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1st International Conference on Materials Innovation in engineering and Technology, ICMIET 2024

作者： Pandi, Raja R. Bihari, Bagesh Chokkalingam, P. Karthikeyan, R. Anand, R. Kalaiarasan, S. Sivalingam, A. Department of Robotics and Automation Rajalakshmi Engineering College Tamil Nadu India Department of Mechanical Engineering Ramgarh Engineering College Jharkhand India Department of Mechanical Engineering Erode Sengunthar Engineering College Tamil Nadu India Department of Automobile Engineering Rajalakshmi Engineering College Tamil Nadu India Department of Aeronautical Engineering Nehru Institute of Technology Tamil Nadu India Department of Chemistry Sona College of Technology Tamil Nadu India Department of Mechatronics Engineering Sona College of Technology Tamil Nadu India

Employing personal protective equipment, including helmets for safety, at industrial sites is the ultimate step in averting disasters, and such equipment is commonly recognized the disposable items. Industrial safety helmets employ Polypropylene Terephthalate (PET) or polypropylene (PP) resins is the primary material for shell to efFiciently absorb impacts. Additionally, they exhibit a commendable level of heat resistance. Nevertheless, there is currently a lack of active initiatives to develop novel materials using a straightforward fabrication approach. The objective of this work was to enhance safety behaviour of industrial helmets by using epoxy resin as the matrix to develop composite material consisting of glass Fiber and basalt Fiber in a direct cross-ply arrangement. Subsequently, the performance of this composite material was evaluated in relation to glass and basalt composites, and PET plastic. The samples are produced through compression molding method. The tensile strength (TS), Flexural strength (FS), impact strength (IS), and inter laminar shear strength (ILSS), and their heat resistance capabilities are assessed using thermo gravimetric analysis (TGA). The impact energy absorptions of BFRP, BF/GFRP, and GFRP were 6.3, 6.1, and 5.2 times higher than that of PET plastic correspondingly. Superior heat resistance was demonstrated by specimens built of Basalt Fiber Reinforced Polymer (BFRP) and Basalt Fiber/Glass Fiber Reinforced Polymer (BF/GFRP), as compared to the other scenarios. For instance, when compared to PET plastic, BFRP was 24.9 times stronger while BF/GFRP was 12.7 times stronger. The outcomes of this research work are showed that the basalt and glass Fiber reinforced composites (BF/GFRP) exhibit the superior impact energy absorption than PET plastic. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Impact strength

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

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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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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing 12

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

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12th RSI International Conference on robotics and mechatronics, ICRoM 2024

作者： Etaati, Sepideh Javaherat, Fatemeh Delrobaei, Mehdi K. N. Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Tehran Iran K. N. Toosi University of Technology Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Ahstract- This study focuses on developing a gait asymmetry index and applying image processing techniques to cyclogram analysis. We evaluated gait asymmetry under different walking conditions, specifically examining the effects of wearing a knee brace and holding a weight in hand. Using inertial measurement units (IMUs), we collected gait data to analyze knee, hip, and ankle angles in the sagittal plane. The joint kinematics data were assessed using our proposed asymmetry index, which combines image processing techniques and linear regression models. The proposed asymmetry index incorporates cyclogram area, trend symmetry, and the longest length of the cyclogram shape, effectively capturing variations in symmetry and providing a comprehensive measure. The results demonstrate that the proposed asymmetry index can effectively distinguish between different gait conditions. The findings potentially offer insights for researchers and clinicians in human biomechanics, aiding in the planning of interventions and the assessment of motion patterns, as well as for developers of bipedal walking robots in the field of robotic locomotion, enhancing their ability to design hardware and evaluate motion patterns. © 2024 IEEE.

关键词： Robot programming

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Wheeled Mobile Robots on Rough Terrains as Stochastic Nonholonomic Systems

Wheeled Mobile Robots on Rough Terrains as Stochastic Nonhol...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Vaughn Gzenda Robin Chhabra Mechanical and Aerospace Engineering Department Autonomous Space Robotics and Mechatronics Laboratory Carleton University Ottawa ON Canada

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In this paper, we investigate the motion of wheeled mobile robots on rough terrains modeled as noisy nonholonomic constraints. Such constraints are the natural extension of ideal nonholonomic constraints when the Stratonovich process is directly introduced in the constraint equations. The resulting stochastic model can capture motion on rough surfaces, random deformation in the wheel-ground contact, or stochastic loss/gain of traction. We study a differential robot with ideal noisy and affine noisy constraints, where each case models a certain aspect of motion on rough terrains. We then investigate their corresponding stochastic dynamics and the propagation of mean and covariance through Monte-Carlo simulations. The proposed model for roving rough terrains has the potential to serve as the stochastic model employed in model-based motion planning, pose estimation, and control of rover systems. The main challenge will be dealing with the nonlinear appearance of the noise and its feedback in the equations of motion.

