检索结果-内蒙古大学图书馆

Computational and experimental investigations of a microfluidic mixer for efficient iodine extraction using carbon tetrachloride enhanced with gas bubbles

引用

Chinese Physics B 2023年第11期32卷 518-526页

作者： Siddique Muhammad Kashif 孙林李松晶 Department of Fluid Control and Automation School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China

Numerous studies have been conducted on microfluidic mixers in various microanalysis systems, which elucidated the manipulation and control of small fluid volumes within microfluidic chips. These studies have demonstrated the ability to control fluids and samples precisely at the microscale. Microfluidic mixers provide high sensitivity for biochemical analysis due to their small volumes and high surface-to-volume ratios. A promising approach in drug delivery is the rapid microfluidic mixer-based extraction of elemental iodine at the micro level, demonstrating the versatility and the potential to enhance diagnostic imaging and accuracy in targeted drug delivery. Micro-mixing inside microfluidic chips plays a key role in biochemical analysis. The experimental study describes a microfluidic mixer for extraction of elemental iodine using carbon tetrachloride with a gas bubble mixing process. Gas bubbles are generated inside the microcavity to create turbulence and micro-vortices resulting in uniform mixing of samples. The bubble mixing of biochemical samples is analyzed at various pressure levels to validate the simulated results in computational fluid dynamics(CFD). The experimental setup includes a high-resolution camera and an air pump to observe the mixing process and volume at different pressure levels with time. The bubble formation is controlled by adjusting the inert gas flow inside the microfluidic chip. Microfluidic chip-based gas bubble mixing effects have been elaborated at various supplied pressures.

关键词： microfluidic mixer iodine extraction CFD simulation micro-mixing properties

来源：评论

学校读者我要写书评

暂无评论

A Recursive System Identification With Non-Uniform Temporal Feedback Under Coprime Collaborative Sensing

引用

ASME Letters in Dynamic Systems and control 2023年第2期3卷 021010页

作者： Ouyang, Jinhua Chen, Xu Mechatronics Automation and Control Systems Laboratory Department of Mechanical Engineering University of Washington SeattleWA98195 United States Mechatronics Automation and Control Systems Laboratory Department of Mechanical Engineering University of Washington SeattleWA98195 United States

We present a system identification method based on recursive least-squares (RLS) and coprime collaborative sensing, which can recover system dynamics from non-uniform temporal data. Focusing on systems with fast input sampling and slow output sampling, we use a polynomial transformation to reparameterize the system model and create an auxiliary model that can be identified from the non-uniform data. We show the identifiability of the auxiliary model using a Diophantine equation approach. Numerical examples demonstrate successful system reconstruction and the ability to capture fast system response with limited temporal feedback. Copyright © 2023 by ASME.

关键词： Feedback

来源：评论

学校读者我要写书评

暂无评论

Design & Implementation of a Healthcare Kiosk: An Effective Way to Collect Patient Vitals for Better Management of Non-Communicable Diseases 6

Design & Implementation of a Healthcare Kiosk: An Effective ...

引用

6th International Conference on Robotics and Automation in Industry, ICRAI 2024

作者： Ahmad, Sualiha Zahid, Maheen Raza, Ali UET Ihya Lab for Mechatronics and Resucitation Research Mechatronics and Control Engineering Department Lahore Pakistan UET Ihya Lab for Mechatronics and Resucitation Research Biomedical Engineering Department Lahore Pakistan

