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19th International Conference on Software Technologies, ICSOFT 2024

作者： Sar, Kubra Ghadimi, Pezhman Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland

ISBN: (纸本)9789897587061

In response to the significant rise of Home Health Care (HHC) due to technological advances, an expanding elderly demographic, and increased disease outbreaks—intensified by the COVID-19 pandemic—there is a pressing demand for better management of the resulting medical waste. This paper explores the development of a web-based decision support system designed to optimize medical waste collection in the HHC sector. The system is built using Flask for backend processes, with a user interface crafted from HTML and CSS, and employs JSON files for data management. It features dynamic routing enabled by two metaheuristic algorithms: the Strength Pareto Evolutionary Algorithm (SPEA-2) and the Non-Dominated Sorting Genetic Algorithm (NSGA-II). The application supports real-time adjustments to vehicle routes and waste production sites, enhancing the efficiency of medical waste management by minimizing human intervention. The design allows for easy adaptation to different sectors and can be expanded to test various scenarios. © 2024 by SCITEPRESS – Science and Technology Publications, Lda.

关键词： Home health care

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ADVANCING AUTONOMOUS BACKING OF TRACTOR-TRAILER SYSTEMS: A DYNAMIC MODEL APPROACH

ADVANCING AUTONOMOUS BACKING OF TRACTOR-TRAILER SYSTEMS: A D...

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ASME 2024 International mechanical engineering Congress and Exposition, IMECE 2024

作者： Sah, Dhirendra K. Selekwa, Majura F. Mechatronics and Robotics Laboratory Department of Mechanical Engineering North Dakota State University FargoND58102 United States

ISBN: (纸本)9780791888636

Recent developments in sensing and information processing technology have seen an increased interest in applications of autonomous vehicles. Many driverless vehicles have been tested in various places and environments across the world. Automated backing of tractor-trailer systems is one of the problems yet to be fully addressed in this endeavor, even experienced drivers find it challenging to perform backup maneuvers of tractor-trailer systems in confined spaces. Achieving a fully automated backup maneuver of a tractor-trailer vehicle requires, among other things, the presence of a high-fidelity mathematical model of the vehicle. Often this problem is approached from a kinematic standpoint where the vehicle and the trailer are modeled using a bicycle structure formulation by concentrating weights at the axle centers only, which limits not only the maneuverability of the vehicle system but also its speed. This paper proposes a dynamic model of a tractor-trailer that treats the system as a finite structure of interconnected multi-bodies subjected to various forces and moments emanating from terramechanics and other non-conservative forces acting on the vehicle. This approach presents are more realistic motion of the vehicle even in confined spaces enabling it to avoid colliding with unintended objects during the maneuver. Simulation results by using such a model show that the vehicle can autonomously perform back up maneuvers in as limited clearances as 5% of the vehicle width at moderate speeds without significant slip. Copyright © 2024 by ASME.

关键词： Truck trailers

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Enabling the transfer matrix method to model serial-parallel compliant mechanisms including curved flexure beams

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International Journal of mechanical System Dynamics 2024年第1期4卷 48-62页

作者： Mingxiang Ling Lei Yuan Tingjun Zeng Xianmin Zhang Robotics and Microsystems Center Soochow UniversitySoochowChina Guangdong Key Laboratory of Precision Equipment and Manufacturing Technology School of Mechanical and Automotive EngineeringSouth China University of TechnologyGuangzhouChina

Compliant mechanisms with curved flexure hinges/beams have potential advantages of small spaces,low stress levels,and flexible design parameters,which have attracted considerable attention in precision engineering,metamaterials,robotics,and so ***,serial-parallel configurations with curved flexure hinges/beams often lead to a complicated parametric ***,the transfer matrix method is enabled for analysis of both the kinetostatics and dynamics of general serial-parallel compliant mechanisms without deriving laborious formulas or combining other modeling ***,serial-parallel compliant mechanisms with curved flexure hinges/beams can be modeled in a straightforward manner based on a single transfer matrix of Timoshenko straight beams using a step-by-step *** and numerical validations on two customized XY nanopositioners comprised of straight and corrugated flexure units confirm the concise modeling process and high prediction accuracy of the presented *** conclusion,the present study provides an enhanced transfer matrix modeling approach to streamline the kinetostatic and dynamic analyses of general serial-parallel compliant mechanisms and beam structures,including curved flexure hinges and irregular-shaped rigid bodies.

