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Mechanical properties of graphene oxide?silk fibroin bionanofilms via nanoindentation experiments and finite element analysis

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Friction 2022年第2期10卷 282-295页

作者： Hyeonho CHO Joonho LEE Hyundo HWANG Woonbong HWANG Jin-Gyun KIM Sunghan KIM School of Mechanical Engineering Chung-Ang UniversitySeoul 06974Republic of Korea Department of Mechanical Engineering(Integrated Engineering) Kyung Hee UniversityGyeonggi 17104Republic of Korea Department of Mechanical Engineering POSTECHPohang 37673Republic of Korea Department of Robotics&Mechatronics.Korea Institute of Machinery&Materials Daejeon 34103Republic of Korea

Understanding the mechanical properties of bionanofilms is important in terms of identifying their *** primary focus of this study is to examine the effect of water vapor annealed silk fibroin on the indentation modulus and hardness of graphene oxide-silk fibroin(GO-SF)bionanofilms through nanoindentation experiments and finite element analysis(FEA).The GO-SF bionanofilms were fabricated using the layer-by-layer *** water vapor annealing process was employed to enhance the interfacial properties between the GO and SF layers,and the mechanical properties of the GO-SF bionanofilms were found to be affected by this *** employing water vapor annealing,the indentation modulus and hardness of the GO-SF bionanofilms can be ***,the FEA models of the GO-SF bionanofilms were developed to simulate the details of the mechanical behaviors of the GO-SF *** difference in the stress and strain distribution inside the GO-SF bionanofilms before and after annealing was *** addition,the load-displacement curves that were obtained by the developed FEA model conformed well with the results from the nanoindentation *** summary,this study presents the mechanism of improving the indentation modulus and hardness of the GO-SF bionanofilms through the water vapor annealing process,which is established with the FEA simulation models.

关键词： graphene oxide silk fibroin layer-by-layer(LbL) nanoindentation finite element analysis(FEA)

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Decomposition and Coordination-Based Iterative Identification for a Class of Separable Nonlinear Models 16th

Decomposition and Coordination-Based Iterative Identificati...

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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Zhou, Yihong Liu, Qinyao Yang, Dan School of Electronic and Information Engineering Suzhou University of Science and Technology Suzhou215009 China Department of Mechatronics and Robotics Xi’an Jiaotong Liverpool University Suzhou215123 China Department of Electromechanical Engineering Changzhou Vocational Institute of Textile and Garment Changzhou213164 China

ISBN: (纸本)9789819617760

This paper studies the parameter estimation problem for a class of separable nonlinear models, i.e., the RBF-ARX models. By exploiting the parameter separability property inherent in the RBF-ARX models, two gradient-based iterative sub-algorithms are derived to individually estimate the linear and nonlinear parameters based on the iterative search. Then a decomposition coordination-based iterative algorithm is proposed by integrating the sub-algorithms, which realizes high-precision iterative identification of all parameters. The effectiveness of the proposed algorithm is verified by a simulation example. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Nonlinear analysis

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The Design of a Triple-Band H-and Dual C-Shaped Planar Dipole Antenna for a Drone Application

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Progress In Electromagnetics Research C 2023年 134卷 103-117页

作者： Naktong, Watcharaphon Ruengwaree, Amnoiy Sakulchat, Suwat Promput, Sommart Department of Telecommunications Engineering Faculty of Engineering and Technology Rajamangala University of Technology Isan Nakhon Ratchasima30000 Thailand Department of Electronics and Telecommunication Engineering Faculty of Engineering Rajamangala University of Technology Thanyaburi Pathum Thani12110 Thailand Department of Electrical Engineering Faculty of Engineering and Architecture Rajamangala University of Technology Suvarnabhumi Phranakhon Si Ayutthaya13000 Thailand Department of Mechatronics and Robotics Engineering School of Engineering and Innovation Rajamangala University of Technology Tawan-ok Chonburi 20110 Thailand

