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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： P. Kandlakunta L. Shoen L. R. Cao Nuclear Engineering Program-Department of Mechanical and Aerospace Engineering The Ohio State University Columbus Ohio United States of America

ISBN: (数字)9798350388152

ISBN: (纸本)9798350388169

A comprehensive evaluation of the radiation resistance of field-programmable gate arrays (FPGAs) is essential to enable digital instrumentation and control (I&C) upgrades in operating nuclear power plants (NPPs). In this study, we explored various testing methodologies to evaluate the single-event upsets (SEUs) and TID effects affecting the configuration memory of static random access memory (SRAM) based FPGAs. Methods aimed at quantifying the radiation upset sensitivity of SRAM-FPGAs in terms of SEU cross section are identified. Here, we present results from our preliminary study aimed at establishing FPGA programming and verification capabilities that are required towards demonstrating such methods. We have successfully developed, tested, synthesized, and implemented a ‘test’ design on an SRAM-FPGA. Radiation-induced upsets in the configuration memory of the FPGA was emulated manually to develop an understanding of bitstream verification through FPGA configuration memory readback and bit-pattern comparison. Our preliminary tests effectively demonstrated the methodology to identify the total number of radiation-induced bit-flips and determine the SEU cross section of the FPGA.

关键词： Sensitivity Semiconductor detectors Radiation hardening (electronics) Instruments Single event upsets Random access memory programming

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Development of a Long Flexible Manipulator Utilizing the Motions of Twining and Tightening to Enhance Holding Ability

Development of a Long Flexible Manipulator Utilizing the Mot...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Shotaro Shimegi Keitaro Ishibashi Toshihiro Usami Hiroyuki Ishii Department of Modern Mechanical Engineering Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University and the Human Robotics Institute (HRI) Tokyo Japan

Many researchers have been studying long and flexible robots, such as snake-like robots and continuum manipulators. The feature of continuum robots is flexibility; therefore, high rigidity has been considered a characteristic to be avoided or unavoidably accepted for controllability. We envisioned a continuum manipulator that takes advantage of both high rigidity and flexibility to enhance its abilities. This paper proposes a concept and an integration method of a new long and flexible manipulator, named Robotic Whip, utilizing both flexible motion and tightening by increasing rigidity. The prototype is 1.4 m in length and 647 g in weight and is actuated by three DC motors rotating winches. Pulling wires enable the device to exhibit an active tightening motion, and loosening wires enable a flexible twining motion. In addition, we estimated the flexible motion of the continuum arm, which consisted of 200 originally designed links, using a simulation based on a rigid links model. Through experiments, it was proven that the prototype performance was adequate, and the device twined around the target bar and enhanced its holding ability by tightening the bar to tow a dolly with a mass of above 2 kg. A comparison of the simulation and actual measurement results showed that our model could reduce the number of prototypes by clarifying the device specifications available for a given situation.

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Iron Loss Calculation Method Considering Slot Harmonic Components for Induction Motor Using Virtual Blocked Rotor and Transfer Learning

Iron Loss Calculation Method Considering Slot Harmonic Compo...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Ji-Hyeon Lee Hyun-Su Kim Soo-Hwan Park Jin-Cheol Park Myung-Seop Lim Department of Automotive Engineering (Automotive-Computer Convergence) Hanyang University Seoul Republic of Korea Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul Republic of Korea

ISBN: (数字)9798350376067

ISBN: (纸本)9798350376074

In recent times, there has been growing interest in electric motors, particularly induction motors (IMs), which do not require rare-earth materials. IMs efficiency is a critical parameter as it directly influences the overall efficiency of the system. The iron loss is a significant factor in assessing the overall efficiency of IMs. Therefore, it is crucial to make accurate predictions of iron loss during the design of IMs. Analyzing iron loss of IMs using transient analysis offers accuracy but demands high computational costs due to induced current in the rotor bars and the difference between the stator current frequency and slip frequency. Conversely, utilizing the virtual blocked rotor (VBR) for analysis reduces computational cost but decreases accuracy, because this method can match the stator current frequency and slip frequency. Thus, in this paper, we propose a method aimed at enhancing the accuracy of the VBR while retaining its advantage of lower computational cost compared to conventional transient analysis, utilizing both the VBR and transfer learning. The transfer learning is conducted using a large amount of iron loss excluding slot harmonic components derived from the VBR and a small amount of iron loss including slot harmonic components derived from transient analysis. This method enables accurate determination of iron loss including slot harmonic components with a limited dataset, thereby improving the efficiency of the IMs design process.

关键词： Time-frequency analysis Accuracy Computational modeling Transfer learning Rotors Stators Harmonic analysis Iron Computational efficiency Transient analysis

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Investigating the Response of Ferrofluid Droplets in a Uniform Rotating Magnetic Field: Towards Splitting and Merging

Investigating the Response of Ferrofluid Droplets in a Unifo...