关键词： Deformation Noise Dynamics Stochastic processes Mathematical models Surface roughness Rough surfaces Noise measurement Mobile robots Surface treatment

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Workspace Analysis of a 3 RRR Planar Mechanism 25th

Workspace Analysis of a 3 RRR Planar Mechanism

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25th International Symposium on Measurement and Control in robotics, ISMCR 2023

作者： Buium, Florentin Doroftei, Ioan Mechanical Engineering Mechatronics and Robotics Department "Gheorghe Asachi" Technical University of Iasi 43 Blvd. D. Mangeron Iasi700050 Romania Technical Sciences Academy of Romania 26 Dacia Blvd. Bucharest030167 Romania

ISBN: (纸本)9783031510847

The paper intends to outline workspace of a planar parallel mechanism taking into account both: first type and second type of singularities. These questions influence in an important mode, inverse and direct kinematics of this mechanisms. The chosen mechanism for this purpose is of 3 RRR type, used as mechanical structure for a robot manipulator. Some results of this study can be useful in technical education or mechanism design. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Manipulators

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Feedforward Backpropagation Artificial Neural Network for Modeling the Forward Kinematics of a Robotic Manipulator

Feedforward Backpropagation Artificial Neural Network for Mo...

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2023 International Conference on Innovation and Intelligence for Informatics, Computing, and Technologies, 3ICT 2023

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassene Higher Institute of Information and Communication Technologies Tunis1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Guwahati781039 India National Engineering School of Tunis Tunis1002 Tunisia

ISBN: (纸本)9798350307771

Determining an end-effector position and orientation, known as forward kinematics (FK), is a crucial aspect of robotic manipulation. This research addresses the FK problem using a Feedforward Backpropagation Artificial Neural Network (FFBP-ANN) and examines the network's performance with different hyperparameters. The input of the FFBP-ANN is primarily formed using three different datasets: fixed-step values, random values, and sinusoidal-signal based values, for a 2-DOF robotic manipulator. The output of the FFBP-ANN is evaluated using FK formulation of the robot manipulator. Thereafter, the FFBP-ANN is trained utilizing the input-output training dataset using The Neural Network Toolbox for MATLAB. The network's potential is investigated by varying the critical hyperparameters, including the number of hidden neurons and the number of hidden layers. Moreover, the effectiveness of the proposed FFBP-ANN is investigated with three different training optimizers including the utilization of Levenberg-Marquardt, Bayesian Regularization, and Scaled Conjugate Gradient optimization algorithms. During training, by adjusting the network's weights and biases iteratively, the backpropagation technique allows the network to effectively learn and comprehend the relationship between joint positions and Cartesian coordinates. The comparative results offer valuable insights into the strengths and limitations of different ANN architectures when applied to solving FK problems. In this way, this study focuses on exploring the application of the FFBP-ANN in resolving FK challenges and assisting in the identification of appropriate network types for path-planning tasks. © 2023 IEEE.

关键词： End effectors

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Toward Development of Novel Remote Ultrasound Robotic System Using Soft robotics Technology

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Journal of engineering and Science in Medical Diagnostics and Therapy 2024年第2期7卷 021012页

作者： Papendorp, Sky Ovando, Ammy Gharaie, Saleh Mosadegh, Bobak Guerra-Zubiaga, David Alaie, Seyedhamidreza Ashuri, Turaj Moghadam, Amir Ali Amiri Department of Robotics and Mechatronics Engineering Kennesaw State University MariettaGA30060 United States School of Engineering Deakin University GeelongVIC3216 Australia Department of Radiology Dalio Institute of Cardiovascular Imaging Weill Cornell Medicine New YorkNY10021 United States Department of Mechanical and Aerospace Engineering New Mexico State University Las CrucesNM88003 United States Southern Polytechnic College of Engineering and Engineering Technology Kennesaw State University MariettaGA30060 United States

This paper reports on the development of a novel soft robotic system for remote ultrasound applications. Direct contact of the ultrasound probe with the patient’s body represents a safety risk and therefore control of the probe’s positioning and applied force is a crucial task. The proposed robot uses a passive control system that provides safe interaction between the robot and the patient by leveraging soft robotics technology. The soft robot’s structure can be considered as a nonlinear spring which can be designed to exert a safe force within the robot’s workspace to guarantee the safety of human–robot interaction. The literature suggests that effective ultrasound imaging of both the heart and abdomen requires six degrees-of-freedom. These degrees-of-freedom consist of three translational motions, which are achieved using a novel hybrid soft cable-driven parallel robot, and three wrist motions, which is based on a universal joint design. The experimental results show that the robot can achieve all these six degrees-of-freedom, and its blocking force can be engineered to generate a uniform force within the workspace. Copyright © 2024 by ASME.

