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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： V. Sezer T. Bandyopadhyay D. Rus E. Frazzoli D. Hsu Department of Mechanical Engineering Istanbul Technical University Istanbul Turkey Tirthankar Bandyopadhyay is with Autonomous Systems Program Commonwealth Scientific and Industrial Research Organization Australia Daniela Rus and Emilio Frazzoli are with the Department of Electri-cal&Engineering and Aeronautics&Astronautic respectively Massachusetts Institute of Technology USA Department of Computer Science National University of Singapore Singapore

In a mixed environment of autonomous driverless vehicles and human driven vehicles operating on the same road, identifying intentions of human drivers and interacting with them in a compliant and responsible manner becomes a challenging problem for the driverless vehicles. In this paper, the problem of vehicle interaction at an intersection merging scenario is formulated as an Intention-Aware motion planning problem using the tools from Mixed Observability Markov Decision Process (MOMDP). We utilize the tools from recent intention aware planning framework to demonstrate a merging behavior in the presence of human drivers by trying to infer and act according to the intentions of the human drivers. A driver behavior model for T-junction intersections is developed in order to calculate the probabilistic state transition functions of the MOMDP model. With proposed solution, it is demonstrated that using intention aware planning improves performance in comparison to present time to merge approach by lowering accident probability and intersection navigation duration. The proposed method is tested on a real autonomous vehicle (AV) in the presence of human driven vehicles to validate our approach.

关键词： Vehicles Navigation Mobile robots Roads Hidden Markov models Uncertainty

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Cyclic strain resistance, deformation and fracture behavior of a novel alloy steel 3

Cyclic strain resistance, deformation and fracture behavior ...

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3rd Biennial Symposium on Fatigue of Materials: Advances and Emergences in Understanding, held during Materials science and Technology 2014, MS and T 2014

作者： Manigandan, K. Srivatsan, T.S. Vasudevan, V.K. Tammana, D. Poorbangi, B. Division of Materials Science and Engineering Department of Mechanical Engineering University of Akron AkronOH44325-3903 United States School of Dynamic Systems Materials Science and Engineering Program University of Cincinnati CincinnatiOH45221-0072 United States

ISBN: (纸本)9781119041481

In this paper, the results of a study on microstructural influences on cyclic strain response, deformation and fracture behavior of an alloy steel is presented Cyclic strain resistance exhibited a linear trend for the variation of both elastic strain amplitude with reversals-to-failure, and plastic strain amplitude with reversals-to-failure. Fracture morphology was observed to be the same at the macroscopic level over the entire range of cyclic strain amplitudes examined. However, at the fine microscopic level this alloy steel revealed fracture to be mixed-mode with features reminiscent of "locally" ductile and brittle failure mechanisms. The mechanisms governing strain response at the fine microscopic level, resultant fatigue life, and final fracture behavior are presented and discussed in light of the mutually interactive influences of intrinsic microstructural effects, deformation characteristics of the microstructural constituents during fully-reversed strain cycling, magnitude of cyclic strain amplitude, and resultant fatigue life.

关键词： Alloy steel

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Cyclic strain resistance, stress response, fatigue life, and fracture behavior of high strength low alloy steel 300 M

Cyclic strain resistance, stress response, fatigue life, and...

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作者： Manigandan, K. Srivatsan, T.S. Tammana, Deepthi Poorgangi, Behrang Vasudevan, Vijay K. Department of Mechanical Engineering University of Akron Akron OH 44325-3903 United States School of Dynamic Systems Materials Science and Engineering Program University of Cincinnati Cincinnati OH 45221-0072 United States

