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3rd Innovative Product Design and Intelligent Manufacturing System, IPDIMS 2021

作者： Sulaiman, Shifa Sudheer, A.P. Mechatronics Laboratory Mechanical Engineering Department NIT Calicut Calicut India

ISBN: (纸本)9789811946059

Most of the path planning algorithms used for avoiding obstacles are prone to higher computational complexity. Hybrid algorithms employed for the static obstacle collision avoidance are proved to be efficient as compared to conventional algorithms. In this paper, a hybrid algorithm that consumes less computational time during static obstacle avoidance is introduced. A hybrid algorithm combining Lazy Probabilistic Road Map (PRM) algorithm as well as Life Long Planning (LPA) star algorithm is employed for generating an optimized path from start node to end node. Lazy PRM technique reduces the computational time for generating nodes and edges connecting the generated nodes. LPA star algorithm determines the optimized path connecting the local edges formed using Lazy PRM technique. A non-holonomic mobile platform designed for carrying upper body humanoid robot is used in this paper for the experimental evaluation of the proposed hybrid algorithm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stars

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Lower Limb Joint Torque Estimation via Bayesian Regularized Backpropagation Neural Networks 2

Lower Limb Joint Torque Estimation via Bayesian Regularized ...

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

作者： Narayan, Jyotindra Gritli, Hassène Dwivedy, Santosha K. 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

Prior gait analysis has played a crucial role in assessing overall health and well-being, particularly in individuals of different age groups. Nevertheless, acquiring gait data has necessitated the in-person presence of participants, incurring potential expenses. We introduce a deep learning technique called Bayesian regularized backpropagation neural network (BR-BPNN) to estimate joint torques in lower-limb motion based on anthropometric data and joint movements. The study collects joint movement data from 40 healthy participants (25 males and 15 females) spanning ages 7 to 65, utilizing an established motion-capture system. The input data encompassed various parameters such as age, gender, total body mass, height, thigh length, calf length, ankle-foot length, thigh mass, calf mass, ankle mass, and joint angles for the hip, knee, and ankle. The output data included joint torques calculated for a simplified leg model using the inverse dynamics method derived from the Euler-Lagrangian principle. We presented the conceptual details of the proposed BR-BPNN model and contrast model named Levenberg-Marquardt-based BPNN (LM-BPNN). Performing a comparative analysis, the results revealed that the BR-BPNN model (Rtrain = 0.985, Rtest = 0.955) excelled in accurately estimating joint torques compared to the LM-BPNN model (Rtrain = 0.973, Rtest = 0.924). Furthermore, the BR-BPNN model is found to be effective by 87.19%, 77.87%, and 72.73% in estimating hip, knee, and ankle joint torques for a 51-year-old male subject from the testing dataset. © 2024 IEEE.

关键词： Neural network models

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Investigating the Failure Mechanisms During the Epoxy-Coated Bearing Steel–Steel and Uncoated Bearing Steel–Steel Interactions (Crack Formation, Surface Tears, Schallamach-like Waves) and Their Corrosion Resistance in NaCl Environment

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Journal of Bio- and Tribo-Corrosion 2024年第4期10卷 1-21页

作者： Alavanthar, Amirthalakshmi Bhaumik, Shubrajit Paleu, Viorel Department of Science and Humanities Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Tamil Nadu Chennai601103 India Mechanical Engineering Mechatronics and Robotics Department Mechanical Engineering Faculty "Gheorghe Asachi" Technical University of Iași 43 Prof. D. Mangeron Bld Iasi700050 Romania

The anti-wear properties of coatings are important to enhance the life of the steel surfaces. Thus, understanding the wear mechanisms of any coating matrix is important while designing and choosing a new coating matrix on steel surfaces. The present work investigated the thermal, mechanical, anti-wear, and anti-corrosion performance of semi-liquid epoxy-coated EN8 steel surfaces under reciprocating motion. The semi-liquid LY556 epoxy mixed with HY951 hardener was used to coat EN8 surfaces. The tribo-tests were conducted at different loads (5 N, 10 N, 15 N, and 20 N), spindle frequencies (1 Hz, 2 Hz, 3 Hz, and 4 Hz), and temperatures (40 °C, 60 °C, 80 °C, and 100 °C), maintaining a stroke length of 15 mm. The differential scanning calorimeter readings indicated the glass transition temperature of the cured epoxy to be 80 °C with the endothermic peak at 119 °C. The thermal degradation of the cured epoxy was found to be 330 °C using a thermal gravimetric analyzer. Artificial neural network models indicated that the frictional coefficient of the coated EN 8 samples increased with an increase in load, frequency, and temperature with the minimum frictional coefficient at 40 °C (0.0767 ± 0.014). The coating peel-off was observed from 80 °C. The optical microscope and scanning electron microscope images of the coating wear scar exhibited cracks and Schallamach-like material waves. Additionally, the corrosion studies indicated a significant corrosion resistance of the coated bars even after 120 h as compared to non-coated bars. Thus, the present work will be highly beneficial in developing new anti-wear and anti-corrosive coatings for steel surfaces. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Cracks

