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

作者： Cote, Vincent Cardou, Philippe Laval University Robotics Laboratory Department of Mechanical Engineering Quebec City Canada

ISBN: (纸本)9798350308105

Cable-driven parallel robots (CDPRs) are a subset of conventional parallel robots which actuate an end-effector using arrangements of unilaterally-constrained cables. They allow for large workspaces and advanced end-effector dynamics, but require substantial supporting structures to be effective. This is problematic when deploying them in space-constrained applications. This paper studies a passive counterweight system proposed for allowing the deployment of CDPRs in applications with limited space availability. The need for such easily installed structures is explained and a quasi-static suspended 2-DoF CDPR is modelled. A counterweight system is then proposed and its kinetostatic model is developed. Finally, this model is utilized within an optimisation algorithm to determine system dimensions that achieve optimal moment cancellation in the supporting structure. © 2023 IEEE.

关键词： End effectors

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Gait dynamic stability evaluation on inclined surfaces for inverted or everted feet walking

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Fuss und Sprunggelenk 2024年第4期22卷 254-268页

作者： Raza, Anam Mahmood, Imran Sultana, Tayyaba Sultana, Salma Dehghani-Sanij, Abbas A. Department of Zoology Government College University Faisalabad Pakistan Mechatronics and Control Engineering Department Faisalabad Campus UET Lahore Pakistan Institute of Design Robotics and Optimisation School of Mechanical Engineering University of Leeds United Kingdom

Background: This study investigates gait dynamic stability on inclined surfaces while walking with foot rotational impairments such as everted and inverted feet. Walking stability is assessed during gait transitional periods i.e. weight loading and unloading phases. Methods: Foot rotational impairments (eversion and inversion) are imitated using wedged foot insoles. A total of ten healthy subjects performed five trials for each of the inverted, everted, and normal feet conditions. Experimental data was collected using a twelve-camera motion capture system and a force plate installed on an inclined platform. Lower limb joint kinematics were computed in Visual-3D motion analysis software to evaluate the degree of foot rotational impairments. Gait dynamic stability was assessed by analysing the centre of mass and centre of pressure signals as neuromechanical input and output responses respectively. Both signals were modelled in time and frequency domains and stability margins were quantified by applying Nyquist and Bode (N&B) methods from control engineering theory. Results: Stability margins quantified from N&B methods illustrated the loading phase as stable and the unloading phase as unstable gait transitions. During the loading phase, both rotational impairments illustrated a decrease in stability (p < 0,05) for the ramp ascent walk and an increase in stability (p < 0,05) for the ramp descent walk. However, there was no difference observed for the respective unloading phases. Results from neuromotor outputs (CoP-velocity) illustrated a strong interlimb correlation (p < 0,001) during gait transitional periods, implying a compensatory stability interaction exists between opposite limbs. Further, stabilities quantified from outputs were found greater in magnitudes than the instability quantified from inputs illustrating the robustness of neuromotor balance control. Conclusions: Results support the hypothesis that gait stability gets affected while walking with rotation

关键词： Balance control Foot Gait stability Inclined walk Rotational impairments

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PCE: Multi-Agent Path Finding via Priority-Aware Communication & Experience Learning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Gao, Jianqi Li, Yanjie Ye, Zhaohui Wu, Xinyu Department of Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics and School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