ISBN: (纸本)9798350355703

Health monitoring systems have become essential in modern healthcare by enabling continuous observation of vital signs through wearable and home-based monitoring devices. However, better management of non-communicable diseases (NCDs) requires multiple such devices integrated into a comprehensive, easy-to-use, and do at-home kiosk/station where the patients can log their vitals themselves. The NCD management requires sensors for blood pressure, glucose levels, oxygen saturation, cardiac activity, and temperature. Therefore, these key sensory devices have been integrated into kiosk, including sensor-based automatic blood pressure monitor, OCR-based blood glucose monitor, pulse oximeter, electrocardiograph sensor, and temperature sensor. Complete details of the mechatronic system have been provided in the manuscript. Each episode of vitals collection is logged to create a personal chronicle for both the patients and the doctors to analyze vis-a-vis the prescribed medicine, diet, and exercise-based management paradigms. Enhancements in accessibility and efficiency have been achieved through integration with telemedicine and AI, enabling remote monitoring and timely medical interventions. This system allows the patients to manage their health without frequent hospital visits, improving patient outcomes and promoting sustainable healthcare. © 2024 IEEE.

关键词： Blood pressure

来源：评论

学校读者我要写书评

暂无评论

Size Matters: Exploring the Impact of Scaling on Quadruped Robot Dynamics 25th

Size Matters: Exploring the Impact of Scaling on Quadruped R...

引用

25th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2024

作者： Rahvar, Faraz Yilmaz, Abdurrahman Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783031720611

Quadruped robots are indispensable for specialized tasks, particularly in disaster scenarios like earthquakes, where their mobility surpasses that of fixed robots. However, altering their dimensions significantly impacts their mechanical requirements and control systems. This study investigates and compares the principal mechanical parameters affecting the control systems of quadruped robots during scaling, aiming to understand how scalability influences their design across different sizes. Using a standard quasi-direct driven commercial quadruped robot1(Unitree A 1) model featuring dual coaxial motor design and serial link architecture actuators, simulations are conducted at four different sizes, each expanding the robot size by 30%. These simulations analyze static and dynamic forces as the robot walks on a flat surface at a constant speed. To fortify our findings, simulations employ three trajectory scenarios, in each scenario, four robots are scaled in length, increasing by a coefficient of 0.3 from robot 1 to robot 4. The first and second scenarios feature different trajectory lengths, while the third scenario increases the trajectory height while maintaining the length of the second scenario. Specifically, we examine the required torque, energy consumption of the robot motors, reaction forces between the robot feet and terrain, and the mechanical cost of transport. These outcomes encompass critical components of the robot from a mechanical analysis perspective, including joints, providing valuable references for various actuator architecture designs. Our findings reveal a logical pattern in the increase of torques, power consumptions, and reaction forces as the robot scales. These insights lay the groundwork for developing a scalable control architecture for legged robots. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

Accelerated discovery of eutectic compositionally complex alloys by generative machine learning

引用

npj Computational Materials 2024年第1期10卷 1091-1102页

作者： Z.Q.Chen Y.H.Shang X.D.Liu Y.Yang Department of Mechanical Engineering City University of Hong KongHong KongChina City University of Hong Kong(Dongguan) DongguanGuangdongChina College of Mechatronics and Control Engineering Shenzhen UniversityShenzhenChina Department of Materials Science and Engineering City University of Hong KongKowloonChina Department of System Engineering College of EngineeringCity University of Hong KongKowloonChina

Eutectic alloys have garnered significant attention due to their promising mechanical and physical properties,as well as their technological ***,the discovery of eutectic compositionally complex alloys(ECCAs)(*** entropy eutectic alloys)remains a formidable challenge in the vast and intricate compositional space,primarily due to the absence of readily available phase *** address this issue,we have developed an explainable machine learning(ML)framework that integrates conditional variational autoencoder(CVAE)and artificial neutral network(ANN)models,enabling direct generation of *** overcome the prevalent problem of data imbalance encountered in data-driven ECCA design,we have incorporated thermodynamicsderived data descriptors and employed K-means clustering methods for effective data *** our ML framework,we have successfully discovered dual-or even tri-phased ECCAs,spanning from quaternary to senary alloy systems,which have not been previously reported in the *** findings hold great promise and indicate that ourML framework can play a pivotal role in accelerating the discovery of technologically significant ECCAs.