The focus of this technical manuscript is a record of the specific role of microstructure and test specimen orientation on cyclic stress response, cyclic strain resistance, and cyclic stress versus strain response, deformation and fracture behavior of alloy steel 300 M. The cyclic strain amplitude-controlled fatigue properties of this ultra-high strength alloy steel revealed a linear trend for the variation of log elastic strain amplitude with log reversals-to-failure, and log plastic strain amplitude with log reversals-to-failure for both longitudinal and transverse orientations. Test specimens of the longitudinal orientation showed only a marginal improvement over the transverse orientation at equivalent values of plastic strain amplitude. Cyclic stress response revealed a combination of initial hardening for the first few cycles followed by gradual softening for a large portion of fatigue life before culminating in rapid softening prior to catastrophic failure by fracture. Fracture characteristics of test specimens of this alloy steel were different at both the macroscopic and fine microscopic levels over the entire range of cyclic strain amplitudes examined. Both macroscopic and fine microscopic observations revealed fracture to be a combination of both brittle and ductile mechanisms. The underlying mechanisms governing stress response, deformation characteristics, fatigue life, and final fracture behavior are presented and discussed in light of the competing and mutually interactive influences of test specimen orientation, intrinsic microstructural effects, deformation characteristics of the microstructural constituents, cyclic strain amplitude, and response stress. © 2014 ASM International.

关键词： Microstructure

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Erratum to: Influence of Cyclic Straining on Fatigue, Deformation, and Fracture Behavior of High-Strength Alloy Steel

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Journal of Materials Engineering and Performance 2015年第1期25卷 151-151页

作者： K. Manigandan T. S. Srivatsan V. K. Vasudevan D. Tammana B. Poorganji Department of Mechanical Engineering The University of Akron Akron USA School of Dynamic Systems Materials Science and Engineering Program University of Cincinnati Cincinnati USA

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Author Correction: A systems biology approach uncovers cell-specific gene regulatory effects of genetic associations in multiple sclerosis

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Nature communications 2019年第1期10卷 2956页

作者： Lohith Madireddy Kicheol Kim Xiaoming Jia Adam Santaniello Stacy J. Caillier Bruce A. C. Cree Roland Henry Stephen L. Hauser Jorge R. Oksenberg Sergio E. Baranzini Nikolaos A. Patsopoulos Philip De Jager Chris Cotsapas Matthew R. Lincoln David A. Hafler Steffan D. Bos Hanne F. Harbo Tone Berge Elisabeth G. Celius Ashley Beecham Jacob McCauley Margaret A. Pericak-Vance Till F. M. Andlauer Christiane Gasperi Bernhard Hemmer Lisa F. Barcellos Luisa Bernardinelli Filippo Martinelli-Boneschi David R. Booth Graeme J. Stewart Farren Briggs Jonathan Haines Manuel Comabella Giancarlo Comi Federica Esposito Sandra D’Alfonso Katrina Dedham Pierre Duquette Efthimios Dardiotis Bertrand Fontaine An Goris Bénédicte Dubois Pierre-Antoine Gourraud Georgios Hadjigeorgiou Clive Hawkins Seema Kalra Rogier Hintzen Dana Horakova Noriko Isobe Jun-ichi Kira Michael Khalil Ingrid Kockum Tomas Olsson Christina M. Lill Felix Luessi Frauke Zipp Roland Martin Annette Oturai Aarno Palotie Janna Saarela Adrian Ivinson Bruce V. Taylor Alastair Compston Stephen Sawcer Weill Institute for Neurosciences Department of Neurology University of California San Francisco San Francisco CA 94158 USA Bakar Institute for Computational Health Science. University of California San Francisco San Francisco CA 94158 USA Systems Biology and Computer Science Program Ann Romney Center for Neurological Diseases Department of Neurology and Division of Genetics Department of Medicine Brigham & Women’s Hospital Harvard Medical School Boston MA 02115 USA Broad Institute of Harvard University and Massachusetts Institute of Technology Cambridge MA 02142 USA Department of Neurology Center for Translational and Computational Neuroimmunology and Multiple Sclerosis Center Columbia University Medical Center New York NY 10032 USA Departments of Neurology Yale School of Medicine 300 George St New Haven CT 06511 USA Department of Genetics Yale School of Medicine 300 George St New Haven CT 06511 USA Institute of Clinical Medicine University of Oslo Oslo 0318 Norway Department of Neurology Oslo University Hospital Oslo 0424 Norway Department of Mechanical Electronics and Chemical Engineering Oslo Metropolitan University Oslo 0167 Norway Institute of Health and Society University of Oslo Oslo 0318 Norway John P. Hussman Institute for Human Genomics University of Miami Miller School of Medicine Miami FL 33136 USA Dr. John T. Macdonald Foundation Department of Human Genetics University of Miami Miller School of Medicine Miami FL 33136 USA Department of Neurology Klinikum rechts der Isar School of Medicine Technical University of Munich 81675 Munich Germany Munich Cluster for Systems Neurology (SyNergy) 81377 Munich Germany Division of Epidemiology School of Public HealthUniversity of California 324 Stanley Hall MC#3220 Berkeley CA 94720 USA Section of Biostatistics Neurophyisiology and Psychiatry Unit of medical and genomic statistics Universita of Pavia Pavia 27100 Italy Department of Biomedical Sciences for Health Univers