This paper presents the study of an H-and dual C-shaped planar dipole antenna by adding and etching technique for the triple-band of drone operating frequencies. Tuning the frequency range was performed to cover the VOR standard of 108–118 MHz, GS standard of 328.6–335.4 MHz, and the DME standard of 962–1,231 MHz. The antenna structure was fabricated on a PCB of FR4 with a dielectric constant (Εr ) of 4.4 and thickness (h) of 1.6 mm (material with low cost, compact size, and easy to use). The reflection coefficient (S11) results of the simulation and measurement were in good agreement, which demonstrated the bandwidth frequencies of resonance frequency at 112 MHz (106– 118 MHz), 331.50 MHz (323–401 MHz), and 1,087.50 MHz (920–1,301 MHz). The antenna gains were 1.73, 3.43, and 6.31 dBi, respectively, and the antenna radiation pattern was omnidirectional when it was used with H-plane. It was found in experiment that the proposed antenna could be installed in a drone with sending and receiving signals fittingly as desired. Furthermore, the proposed antenna is lightweight at just 0.4 kg, less than the original drone antenna (1.8 kg), and it does not require changing the antenna in each frequency range. © 2023, Electromagnetics Academy. All rights reserved.

关键词： Drones

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Vision-Based Motion Control for an 8-DOF Robotic Mobile Manipulator

Vision-Based Motion Control for an 8-DOF Robotic Mobile Mani...

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Annual IEEE Systems Conference

作者： Yunze Li Haoxiang Lang Ying Wang Department of Automotive and Mechatronics Engineering Ontario Tech University Oshawa ON Canada Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

ISBN: (数字)9798331508180

ISBN: (纸本)9798331508197

This paper introduces a visual servoing control strategy designed for a vision-based robotic mobile manipulation system. The system continuously updates the motion of both the mobile base and its integrated manipulator by utilizing visual feedback from a stereo camera. A detailed description of the system components is provided, including the mobile robot, the robotic manipulator, and the stereo vision system, along with the design of a visual servoing controller grounded in Lyapunov's stability theory. The controller operates by adjusting the movements of the mobile base and manipulator to minimize the disparity between the current and desired pose, ultimately guiding the system to achieve the target position and orientation. To validate the kinematic model and assess the performance of the proposed control strategy, experiments were conducted using the Husky mobile robot in conjunction with a 6-DOF UR5 robotic manipulator. The results from these experiments substantiate the effectiveness and robustness of both the robot model and the implemented control law. These findings confirm the potential of the proposed system in achieving reliable and precise mobile manipulation tasks.

关键词： Visualization Computational modeling Kinematics Transforms Manipulators Cameras Visual servoing Mathematical models 6-DOF Mobile robots

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Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System 48

Optimum Design of a Wire-Driven Redundant Spherical Parallel...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Gamal, Ahmed Mohamed, Abdelfatah Iwata, Hiroyasu Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to such cases, their high cost and the lack of professional caregivers arise the need for robotic rehabilitation systems. On the other hand, the existing robotic systems for foot-drop rehabilitation are heavy and bulky. Therefore, in this paper, a lightweight foot-drop rehabilitation system based on a wire-driven redundant spherical parallel manipulator (RSPM) is developed. The proposed RSPM can provide 3-DOF movements to exercise the dorsiflexion, plantarflexion, supination, lateral and medial rotations. Kinematic and static analyses are performed for the proposed rob RSPM. In order to guarantee permissible positive tensions for the wires of the RSPM, a new performance index is introduced, called permissible tension index. Optimum design based on optimizing certain performance indices is carried out to obtain the proper dimensions of the movable platform design parameters of the proposed RSPM. A new index called permissible tension index is introduced to guarantee permissible positive tensions for the wires of the RSPM. A weighted sum of the global kinematic dexterity, global minimized transmission and the global permissible tension indices is considered for the objective function of the optimization process. The RSPM performance is evaluated over its range of motion and the reaction forces exerted on the ankle are shown to be tolerable by an injured ankle. Additionally, the Jacobian-based kinematic controller is shown to be capable of tracking the normal gait trajectories with acceptable tracking errors. © 2022 IEEE.