关键词： compliant mechanisms curved flexure beams transfer matrix method nanopositioner rigid-body dynamics

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Damage evolution and removal behaviors of GaN crystals involved in double-grits grinding

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International Journal of Extreme Manufacturing 2024年第2期6卷 469-484页

作者： Chen Li Yuxiu Hu Zongze Wei Chongjun Wu Yunfeng Peng Feihu Zhang Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China Key Laboratory of Microsystems and Microstructures Manufacturing(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China College of Mechanical Engineering Donghua UniversityShanghai 201620People’s Republic of China Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361005People’s Republic of China

Elucidating the complex interactions between the work material and abrasives during grinding of gallium nitride(GaN)single crystals is an active and challenging research *** this study,molecular dynamics simulations were performed on double-grits interacted grinding of GaN crystals;and the grinding force,coefficient of friction,stress distribution,plastic damage behaviors,and abrasive damage were systematically *** results demonstrated that the interacted distance in both radial and transverse directions achieved better grinding quality than that in only one *** grinding force,grinding induced stress,subsurface damage depth,and abrasive wear increase as the transverse interacted distance ***,there was no clear correlation between the interaction distance and the number of atoms in the phase transition and dislocation *** interacted distances between abrasives can decrease grinding force,coefficient of friction,grinding induced stress,subsurface damage depth,and abrasive wear during the grinding *** results of grinding tests combined with cross-sectional transmission electron micrographs validated the simulated damage results,*** atoms,high-pressure phase transition,dislocations,stacking faults,and lattice *** results of this study will deepen our understanding of damage accumulation and material removal resulting from coupling between abrasives during grinding and can be used to develop a feasible approach to the wheel design of ordered abrasives.

关键词： grinding double-grits molecular dynamics damage material removal gallium nitride

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Grasp Compliant Control Using Adaptive Admittance Control Methods for Flexible Objects 16th

Grasp Compliant Control Using Adaptive Admittance Control Me...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tang, Qirong Yang, Hao Wang, Wenrui Yu, Min Zhong, Lou Ma, Baoping Yue, Wenshuo Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University Shanghai201804 China

ISBN: (纸本)9789819964826

In this paper, an admittance controller based on a gray prediction model is designed for end-effector gripping force. The gray prediction model is used to predict environmental parameters in real-time and dynamically adjusts the reference position to reduce the steady-state force error. In this way, the dynamic response capability of impedance control can be improved, and its steady-state force error is also reduced. To this end, the designed method can grasp soft objects with unknown characteristics. The algorithm is validated by simulation experiments, which provide a theoretical basis for flexible fruit grasping. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Forecasting

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Adaptive MIMO PID Control of a Wheel-Leg Manipulator by Considering the Slippage Based on Deep Reinforcement Learning 11

Adaptive MIMO PID Control of a Wheel-Leg Manipulator by Cons...

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Asadi, A.H. Nikseresht, N. Korayem, A.H. Iran University of Science and Technology Robotics Research Laboratory School of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

Developing an adaptive gain tuning approach for PID control of nonlinear robotic systems is still a persistent and unresolved challenge. This problem becomes even more complex when dealing with unknown system dynamics and external disturbances. Despite this, the PID controller's simplicity has maintained its extensive utilization in industrial settings and robotics. In this paper, we utilize the deep deterministic policy gradient (DDPG) algorithm to enhance the functionality of an adaptive MIMO PID-type controller in order to control a wheel-leg manipulator. We enhance the robustness of the controller against uncertainties by incorporating the estimation of longitudinal and side slips caused by slippage through the utilization of a multi-layer perceptron (MLP) neural network within the system's modeling process. The outcomes in the MATLAB simulation environment are presented to affirm the effectiveness of the suggested system. © 2023 IEEE.