关键词： eutectic alloys alloy

来源：评论

学校读者我要写书评

暂无评论

Smooth super-twisting sliding mode control design with high order super-twisting observer for speed tracking control of permanent magnet synchronous motor drive system

引用

ISA Transactions 2025年 162卷 227-242页

作者： Ullah, Ameen Ullah, Safeer Zhang, Zhang Jianfei, Pan College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Electrical Engineering Quaid-e-Azam College of Engineering & Technology Sahiwal57000 Pakistan

This paper presents a novel sliding mode control design for enhancing the reference speed tracking of permanent magnet synchronous motors under uncertain load disturbances and parametric variations. The proposed approach integrates a high-order super-twisting observer with a smooth super-twisting sliding mode control law to achieve a precise and rapid tracking performance. A smooth super-twisting sliding mode control is designed to ensure fast convergence of the speed tracking errors. Nonetheless, the incomplete state information resulting from lumped disturbances induces chattering in the system. To address this issue, a high-order super-twisting observer is devised to estimate the lumped disturbance and provide feedback compensation, thereby augmenting the robustness of the system. This study examines closed-loop finite-time stability using the Lyapunov function theory. An extensive comparison of the experimental and simulation results of the proposed control design with those of the classical sliding mode and super-twisting sliding mode shows its superiority and effectiveness. The proposed algorithm demonstrated outstanding dynamic robustness and tracking performance for managing external load disturbances and model uncertainties. © 2025

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Extended Kalman Filter Based Nonlinear Probabilistic Model Predictive control of an Autonomous Motorcycle 11

Extended Kalman Filter Based Nonlinear Probabilistic Model P...

引用

11th International Conference on Electrical and Electronics engineering, ICEEE 2024

作者： Çerçi, Nurettin Yalçin, Yaprak Istanbul Technical University Mechatronics Engineering Department Istanbul Turkey Istanbul Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (纸本)9798350362541

This work focuses on the control of a nonlinear autonomous motorcycle model using Probabilistic Model Predictive control (MPC). The main purpose of this work is to control the speed, yaw angle and roll angle of the motorcycle while keeping its balance during a maneuver. The Probabilistic MPC takes into account the probabilistic disturbances acting on the control inputs or the state variables. The cost function of the optimization of this proposed nonlinear probabilistic MPC is different than the cost of traditional deterministic MPC, such that, it contains terms that represent the mean of the state variable which is calculated with the help of an Extended Kalman Filter (EKF) and also the terms as the functions of covariances of the state variables and control inputs. The optimization algorithm is fed with these mean and covariance values every time instant, then the controller calculates the optimal control sequence to apply it to the system model. The speed of the motorcycle, the yaw angle and, the roll angle of the motorcycle are controlled with good efficiency. © 2024 IEEE.

关键词： Extended Kalman filters

来源：评论

学校读者我要写书评

暂无评论

Human-Centered Design and Development of an Elderly Care Robot 6

Human-Centered Design and Development of an Elderly Care Rob...

引用

6th International Conference on Robotics and Automation in Industry, ICRAI 2024

作者： Sajid, Ali Sultan, Muhammad Noor Ishfaq, Muhammad Muaviz Raza, Ali University of Engineering and Technology Lahore Human Centered Robotics Lab of NCRA Department of Mechatronics and Control Engineering Lahore Pakistan

ISBN: (纸本)9798350355703

Constituting to the demographic age shift in many regions of the world, technological advancement in the care sector, to deliver quality services to the elders, is now in more demand than ever. One such advancement is the evolution of socially assistive and care robots that promise sustainable, reliable, and safe human-robot interaction to meet geriatric needs. This paper presents the design and development of Silver Companion: a geriatric care robot for the elderly. The target audience chosen for the research phase is the socially isolated elderly community of East Asia and Central Europe which make up about 45% of their total elderly population. Considering the human-centered design paradigm, the technical and psychological aspects of the robot have been devised. The form and functions of the robot have been based on the product design principles. The whole development journey has been subjected to the identified elderly needs and the robot has been tested under multiple use-case scenarios, ideated for possibly fulfilling those needs. The robot has been equipped with assistive and interactive features like voice interaction, complementing micro-gestures and robot expressions, seamless navigation, and robot perception enhanced by a tilt-pan mechanism, all contributing towards making the robot capable of uplifting the well-being and quality of life of seniors. © 2024 IEEE.

