiwan University Taipei106319 Taiwan Degree Program of Genome and Systems Biology National Taiwan University Taipei106319 Taiwan

Winged fruits possess a unique flight mechanism relying on simple geometric structures rather than neuromuscular control. This study proposes an innovative approach using origami techniques to create three-winged model fruits, serving as a proxy for understanding the flight dynamics of natural winged fruits. Paper is employed to simulate inherent wing flexibility, with the option to add plastic frames for rigidity. We comprehensively investigate the free fall motion of both rigid and flexible winged fruits through experimental and numerical analyses. Velocity–time curves reveal a three-stage descent pattern—acceleration, deceleration, and steady states. The overshoot phenomenon is attributed to rapid lift increase due to leading-edge vortices attaching stably to the wings. This insight sheds light on aerodynamics governing fruit flight. Compared with rigid wings, flexible wings exhibit two key properties—slower descent and higher self-orienting capability—that facilitate a more stable and longer-distance dispersal of seeds under crosswind conditions. Our study demonstrates the potential benefits of flexible wings in natural seed distribution. This study advances our understanding of winged fruit flight dynamics, utilizing origami as a powerful tool for biomimetic investigations. The findings have broad implications, from improving aerodynamic designs to developing efficient micro air vehicles and electronic microfliers, and understanding seed dispersal evolution. Graphical abstract: (Figure presented.). © The Author(s), under exclusive licence to Springer Nature B.V. 2024.

关键词： Fruits

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Thermal Casting for Monolithic Soft Actuators

Thermal Casting for Monolithic Soft Actuators

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wang, Huacen Yang, Boyu Mei, Junling Dai, Yujin Xia, Yixuan Wang, Hongqiang Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangzhou510000 China

ISBN: (纸本)9781665481090

Soft robotics has significantly impacted many fields in the last decades. However, their current fabrication methodologies are limited by the assemble complexity, limited materials, or long duration. A monolithic thermal casting method for fabrication of elastomer and soft robotics based on thermoset polymer is introduced. In this work, we used simple heating cores to manufacture elastomers and soft actuators. By controlling the heating current and duration, we can adjust the thermal field and consequently change the configuration of the generated elastomer. Due to its short duration (several minutes), this method can benefit the mass production of soft robots for high efficiency. Also, this work offers a new way to design soft robotics without complex molds. © 2022 IEEE.

关键词： Elastomers

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A Soft e-Textile Sensor for Enhanced Deep Learning-based Shape Sensing of Soft Continuum Robots

arXiv

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arXiv 2024年

作者： Galeta, Eric Vincent Nada, Ayman A. Ahmed, Sabah M. Parque, Victor El-Hussieny, Haitham Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria Egypt Electrical Engineering Department Faculty of Engineering Assiut University Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan

The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer sensors often fail to integrate well with the flexible nature of these robots, adding unwanted bulk and rigidity. To overcome these hurdles, our study presents a new approach to shape sensing in soft continuum robots through the use of soft e-textile resistive sensors. This sensor, designed to flawlessly integrate with the robot's structure, utilizes a resistive material that adjusts its resistance in response to the robot's movements and deformations. This adjustment facilitates the capture of multidimensional force measurements across the soft sensor layers. A deep Convolutional Neural Network (CNN) is employed to decode the sensor signals, enabling precise estimation of the robot's shape configuration based on the detailed data from the e-textile sensor. Our research investigates the efficacy of this etextile sensor in determining the curvature parameters of soft continuum robots. The findings are encouraging, showing that the soft e-textile sensor not only matches but potentially exceeds the capabilities of traditional rigid sensors in terms of shape sensing and estimation. This advancement significantly boosts the safety and efficiency of robotic navigation systems. © 2024, CC BY.

关键词： Robots

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Embodied Manipulation with Past and Future Morphologies through an Open Parametric Hand Design

arXiv

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arXiv 2024年

作者： Gilday, Kieran Sirithunge, Chapa Iida, Fumiya Hughes, Josie CREATE Lab Department of Mechanical Engineering Swiss Federal Institute of Technology Lausanne Switzerland Bio-Inspired Robotics Lab Department of Engineering University of Cambridge United Kingdom

A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide range of alternative hand and actuation designs. Understanding the morphological design space and the resulting emergent behaviors can not only aid our understanding of dexterous manipulation and its evolution, but also assist design optimization, achieving, and eventually surpassing human capabilities. Exploration of hand embodiment has to date been limited by inaccessibility of customizable hands in the real-world, and by the reality gap in simulation of complex interactions. We introduce an open parametric design which integrates techniques for simplified customization, fabrication, and control with design features to maximize behavioral diversity. Non-linear rolling joints, anatomical tendon routing, and a low degree-of-freedom, modulating, actuation system, enable rapid production of single-piece 3D printable hands without compromising dexterous behaviors. To demonstrate this, we evaluated the design’s low-level behavior range and stability, showing variable stiffness over two orders of magnitude. Additionally, we fabricated three hand designs: human, mirrored human with two thumbs, and aye-aye hands. Manipulation tests evaluate the variation in each hand’s proficiency at handling diverse objects, and demonstrate emergent behaviors unique to each design. Overall, we shed light on new possible designs for robotic hands, provide a design space to compare and contrast different hand morphologies and structures, and share a practical and open-source design for exploring embodied manipulation. © 2024, CC BY-NC-SA.

关键词： Degrees of freedom (mechanics)

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Electronically Conducting Titania Single Crystals Prepared by Flash Exhibit Memristor Switching

SSRN

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SSRN 2024年

作者： Jo, Seohyeon Raj, Rishi Materials Science Engineering Program Department of Mechanical Engineering University of Colorado Boulder BoulderCO80309 United States

We report memristor behavior in bar shaped single crystals of titania that have been "formed" into electronic conductors. The cycling experiments are carried out with forward and reverse current, rather than voltage;the current experiments are more reproducible. The single crystals permit in-situ measurements of interface as well as the end-to-end resistivities by the four-point method. The total specimen resistance is shown to be nearly equal to the sum of the interface resistances at the positive and negative electrodes referenced at the forming step. The memristor effect arises predominantly from the change in the interfacial resistance at the positive electrode which shows local ratio of high/low resistance of x103. The resistance at the opposite interface remains unchanged. The effect at the positive electrode is attributed to a change in the state of exciton-like electron-hole configurations under the local field induced by the current. The memristor effect is sensitive to crystal-orientation. © 2024, The Authors. All rights reserved.

关键词： Memristors

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