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International Conference on Manipulation, Automation and robotics at Small Scales (MARSS)

作者： Masoud Youesfi Mohammad Hosein Sarkhosh Mohamad Ali Bijarchi Hossein Nejat Pishkenari Mechanical Engineering Department Nano-robotics Laboratory Sharif University of Technology Tehran Iran

Ferrofluid droplets are of great importance due to their ability to be manipulated by magnetic actuation, enabling progress in various areas, such as nanotechnology, robotics, and optics. Moving, splitting, and merging the ferrofluid droplets need a comprehensive analysis of the behavior of the ferrofluid droplets in a magnetic field. Here, we analyze the response of ferrofluid droplets when they are under the effect of a uniform rotating magnetic field. A water-based ferrofluid droplet is immersed in a high-viscosity fluid, and the frequency of the applied field is changed from 0.01 to 0.30 Hz for performing experiments. Three distinct types of motion are observed during experiments: pure rotation at a low-frequency magnetic field, splitting the droplet at medium frequency field, and merging the small droplets into one droplet at high frequency. The responses of ferrofluid droplets are explained through the interaction of surface tension, drag, and magnetic force.

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Design of a Knee-joint Exoskeleton to Reduce Misalignment in Both the Sagittal and Coronal Planes

Design of a Knee-joint Exoskeleton to Reduce Misalignment in...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Shubhranil Sengupta Jee-Hwan Ryu The Robotics Program KAIST Daejeon South Korea Department of Civil and Environmental Engineering KAIST Daejeon South Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Many individuals experience knee dysfunctions attributed to the natural aging process and degenerative conditions. To aid individuals in regaining knee functionality, supportive exoskeletons were designed to be affixed to both the shin and thigh. However, a common issue encountered in knee exoskeletons involves the misalignment of joints between the exoskeleton and the user, resulting in discomfort and potential injuries. To reduce misalignment with the knee joint, it is essential for the thigh and shin harnesses of the exoskeleton to replicate the natural trajectories of the knee. However, achieving this is a complex task due to the shifting center of rotation of the knee in both the Sagittal and Coronal planes. Previous knee exoskeletons primarily focus on aligning the joint in the Sagittal plane, neglecting alignment in the other dimension due to inherent design constraints. For the first time, this study introduces a knee-joint exoskeleton capable of conforming to the natural movement of the knee in both the Sagittal and Coronal planes, with the aim of minimizing joint misalignment without the use of inherently soft materials. A spherical scissor linkage mechanism (SSLM) was utilized in conjunction with a customized guide rail to adjust the center of rotation of the SSLM. This configuration facilitates knee flexion/extension while accommodating the knee joint’s center of rotation in both the Sagittal and Coronal planes. The experimental outcomes demonstrated a substantial reduction in misalignment with the knee when compared to a commercial knee-support brace with a one-degree-of-freedom revolute joint.

关键词： Rails Couplings Exoskeletons Thigh Aging Trajectory Task analysis

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Analysis and Implementation of Motion Planning Algorithms for Real-Time Navigation of Aerial Robots in Dynamic Environments

Analysis and Implementation of Motion Planning Algorithms fo...

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Emerging Smart Technologies and Applications (eSmarTA), International Conference on

作者： Yunes Alqudsi Aerospace Engineering Department Faculty of Aeronautics and Astronautics Kocaeli University Kocaeli Türkey Mechanical Engineering Department Faculty of Engineering Kocaeli University Kocaeli Türkey Department of Mechatronics and Robotics Engineering Taiz University Taiz Yemen

ISBN: (数字)9798350354133

ISBN: (纸本)9798350354140

Efficient path planning is critical for the safe and effective navigation of Autonomous Aerial Robots (AARs) in complex 3D environments. This paper presents a comprehensive exploration of path planning techniques designed for AAR operations, with a focus on the application of the D* algorithm and its variants. Beginning with an overview of traditional methods such as Dijkstra's and A* algorithms, this work delves into the advanced capabilities of the D* algorithm family, including dynamic replanning and adaptive optimization for changing environmental conditions. A key contribution of this work is the implementation of these algorithms in a manner that significantly accelerates the search phase, particularly when dealing with multiple robots and goals, enhancing computational efficiency. Through detailed analysis and simulation, this study investigates the practical implementation of these algorithms in 3D space, addressing challenges such as obstacle avoidance, computational efficiency, dynamic feasibility, and real-time adaptability. Our simulated case results demonstrate the efficacy and versatility of these techniques in various AAR missions, providing valuable insights for researchers and practitioners in the field of autonomous aerial navigation. This work not only highlights the strengths and limitations of existing methods but also offers novel solutions to improve the performance of path planning algorithms in dynamic environments.