Multi-agent path finding (MAPF) is an essential issue for warehouse automation, where multiple agents plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been employed to develop partially observable distributed MAPF methods that can be scaled to any number of agents. However, existing RL-based MAPF methods still have some limitations in handling redundant information and avoiding deadlock, resulting in a low success rate or longer makespan. This paper proposes a Priority-aware Communication & Experience learning method (PCE), which combines RL with a novel priority-aware multi-agent communication and a new priority-aware deadlock experience replay to tackle this challenge. To be specific, our innovation encompasses two-fold. Our proposed communication mechanism aims to handle redundant information, which establishes a dynamic communication topology based on agents' priorities and proposes a two-head priority-aware graph attention network to aggregate information. In order to help the agent avoid deadlock, we prioritize the expert experience that solves the deadlock when performing experience replay. We conduct multiple simulation experiments on warehouse-like structured grid maps. Compared with the state-of-the-art RL-based MAPF methods, PCE performs significantly better with a higher success rate and lower makespan in small and large MAPF and higher average throughput in the lifelong MAPF, which can further improve the efficiency of warehouse automation. Finally, we validate PCE using three Turtlebot3-Burger robots, which shows that PCE can be applied in real warehouse automation scenarios. IEEE

关键词： Aggregates

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The Impact of Robots’ Facial Emotional Expressions on Light Physical Exercises 15th

The Impact of Robots’ Facial Emotional Expressions on Lig...

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15th International Conference on Social robotics, ICSR 2023

作者： Abdulazeem, Nourhan Hu, Yue Active and Interactive Robotics Lab Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L3G1 Canada

ISBN: (纸本)9789819987146

To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the cognitive and physical well-being of older adults. Previous studies have shown that facial expressions can increase engagement when interacting with robots. This study aims to investigate how older adults perceive and interact with a robot capable of displaying facial emotions while performing a physical exercise task together. We employed a collaborative robotic arm with a flat panel screen to encourage physical exercise across three different facial emotion conditions. We ran the experiment with older adults aged between 66 and 88. Our findings suggest that individuals perceive robots exhibiting facial expressions as less competent than those without such expressions. Additionally, the presence of facial expressions does not appear to significantly impact participants’ levels of engagement, unlike other state-of-the-art studies. This observation is likely linked to our study’s emphasis on collaborative physical human-robot interaction (pHRI) applications, as opposed to socially oriented pHRI applications. Additionally, we foresee a requirement for more suitable non-verbal social behavior to effectively enhance participants’ engagement levels. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robotic arms

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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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2023 IEEE International Opportunity Research Scholars Symposium, ORSS 2023

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

ISBN: (纸本)9798350337006

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. © 2023 IEEE.

关键词： Pressure sensors

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Inpatient Monitoring System: Temperature, Oxygen Saturation, Blood Pressure, Heart Rate, and Infusion Automation Based on ESP 32, IoT, and Mobile Application 7

Inpatient Monitoring System: Temperature, Oxygen Saturation,...

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7th International Conference of Computer and Informatics engineering, IC2IE 2024

作者： Joseph, Irvanda Anthony, Patrick Astuti, Winda Lie, Zener Sukra Iwan Solihin, Mahmud Bina Nusantara University Binus Aso School of Engineering Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Ucsi University Department of Mechanical and Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798331505530

The implementation of a patient monitoring system and infusion automation which aims to ensure regular and periodic monitoring of inpatient conditions are applied in this system. This embedded system is applied in hospitals and addresses the uneven distribution of healthcare workers in Indonesia, particularly in remote areas. Currently, manual checks by nurses can lead to errors and reduced patient comfort. The improvement supervision is developed in this work. The system monitored body temperature, oxygen saturation, blood pressure, heart rate, and automated infusions. All the embedded systems are connected to Internet of Things (IoT) and a real-time database accessible through an application and web. This system allows doctors and hospital authorities to make decisions based on patient condition history. The testing phase of the system shows four data acquisition devices (temperature, oxygen saturation, blood pressure, and heart rate), an ESP 32, and Firebase as a database, have ability to capture and send real-time data every five seconds and can be accessed by doctors, patients, and hospital authorities. © 2024 IEEE.