关键词： Kinematics

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Design and Hybrid Impedance Control of a Compliant and Balanced Wrist Rehabilitation Device 48

Design and Hybrid Impedance Control of a Compliant and Balan...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yellewa, Mwayi E Mohamed, Abdelfatah Ishii, Hiroyuki Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wrist rehabilitation robotic devices have delivered the repetitive and gradual training necessary to rehabilitate individuals with wrist impairments properly. Generally, there are two approaches for the design of the wrist rehabilitation devices. In one approach, the motors are placed on the forearm with complex transmission mechanisms to reduce the weight and inertia. In the other approach, rotary motors are placed close to the wrist joints with simple design, and this leads to high weight and inertia. In this paper, a simple design of two-degrees of freedom compliant and balanced wrist rehabilitation device is proposed. It can provide the radial-ulnar deviation and flexion-extension rehabilitation motions. In the proposed design, the servomotors that are placed close to the wrist joints are counterweight balanced to reduce the inertia and the required torques. The balancing is carried out by optimizing the center of mass of the device in the SolidWorks model. A custom design series elastic unit is proposed to be coupled to the servomotor to achieve the compliance for safe human-robot interaction. Based on the device dynamics modeled by ADAMS software, hybrid position and force tracking impedance control is developed for position and force tracking through the different therapeutic exercises. The device is shown to be capable of achieving the different therapeutic exercises compliantly such as the passive, active-assisted and isometric exercises. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Design and Development of a Humanoid Robot for Sign Language Interpretation

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SN Computer Science 2021年第3期2卷 220页

作者： Nihal, Ragib Amin Broti, Nawara Mahmood Deowan, Shamim Ahmed Rahman, Sejuti Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh

Purpose: With an indisputable complexity of communication for hearing and speaking impaired people, most sign language recognition systems utilize virtual reality or onscreen robots. This paper presents the design and development of a special and low-cost humanoid robot that can perform as a sign language interpreter. To the best of our knowledge, this is the first endeavor to fabricate a humanoid robot for Bangla sign language (BdSL) and Medical signs interpretation. Methods: Considering the plethora of design criteria and balancing between rigidity and flexibility 3D models of the robotics parts are designed and 3D printed ensuring cost efficiency. With the help of modern fabrication technology, the robot is developed and assembled with proper actuators and circuitry. An image dataset is built comprising 950 images for BdSL recognition and made publicly available. We utilized the Recurrent neural network (RNN) and Convolutional neural network (CNN) for deep learning model establishment and feature extraction from video and image data. Results: The developed humanoid robot has 43 Degrees of freedom (DoF) which includes two 15 DoF hands. It can imitate 16 BdSL alphabets in sign language, can capture a video or image input in real-time from the user, and recognize 10 medical signs and 38 alphabets of BdSL. The learning model for video-based medical sign recognition achieved 87.5% test accuracy. Image-based Bangla sign language recognition achieved an overall test accuracy of 98.19% in our dataset and 93.8% in another available dataset. Conclusion: Compared to the state-of-the-art robotic systems for sign language interpretation, our approach has achieved higher kinematic characteristics, remarkable results in sign recognition, and impressive competency in sign imitation;all at almost 10 times lower cost than the state-of-the-art systems. The results are evidence that our approach is efficient and suitable in helping hearing and speaking impaired people. Moreover, thi

关键词： Convolutional neural network Humanoid robot Recognition Recurrent neural network Sign language

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Exploring the Feasibility of Solar-Powered Autonomous Underwater Survey Vehicles for Extended Underwater Exploration

Exploring the Feasibility of Solar-Powered Autonomous Underw...