关键词： Three-dimensional displays Navigation Heuristic algorithms Dynamics Autonomous aerial vehicles Path planning Real-time systems

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Gluing-Free Soft Robotic Hands for Cake Topping

Gluing-Free Soft Robotic Hands for Cake Topping

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IEEE/SICE International Symposium on System Integration

作者： Takahiri Matsuno Zhongkui Wang Shinichi Hirai Department of Mechanical Engineering Kindai University Higashi-Hiroshima Hiroshima Japan Department of Robotics Ritsumeikan University Kusatsu Shiga Japan

This paper focuses on cake topping performed by a soft robotic hands. Recently robots have been introduced into food factories for improving productivity and reducing labor costs. Robots are actively used in various manufacturing processes. Unfortunately, it is currently difficult to introduce robots into topping, which is a delicate operation dealing with soft food materials. Thus, this research challenges topping operations of cakes using soft robotic hands. We fabricated soft fingers without gluing. Soft fingers were cast in silicone rubber using gelatin as a sacrificial material. A soft robotic hand was composed of a pair of soft fingers. Topping experiments were conducted using the fabricated soft hands. First, we confirmed the usefulness of the soft hands by conducting a topping experiment using strawberry samples. Next, topping experiments were conducted using real strawberries and cake bases. On the ‘nappe’ base with a flat surface, strawberries could be topped straight in a uniform posture. Although the topping was successful on the ‘piping’ base with uneven surface, it was found that the posture of the strawberries varied.

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Robot Control [TC Spotlight]

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IEEE robotics & Automation Magazine 2025年第2期32卷 197-198页

作者： Cosimo Della Santina Sylvia Herbert Manuel Keppler Kaoru Yamamoto TU Delft Faculty of Mechanical Engineering Delft The Netherlands University of California at San Diego Faculty of Mechanical and Aerospace Engineering San Diego CA USA German Aerospace Center Robotics and Mechatronics Department Oberpfaffenoffen Germany Kyushu University Faculty of Information Science and Electrical Engineering Fukuoka Japan

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SPOT: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpoints

arXiv

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arXiv 2024年

作者： Carmichael, Spencer Agrawal, Rahul Vasudevan, Ram Skinner, Katherine A. Department of Robotics University of Michigan Ann ArborMI48109 United States Department of Robotics the Department of Mechanical Engineering University of Michigan Ann ArborMI48109 United States

Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree rotations, has proven to be challenging to achieve. To address this problem, this paper presents Same Place Opposing Trajectory (SPOT), a technique for opposing viewpoint VPR that relies exclusively on structure estimated through stereo visual odometry (VO). The method extends recent advances in lidar descriptors and utilizes a novel double (similar and opposing) distance matrix sequence matching method. We evaluate SPOT on a publicly available dataset with 6.7-7.6 km routes driven in similar and opposing directions under various lighting conditions. The proposed algorithm demonstrates remarkable improvement over the state-of-the-art, achieving up to 91.7% recall at 100% precision in opposing viewpoint cases, while requiring less storage than all baselines tested and running faster than all but one. Moreover, the proposed method assumes no a priori knowledge of whether the viewpoint is similar or opposing, and also demonstrates competitive performance in similar viewpoint cases. © 2024, CC BY-NC-SA.

关键词： Cameras

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Removal of rhodamine b and alizarin red from aqueous solutions by oxidized carbon nanotubes: Kinetics and isotherm Study

Removal of rhodamine b and alizarin red from aqueous solutio...

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2023 Sharjah International Conference on Physics of Advanced Materials, SICPAM 2023

作者： Khalil, Abdelrahman K. A. Almanassra, Ismail W. Chatla, Anjaneyulu Atieh, Muataz Ali Laoui, Tahar University of Sharjah P.O. Box 27272 Sharjah United Arab Emirates Program College of Engineering University of Sharjah P.O. Box 27272 Sharjah United Arab Emirates Department of Mechanical and Nuclear Engineering College of Engineering University of Sharjah P.O. Box 27272 Sharjah United Arab Emirates

Alizarin Red and Rhodamine B are widely used dyes in the textile, paper, and plastic industries. However, the disposal or release of these dyes into the environment can negatively impact on both the environment and human health. In the present study, oxidized carbon nanotubes (OCNT) were used to eliminate Alizarin Red and Rhodamine B from contaminated water in batch adsorption experiments. The adsorption outcomes suggested that OCNT has the potential to be an effective material for the removal of these dyes from contaminated water. The kinetics modeling revealed that the adsorption process of both dyes onto OCNT follows the pseudo-second-order model, indicating a chemisorption process. Moreover, the OCNT has indicated fast kinetics in which the equilibrium was achieved in 4 h. The isotherm study demonstrated that the Freundlich isotherm model best fits the experimental data, suggesting that dyes' adsorption onto OCNT is a monolayer adsorption process. The maximum adsorption capacities were 124.7 and 614.7 mg/g for Rhodamine B and Alizarin Red, respectively. The adsorption of these dyes was found to be more efficient at pH values of 6-8. This study suggests that OCNT can be an effective adsorbent for removing Alizarin Red and Rhodamine B from contaminated water. © Published under licence by IOP Publishing Ltd.

关键词： Carbon nanotubes

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