关键词： Remote patient monitoring

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Fabrication of Microchannels on Aluminium-Coated Polymethyl Methacrylate (PMMA) Using a Low Power CO2 Laser

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Lasers in Manufacturing and Materials Processing 2024年第4期11卷 868-886页

作者： Okello, Job Lazarus El-Bab, Ahmed M. R. Fath Yoshino, Masahiko El-Hofy, Hassan A. Industrial and Manufacturing Engineering Department Egypt-Japan University of Science and Technology New Borg El-Arab City Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology New Borg El-Arab City Egypt Department of Mechanical Engineering Tokyo Institute of Technology Tokyo Japan Department of Production Engineering Faculty of Engineering Alexandria University Alexandria Egypt

The emergence of microfluidics as one of the most viable technologies for making various microfluidic devices has greatly enhanced miniaturization in several areas. The utilization of polymethyl methacrylate (PMMA) for making such devices using CO2 lasers has significantly increased due to the flexibility, time, and cost-effectiveness involved. However, attaining microchannels with accurate dimensions is a challenge because of the resulting defects like bulges, high heat-affected zone (HAZ), and surface roughness (Ra). This paper presents a novel attempt to engrave rectangular microchannels on PMMA substrates using a CO2 laser by coating the substrates with a thin layer of 1 μm thickness of 99.95% pure aluminium. The study investigated the effects of power, and speed on the quality of the microchannels. The fabrication was done on both coated and uncoated substrates under the same conditions and the results were compared. Power and speed ranged from 1.5 to 7.5 W and 5 to 17.5 mm/s, respectively. At 1.5 W and 17.5 mm/s, the aspect ratio increased by 37.16%. However, the microchannel depth, width, HAZ, and Ra all reduced by 44.66%, 59.68%, 29.44%, and 64.74% respectively. At 7.5 W and 5 mm/s, the aspect ratio increased by 81.46%. However, the microchannel depth, width, HAZ, and Ra all reduced by 21.84%, 54.64%, 32.36%, and 72.70% respectively. The coated substrates produced better microchannels than the uncoated ones. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Carbon dioxide lasers

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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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Recent advances on monolithic perovskite-organic tandem solar cells

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Interdisciplinary Materials 2024年第1期3卷 113-132页

作者： Guanshui Xie Huan Li Longbin Qiu Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy EngineeringSUSTech Energy Institute for Carbon NeutralitySouthern University of Science and TechnologyShenzhenChina

Perovskite-organic tandem solar cells(TSCs)have emerged as a groundbreaking technology in the realm of photovoltaics,showcasing remarkable enhancements in efficiency and significant potential for practical ***-organic TSCs also exhibit facile fabrication surpassing that of all-perovskite or all-organic TSCs,attributing to the advantageous utilization of orthogonal solvents enabling sequential solution process for each *** perovskite-organic TSCs capitalize on the complementary light absorption characteristics of perovskite and organic *** is a promising prospect of achieving further enhanced power conversion efficiencies by covering a broad range of the solar spectrum with optimized perovskite absorber,organic semiconductors as well as the interconnecting layer's optical and electrical *** review comprehensively analyzes the recent advancements in perovskite-organic TSCs,highlighting the synergistic effects of combining perovskite with a low open-circuit voltage deficit,organic materials with broader light absorption,and interconnecting layers with reduced optical and electrical ***,the underlying device architecture design,regulation strategies,and key challenges facing the high performance of the perovskite-organic TSCs are also discussed.

关键词： interconnecting layer narrow‐bandgap organic solar cells recombination layer tandem solar cells wide‐bandgap perovskite solar cells

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Light-driven high-precision cell adhesion kinetics

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Light(Science & Applications) 2022年第10期11卷 2256-2257页

作者： Zhiyuan Zhang Daniel Ahmed Acoustic Robotics Systems Laboratory Institute of Robotics and Intelligent SystemsDepartment of Mechanical and Process EngineeringETH ZurichS?umerstrasse 4CH-8803 ZurichSwitzerland

Existing single-cell adhesion kinetics methods are performed under conditions highly unlike the physiological cell adhesion ***,researchers have developed a new optical technique for high-precision measurement of cell... 详细信息

关键词： conditions. kinetics formed

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