关键词： Care Robots Geriatric Care Human Centered Design Human-Robot Interaction Micro Gestures Navigation Robot Expressions Robot Field of View Socially Assistive Robots Voice Interaction

来源：评论

学校读者我要写书评

暂无评论

Enhancing Visual Odometry Accuracy through Block-Based Techniques

Enhancing Visual Odometry Accuracy through Block-Based Techn...

引用

2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024

作者： Atilgan, Cem Mercimek, Muharrem Department of Mechatronics Engineering Kırklareli University Kirklareli Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9798350379433

Visual odometry (VO) is a method used to estimate the spatial movement of vehicles or camera-equipped systems by analyzing visual data from the environment. It is a cost-effective and accurate alternative to systems like Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS), and is particularly favored in autonomous vehicles, unmanned aerial vehicles (UAVs), and augmented reality applications. This study focuses on the performance challenges faced by visual odometry systems in low-light environments, where traditional systems may not be effective and presents a novel approach, Contrast-Adaptive Block Optimization (CABO), to enhance VO in low-light environments. CABO divides images into blocks and selectively applies Contrast Limited Adaptive Histogram Equalization (CLAHE) to darker regions, optimizing image quality without compromising natural appearance. By improving feature extraction and matching, CABO enhances VO accuracy and robustness. We utilized the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) dataset, we demonstrate the effectiveness of the proposed method in improving position and orientation estimation under challenging lighting conditions. © 2024 IEEE.

关键词： Inertial navigation systems

来源：评论

学校读者我要写书评

暂无评论

Real-Time Simulation for controlling the Mobility of an Unmanned Ground Vehicle Based on Robot Operating System 22nd

Real-Time Simulation for Controlling the Mobility of an ...

引用

22nd Asia Simulation Conference, AsiaSim 2023

作者： Badi, Abubaker Ahmed H. Buyamin, Salinda Abidin, Mohamad Shukri Zainal Hassan, Fazilah Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Johor Bahru81310 Malaysia

ISBN: (纸本)9789819972425

Robot Operating System (ROS) is a framework platform that runs on UNIX operating systems and enables more efficient operation and administration of different kinds of robots. The Jaguar 4 × 4 Wheel Mobile Robot by Dr. Robot Inc. is one example of an unmanned ground vehicle (UGV) that can be controlled using ROS. Dr. Robot Inc. has released a Windows-based software development kit (SDK) and open-source code to allow developers to develop this kind of robot. However, to manipulate this robot’s control and monitoring by ROS, a set of Linux command lines should be executed to launch the robot without the ability to use Dr. Robot’s SDK. Therefore, in order to benefit from the provided open-source code with ROS packages with Python and to avoid the need for running multiple Linux command lines, this paper presents a Python-based SDK and a real-time simulation for controlling and monitoring the movement of the Jaguar robot. The methodology technique that is considered in this paper is to analyze the open-source code to access all the robot’s sensor data and nodes using the proposed SDK, then simulate the hardware (the Jaguar Mobile Robot) with ROS Visualization (RViz) 3D software in real-time. The practical experiment is carried out by using a keyboard and a gamepad as controllers to achieve mobility control. The results show the robot’s position and orientation visualized by RViz, as well as its turn angle (theta), linear and angular velocities in a 2D space x-y plot. Using the RViz visualization tool and with the aid of the proposed SDK, it is straightforward to access and monitor all topics and nodes in real-time. Consequently, algorithms such as obstacle avoidance and object tracking could be readily tested and implemented in future works. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Open source software

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：