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IEEE Southeastcon

作者： Alan Bounyasith Ben Mueller Dongwoo Jin Uday Patel M. Hassan Tanveer Matthew Marshall Yusun Chang Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta GA USA

Autonomous Underwater Vehicles (AUVs) have emerged as vital tools in underwater ecological research. However, challenges such as limited operating range, energy constraints, and communication issues persist. This research investigates the practicality of autonomous survey vehicles by proposing a solution that integrates renewable energy sources, enhances communication capabilities during submersion, and facilitates long-term deployments. The study presents a solar-powered Autonomous Underwater Survey Vehicle (AUSV), comprising a submersible and a tethered solar buoy. The AUSV aims to operate autonomously along predefined paths, ensuring constant communication, extended operation cycles, and efficient data collection. The solar buoy provides GPS tracking, data transmission, and renewable energy generation, eliminating the need for periodic resurfacing. The submersible is equipped with thrusters, sensors, and data acquisition tools for oceanic measurements. The project's focus is on addressing limitations in traditional survey methods, providing an economical and efficient alternative for underwater exploration, with potential applications in ecological studies, water quality testing, and bathymetry. The presented proof-of-concept prototype lays the groundwork for future advancements in underwater infrastructure and scientific exploration. Keywords: Solar autonomous underwater vehicle, renewable energy, AUV, underwater mobile robots, oceanic survey, autonomous exploration.

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AI-Driven 3D Printing: Generative Gcode for Quality and Efficiency

AI-Driven 3D Printing: Generative Gcode for Quality and Effi...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Haque, Sean Tanveer, Muhammad Hassan Voicu, Razvan Cristian Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States

ISBN: (纸本)9798331504847

Artificial Intelligence (AI) is transforming the landscape of three-dimensional (3D) printing by enabling generative approaches that extend beyond conventional, parameter-tuning strategies. Rather than merely adjusting nozzle temperatures or speeds, modern AI models can create or refine Gcode paths themselves, seeking to balance objectives such as print strength, dimensional accuracy, and defect minimization. This paper introduces a holistic AI-driven workflow for automated Gcode generation. We demonstrate that generative Large Language Models (LLMs) can parse, synthesize, and optimize printing instructions, thus offering an alternative to human-engineered slicing parameters. Our approach incorporates a continuous feedback loop in which a predictive model evaluates each generated Gcode script for potential print outcomes. Experimental results illustrate strong correlations between the number of lines in generated Gcode and key performance metrics (tensile strength, defect rate, and dimensional accuracy). Notably, some scripts with fewer lines reduced material defects yet slightly degraded dimensional accuracy, while more complex scripts improved measurement fidelity but also introduced minor flaws. These findings illuminate the trade-offs in AI-driven 3D printing and highlight the method's capacity for ongoing improvement. By exploring future expansions, such as continuous-function printing trajectories and multi-material prints, this study shows that AI-based Gcode generation can significantly advance 3D printing quality and customization across diverse applications. © 2025 IEEE.

关键词： Model predictive control

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ChildACT: Child Action Recognition Dataset in RGB Data 20

ChildACT: Child Action Recognition Dataset in RGB Data

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20th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2025

作者： Sandygulova, Anara Yershov, Andrey Zhanatkyzy, Aida Telisheva, Zhansaule School of Engineering and Digital Sciences Nazarbayev University Department of Robotics and Mechatronics Astana Kazakhstan

ISBN: (纸本)9798350378931

Human action recognition is concerned with analysing, understanding and synthesizing kinematic and kinetic data. Data-driven computer vision solutions have advanced the progress in the field of action recognition while it would not be possible without large and publicly available datasets. While there are numerous datasets available for adult action recognition, child-centered action recognition efforts are still scarce. This paper presents a dataset that consists of video recordings of 200 children of different age and gender groups performing seven actions (boxing, waving, clapping, running, jogging, walking towards the camera, and walking from side to side). Two camera perspectives are provided, with a top view and a frontal view in RGB format. The dataset provides an opportunity for kinematic analysis of children motion while it also aims to bridge the performance gap between activity recognition systems for adults and children. © 2025 IEEE.

关键词： Pattern recognition systems

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