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Enhanced Optimal Control of a Magnetically Actuated Capsule Endoscope Using Electromagnetic Coils Considering Small Intestine Dynamics 12

Enhanced Optimal Control of a Magnetically Actuated Capsule ...

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

作者： Jamali, Mahdi Zarifi Khameneh, Mohammadreza Sarkhosh, Mohammadhossein Pishkenari, Hossein Nejat Sharif University of Technology Micro/Nano Robotics Laboratory Department of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Active locomotion of capsule endoscopes has become a prominent progress in minimally invasive diagnostic procedures. Utilizing external magnetic fields for this purpose enables contactless actuation and enhanced maneuverability. This study presents an optimal control technique for magnetically actuated capsule endoscopes (MACE) within the small intestine, using a modified OCTAMAG setup. The objective is to minimize input currents while ensuring accurate path tracking, thereby preventing coil overheating and avoiding actuation inaccuracies. A correction force is also incorporated into the controller to stabilize it against external disturbances. The proposed method is evaluated using a path inspired by the small intestine and compared to conventional PID control. Results show that the optimal controller achieves superior path tracking while maintaining input currents within safe limits. Additionally, the disturbance rejection capabilities of the optimal controller are comparable to those of the PID. © 2024 IEEE.

关键词： Disturbance rejection

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Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

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Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

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Recursive Input-Output Linearization for Slow-Fast Realization of Nonholonomic Hamiltonian Control Systems

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IEEE Transactions on Automatic Control 2024年第6期70卷 3571-3586页

作者： Gzenda, Vaughn Chhabra, Robin Carleton University Autonomous Space Robotics Laboratory OttawaONK1S 5B6 Canada Toronto Metropolitan University Department of Mechanical Industrial and Mechatronics Engineering TorontoONM5B 2K3 Canada

In this paper, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using the kinetic energy metric and the geometry of friction forces. The (slow) invariant manifold is identified by a set of invariance conditions resulting in partial differential equations that generally do not have an analytic solution. We approximate the invariant manifold along with the control inputs with power series and show that using this approximation the invariance conditions admit an inherent recursion. Accordingly, we develop a recursive procedure to perform dynamic input-output linearization of the approximated slow system. We consider the output trajectory tracking problem using a PD control law on the Nth order approximation of the invariant manifold. Closed-loop stability analysis is performed on both the invariant manifold and the full phase space of the system. We prove that if the internal dynamics of the nonholonomic system is exponentially stable, then the perturbed system remains asymptotically stable. Moreover, we prove that the output error dynamics is uniformly bounded when applying the approximated control law, with bounds dependent on the control gains and strength of the friction force. Our approach is illustrated through a numerical case study on a differential robot. © 1963-2012 IEEE.

关键词： Kinetic energy

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Development and Experimental Evaluation of an Endoscopic Capsule Robot Equipped With a Fail-safe Biopsy Mechanism 12

Development and Experimental Evaluation of an Endoscopic Cap...

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

作者： Zarifi Khameneh, M.R. Tolouei, Z. Yousefi, M. Pishkenari, H. Nejat Alasty, A. Sharif University of Technology Micro/Nano Robotics Laboratory Department of Mechanical Engineering Tehran Iran Sharif University of Technology Department of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Endoscopic capsule robots (ECRs) have introduced feasible and painless gastrointestinal diagnostics to endoscopic procedures. To further enhance the capability of these revolutionary devices, many research groups have attempted to equip ECRs with functions such as active locomotion, drug delivery, and biopsy. This study addresses the challenges related to the biopsy functionality of ECRs by introducing a remote biopsy mechanism adapted from the magnetic spring concept. The mechanism consists of one axial permanent magnet (PM) fixed inside the ECR's body, a radial PM free to translate along the device length and rotate perpendicular to its magnetization direction, and conventional biopsy forceps. The presented ECR can locomote directly using external gradient magnetic fields or through rotation via external uniform magnetic fields. Additionally, the proposed biopsy mechanism ensures reliable actuation and a fail-safe design. To evaluate the performance of this design, a prototype with a diameter of 12 mm and a length of 30 mm was fabricated, and its functionality in active rotational locomotion, orientation control, and biopsy actuation was demonstrated through experiments. © 2024 IEEE.