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Integrating artificial neural networks and cluster analysis to assess energy efficiency of buildings

Integrating artificial neural networks and cluster analysis ...

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IIE Annual Conference and Expo 2014

作者： Aqlan, Faisal Ahmed, Abdulaziz Srihari, Krishnaswami Khasawneh, Mohammad T. Industrial and System Engineering Program Department of Mechanical Civil and Environmental Engineering University of New Haven West HavenCT06516 United States Department of Systems Science and Industrial Engineering State University of New York at Binghamton BinghamtonNY13902 United States

ISBN: (纸本)9780983762430

Energy consumption of buildings worldwide has steadily increased over the past couple of decades. Furthermore, energy performance of buildings is one of the factors that contribute to energy waste and its perennial adverse impact on the environment. This paper presents a data mining approach for assessing the heating and cooling requirements of residential buildings. The proposed approach combines Artificial Neural Networks (ANNs) and cluster analysis to assess and predict the heating and cooling energy efficiency of residential buildings. The ANN-based model uses eight input variables (i.e., relative compactness, surface area, wall area, roof area, overall height, orientation, glazing area, and glazing area distribution) to predict both the heating and cooling loads of residential buildings. Buildings are then clustered based on the output variables using the K-means clustering method. The proposed approach is used to assess and evaluate 768 diverse residential buildings based on simulated literature data. The research results showed that the proposed approach can effectively predict the heating and cooling requirements of residential buildings based on the input variables considered with a very high level of accuracy.

关键词： Energy efficiency

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Design, analysis and simulation of biped running robot

Design, analysis and simulation of biped running robot

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jongwon Park Young Kook Kim Byungho Yoon Kyung-Soo Kim Soohyun Kim School of Mechanical Aerospace and Systems Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea

Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic leg are shown. We present a speed equation in an effort to verify how the major parameters affect the speed. In addition, we explore control strategies for ground speed matching, acceleration, slip, and speed control. A dynamic simulation shows that the biped robot reached 13.31 leg lengths per second (9.3km/h). This biped robot with the speed equation and its control strategies allow us to understand legged locomotion and can show us how to improve the speed.

关键词： Legged locomotion Mathematical model Equations Acceleration Vectors Joints

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An ergonomic study for 6s workplace improvement

An ergonomic study for 6s workplace improvement

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IIE Annual Conference and Expo 2014

作者： Aqlan, Faisal Lam, Sarah S. Ramakrishnan, Sreekanth Testani, Michael Industrial and System Engineering Program Department of Mechanical Civil and Environmental Engineering University of New Haven West HavenCT06516 United States Department of Systems Science and Industrial Engineering State University of New York at Binghamton BinghamtonNY13902 United States IBM Corporation WalthamMA02451 United States IBM Corporation EndicottNY13760 United States