关键词： Probes

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Exploring Neural Networks for Forward Kinematics of the Robotic Arm with Different Length Configurations: A Comparative Analysis 2

Exploring Neural Networks for Forward Kinematics of the Robo...

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2nd IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation, IATMSI 2024

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassène Higher Institute of Information and Communication Technologies Tunis Borj Cedria1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India National Engineering School of Tunis Le Belvédère Tunis1002 Tunisia

ISBN: (纸本)9798350360523

Our work investigates the utilization of Artificial Neural Networks (ANNs) to address the complexities associated with Forward Kinematics (FK) problems within the field of robotics. We undertake an extensive comparative analysis to assess how ANNs perform under different circumstances with robotic arms of varying lengths and impact the overall system's functionality. The training, testing, and validation of ANNs are carried out using MATLAB for a simulated 2-DoF serial robotic arm involving three distinct datasets: fixed step size, random step size, and sinusoidal step size. Three training optimizers, namely Levenberg Marquardt (LM), Bayesian Regularization (BR), and Stochastic Conjugate Gradient (SCG), are considered within the ANN architecture. Based on Mean Square Error (MSE) values, the numerical findings reveal the potential of ANN in estimating forward kinematic solutions of complex robotic manipulators with different arm lengths and reducing computational complexity. © 2024 IEEE.

关键词： Robotic arms

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DEVELOPMENT OF 3D PRINTED SOFT PNEUMATIC HAND MOTION SENSORS

DEVELOPMENT OF 3D PRINTED SOFT PNEUMATIC HAND MOTION SENSORS

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ASME 2022 International mechanical engineering Congress and Exposition, IMECE 2022

作者： Papendorp, Sky Iyun, Olukayode Schneider, Christian Tekes, Ayse Ashuri, Turaj Amiri Moghadam, Amir Ali Robotics and Mechatronics Department Kennesaw State University MariettaGA United States Mechanical Engineering Department Kennesaw State University MariettaGA United States

ISBN: (纸本)9780791886663

This paper reports on the design, fabrication, and evaluation of a novel 3D printed vacuum based soft sensor and its application as hand motion sensor. Soft sensors are an integral part of soft robotics as an emerging field of science that enables safe and easy human to machine interaction. The conventional sensors used to interface with humans in robotic systems are mechanically incompliant. Because of this mechanical compliance mismatch, these sensors cause unsafe interactions with humans. Recent advancements in 3D printing technology have allowed fabrication of complex geometries with soft polymers, perfect for more delicate and user-friendly sensors. While the existing soft pneumatic sensors work based on the positive pressure due to deformation, the proposed sensor in this work works based on vacuum due to deformation. In comparison with the similar positive pressure sensor, our vacuum-based sensor is much softer and has minimum interference with hand motion. Finite element analysis (FEA) is used to analyze the design. Also, a kinematic model of the hand is developed using Matlab to visualize the hand motion based on the sensor data. This could show the potential application of the soft hand motion sensor in virtual reality and telehealth. Copyright © 2022 by ASME.

关键词： Finite element method

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Cost-Effective Pressure Glove to Measure Forces & Orientation from a Chiropractor

Cost-Effective Pressure Glove to Measure Forces & Orientatio...

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Opportunity Research Scholars Symposium (ORSS)

作者： Carolyn Butler Iti Shah Jacob Kish Muhammad Salman Robotics & Mechatronics Kennesaw State University Department of Mechanical Engineering Kennesaw State University

Currently, there is no affordable, everyday use chiropractic force sensor. Devices that are used to teach chiropractic students, such as activators and drop tables, assist students in learning but do not give adequate feedback. Our design will be implementing the cheapest materials to make the most reliable force sensing glove which chiropractors can use for their daily work needs. Materials needed to complete this project include pressure sensors, electrical wires, resistors, a breadboard, Raspberry Pi Pico W, a laptop with Thonny software installed, and an analog to digital converter. Our design of the chiropractic force sensor glove will help reduce the amount of confusion when determining the correct amount of force to apply to a chiropractor’s patient. This research will also help to dramatically reduce any severe pain resulting from misplaced forces and pressure applied to chiropractic patients.

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