关键词： Endoscopy

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Strain sensor on a chip for quantifying the magnitudes of tensile stress on cells

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Microsystems & Nanoengineering 2024年第3期10卷 305-315页

作者： Yuyin Zhang Yue Wang Hongze Yin Jiahao Wang Na Liu Songyi Zhong Long Li Quan Zhang Tao Yue School of Mechatronics Engineering and Automation Shanghai UniversityShanghaiChina School of Future Technology Shanghai UniversityShanghaiChina Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhouChina Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghaiChina Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghaiChina

During cardiac development,mechanotransduction from the in vivo microenvironment modulates cardiomyocyte growth in terms of the number,area,and arrangement ***,the response of cells to different degrees of mechanical stimuli is ***-on-a-chip,as a platform for investigating mechanical stress stimuli in cellular mimicry of the in vivo microenvironment,is limited by the lack of ability to accurately quantify externally induced ***,previous technology lacks the integration of external stimuli and feedback sensors in microfluidic platforms to obtain and apply precise amounts of external ***,we designed a cell stretching platform with an in-situ *** in-situ liquid metal sensors can accurately measure the mechanical stimulation caused by the deformation of the vacuum cavity exerted on *** platform was applied to human cardiomyocytes(AC16)under cyclic strain(5%,10%,15%,20 and 25%),and we found that cyclic strain promoted cell growth induced the arrangement of cells on the membrane to gradually unify,and stabilized the cells at 15%amplitude,which was even more effective after 3 days of *** platform’s precise control and measurement of mechanical forces can be used to establish more accurate in vitro microenvironmental models for disease modeling and therapeutic research.

关键词： stress deformation arrangement

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Path Tracing and Validation of Omni Wheeled Mini Robot Using Visual Feedback

Path Tracing and Validation of Omni Wheeled Mini Robot Using...

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International Conference on Advanced Computer Control, ICACC

作者： Aftaab Ahamed Karthik Jayaraj Shibin Fazil Nikitha S Sudheer A P Robotics Interest Group Mechatronics/Robotics Laboratory National Institute of Technology Calicut Mechanical Engineering Department Mechatronics/Robotics Laboratory National Institute of Technology Calicut

ISBN: (数字)9798350379136

ISBN: (纸本)9798350379143

Holonomic drives are gaining popularity in many fields due to their versatility in various industrial applications. The ability of the holonomic drive robots to move in all directions makes it distinct from other drive mechanisms. Open-loop control of omnidirectional bots can be achieved with relative ease whereas automating it is not as easy. When trying to create an automated system with lower cost, off the shelf components and hardware, other problems may arise as a result of the poor performance of the components. Here a three wheeled omnidirectional robot that can trace a predefined path without human intervention has successfully been developed.

关键词： Location awareness Visualization Costs Service robots Debugging Drives Hardware Mobile robots Robots Wireless fidelity

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Hydrogel bioadhesives harnessing nanoscale phase separation for Achilles tendon repairing

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Nano Research 2024年第2期17卷 778-787页

作者： Jun Zhang Xingmei Chen Jingseng Lin Pei Zhang Iek Man Lei Yue Tao Jiajun Zhang Tian Luo Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055China Research and Innovation Center SKG Health TechnologyShenzhen 518000China SAFE(Shenzhen)Medical Technology Company Limited Shenzhen 518000China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhen 518055China

Repairing Achilles tendon has emerged as a long-standing challenge in the orthopaedic *** suture is the gold standard for re-attaching and repairing the fractured Achilles tendons in clinical surgeries,it is still subjected to numerous adverse side-effects,including chronic inflammatory,tendon tissue re-rupture,scar formation,and post-surgical peritendinous *** this work,we develop a class of hydrogel bioadhesives with tailored nanoscale phase separation for Achilles tendon *** address the existing limitations of sutures,our hydrogel bioadhesives encompass three core functionalities:(i)instant and tough adhesion to Achilles tendon tissues,(ii)extraordinary long-term adhesion robustness under wet and dynamic in vivo conditions,and(iii)anti-postsurgical peritendinous *** our hydrogel bioadhesives with sutures,such kind of integrated approach enables a conformable yet robust biointerface with the tendon tissues,and prevents the fibroblast migration and formation of connective tissues,thus facilitating the tendon *** hydrogel bioadhesives reported here open up new opportunities for the repairing of fractured Achilles tendons in diverse and complicated clinical scenarios.

关键词： hydrogels phase separation bioadhesion robustness tendon repairing

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