ISBN: (纸本)9780983762430

This paper presents a workplace ergonomic study in a high-end server manufacturing environment to assess ergonomics risks and enhance the Lean transformation. Operators perform heavy and repetitive lifting and movement of products could place stress on their back and upper extremities. Forceful exertions to move a manual forklift in the workplace area could lead to fatigue and possible damage to muscles and other tissues. The objective of this study is to reduce ergonomics risks to an acceptable level and provide operators with the right tools and proper work environment. Digital human modeling based on the Jack software, is used for risk assessment. Results are analyzed to provide proper solutions. Ergonomic risks assessed include: force and posture risks, noise, vibration, temperature, and illumination. Lean process is implemented in the workplace to reduce the Lean wastes that include waiting time, transportation, and non-value-add processes. Ergonomic improvements are introduced to complement and support the Lean process implementation. Three main ergonomic risks are found to be high and could affect the operators: energy expenditure, posture, and back force. Several modifications are implemented to reduce these risks: the manual forklift is replaced with an automated forklift that is easy to move and requires less human effort, the workplace area is expanded to provide more work space, and the operators are provided with proper tools to perform the task without risk.

关键词： Manufacture

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Integrating lean and ergonomics to improve internal transportation in a manufacturing environment

Integrating lean and ergonomics to improve internal transpor...

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IIE Annual Conference and Expo 2014

作者： Aqlan, Faisal Lam, Sarah S. Ramakrishnan, Sreekanth Boldrin, Warren Industrial and System Engineering Program Department of Mechanical Civil and Environmental Engineering University of New Haven West HavenCT06516 United States Department Systems Science and Industrial Engineering State University of New York at Binghamton BinghamtonNY13902 United States IBM Corporation WalthamMA02451 United States IBM Corporation PoughkeepsieNY12601 United States

ISBN: (纸本)9780983762430

This paper presents a study that integrates lean manufacturing and ergonomic principles to redesign and improve the internal transportation process in a high-end server manufacturing environment. Transportation of electronic parts within the factories is an important issue. The current transportation carts present quality hazards to electronic parts and they were not designed to handle the right dimensions and quantities of the newly introduced products. Furthermore, the current flow of carts introduces waiting time for the carts in the assembly areas. Inefficient transportation not only increases the waiting times but also the transportation costs. The objective of this study is to improve the transportation process and redesign transportation carts that are currently used to transport parts between different areas in a high-end server manufacturing environment utilizing lean and ergonomic principles. A new lean-based flow of transportation carts is proposed to reduce the waiting time and transported distance by having separate carts for each area. The new design of the carts represents a Poke-Yoke that prevents the operators from stacking the cards. Ergonomic principles are also considered in the new design. The number of carts required is estimated based on historical demand, outcomes from containment actions, current processes, and inputs from the production-planning department. The new lean-based flow and design of carts have resulted in cost savings and cost avoidance.

关键词： Lean production

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Near optimal feedback guidance design and the planar restricted three-body problem 24

Near optimal feedback guidance design and the planar restric...

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24th AAS/AIAA Space Flight Mechanics Meeting, 2014

作者： Dinius, Joseph Furfaro, Roberto Topputo, Francesco Selnick, Scott Program in Applied Mathematics University of Arizona 617 N Santa Rita Ave TucsonAZ85721 United States Department of Systems and Industrial Engineering University of Arizona 1127 E James E. Rogers Way TucsonAZ85721 United States Department of Aerospace and Mechanical Engineering University of Arizona 1130 N Mountain Ave TucsonAZ85721 United States Department of Aerospace Science and Technology Politecnico di Milano Via La Masa 34 Milan20156 Italy

ISBN: (纸本)9780877036111

In this paper, we present the application of the ZEM/ZEV guidance algorithm to the planar restricted three-body problem (PR3BP). The ZEM/ZEV guidance law as a feedback guidance strategy is presented and applied to the PR3BP. The fuel optimal solution to the PR3BP for a transfer from GTO to L1 in the Earth-Moon system is presented as a point for comparison, showing the near optimality of the closed-loop guidance approach. Challenges of the approach and strategies for implementation in spacecraft mission design are discussed.

关键词： Feedback

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