关键词： Wheels

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An Affordable Telerobotic System Architecture for Grasp Training and Object Grasping for Human-Machine Interaction

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Journal of engineering and Science in Medical Diagnostics and Therapy 2024年第1期71卷 011201页

作者： Hazra, Sudip Abdul Rahaman, Abdul Hafiz Shiakolas, Panos S. Mars Lab Mechanical & Aerospace Engineering The University of Texas at Arlington ArlingtonTX76019 United States Micro Medical Manufacturing Automation Robotics Systems Laboratory Mechanical & Aerospace Engineering The University of Texas at Arlington ArlingtonTX76019 United States

Due to mobility impairment, a person might rely on wheelchairs, canes, and crutches for assistance but could face challenges when performing tasks such as grasping and manipulating objects due to limitations in reach and capability. To overcome these challenges, a multidegree-of-freedom robotic arm with an anthropomorphic robotic hand (ARH) could be used. In this research, we propose an architecture and then implement it toward the development of an assistive system to assist a person with object grasping. The architecture interlinks three functional modules to provide three operation modes to calibrate the system, train a user on how to execute a grasp, synthesize grasps, and execute a grasp. The developed system consists of a user input and feedback glove capable of capturing user inputs and providing grasp-related vibrotactile feedback, a COPPELIASIM virtual environment emulating the motions of the ARH, and an underactuated ARH capable of executing grasps while sensing grasp contact locations. The operation of the developed system is evaluated to determine the ability of a person to operate it and perform a grasp using two control methods;using a synthesized grasp or under real-time continuous control. The successful evaluation validates the architecture and the developed system to provide the ability to perform a grasp. The results of the evaluation provide confidence in expanding the system capabilities and using it to develop a database of grasp trajectories of objects with different geometries. Copyright © 2023 by ASME.

关键词： Human robot interaction

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Kinematic Calibration of a Spherical Parallel Robot 11

Kinematic Calibration of a Spherical Parallel Robot

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Dindarloo, M.R. Mirjalili, A.S. Khorrambakht, R. Khalilpour, S.A. Cardou, P. Taghirad, H.D. Tehran Iran Laval University Robotics Laboratory Department of Mechanical Engineering Quebec City Canada

ISBN: (纸本)9798350308105

Kinematic calibration is essential for improving the accuracy of parallel robots by compensating for geometric errors. This paper presents a calibration method for spherical parallel robots using relative pose measurements. By comparing relative end-effector poses from the robot's forward kinematics to those from a ground truth measurement system, the method identifies kinematic parameters without relying on the robot base frame. An error model based on relative poses in the SE(3) manifold is formulated. Parameters are optimized using the Levenberg-Marquardt algorithm to minimize the error between measured and estimated relative poses. The methodology is demonstrated by calibrating the ARAS-DIAMOND spherical parallel robot. Results show improved repeatability and trajectory tracking after calibration, confirming its efficacy. © 2023 IEEE.

关键词： End effectors

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Self-Preloading Flexible Attachment Actuator with Multi-Mechanism Hierarchical Structure

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Journal of Bionic engineering 2024年第4期21卷 1830-1846页

作者： Zhouyi Wang Qingsong Yuan Zhiyuan Weng Junsheng Yao Xuan Wu Lei Li Weipeng Li Yiping Feng Zhendong Dai College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics210016NanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics210016NanjingChina Robotics Laboratory China Nanhu Academy of Electronics and Information Technology314000JiaxingZhejiangChina

Flexible attachment actuators are popular in a wide range of applications,owing to their flexibility and highly reliable ***,their reversible adhesion performance depends on the actual effective contact area and peel angle during ***,a good actuator must ensure a uniform and reliable pre-pressure load on an adhesive surface,to increase the effective contact area of the attached surface,thereby maximizing *** study was inspired by fusion bionics for designing a hierarchical attachment structure with vacuum-adsorption and dry-adhesion *** designed structure used the normal force under the negative pressure of a suction cup as a stable source of a pre-pressure *** optimizing the rigid and flexible structural layers of the attachment structure,a load was applied uniformly to the adhesion area;thus,reliable attachment was achieved by *** structure achieved detachment by exploiting the large deformation of a pneumatic structure under a positive *** hierarchical attachment structure achieved up to 85%of the optimal performance of the adhesive *** to its self-preloading and reliable attachment characteristics,the designed structure can be used as an attachment unit in various complex scenarios,such as small,lightweight climbing platforms and the transport of objects in long,narrow pipelines.

关键词： Multi-mechanism attachment Self-preloading Hierarchical structure Adhesion Vacuum adsorption

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