Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)最新文献

Functional Analysis of the Trunk Flexion-Extension Through Gaussian Functions Fitting of the Movement Profile 基于高斯函数拟合运动曲线的躯干屈伸功能分析

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70338

C. Amici, B. Piovanelli, Federica Ragni, Raffaele Formicola, V. Cappellini, G. Candiani, A. Borboni, S. Negrini

{"title":"Functional Analysis of the Trunk Flexion-Extension Through Gaussian Functions Fitting of the Movement Profile","authors":"C. Amici, B. Piovanelli, Federica Ragni, Raffaele Formicola, V. Cappellini, G. Candiani, A. Borboni, S. Negrini","doi":"10.1115/detc2021-70338","DOIUrl":"https://doi.org/10.1115/detc2021-70338","url":null,"abstract":"\u0000 A healthy mobility of the trunk plays a fundamental role in the activities of daily living. The flexion-extension movement is one of the main tasks evaluated in clinical practice to assess the functionality of the spine. Nevertheless, no fully shared methods are currently available for the clinician to perform quantitative evaluations on the movement quality. In this paper, the trunk flexion-extension task performed by 36 healthy adult subjects, for a total of 104 acquisitions, was acquired with an optoelectronic system of 8 cameras and 32 skin passive optical markers. The absolute displacement of the subject’s seventh thoracic vertebra (T7) was fitted with an asymmetric Gaussian function, comparing the performance of four alternative cost functions in the optimization process. A set of descriptive parameters for the quantitative evaluation of the profile, suitable for the everyday use in the clinical practice, was designed and applied on the current dataset. Statistical analysis was performed on residuals of the fitting process, coefficients of the optimal fitting functions and proposed descriptive parameters, outlining a preliminary description of the trunk flexion-extension movement in the healthy adult.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"19 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121005713","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Multibody Analysis of a Tensegral Servo-Actuated Structure for Civil Applications 民用张拉体伺服驱动结构的多体分析

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70662

C. Scoccia, G. Palmieri, M. Callegari, M. Rossi, L. Carbonari, P. Munafò, F. Marchione, G. Chiappini

{"title":"Multibody Analysis of a Tensegral Servo-Actuated Structure for Civil Applications","authors":"C. Scoccia, G. Palmieri, M. Callegari, M. Rossi, L. Carbonari, P. Munafò, F. Marchione, G. Chiappini","doi":"10.1115/detc2021-70662","DOIUrl":"https://doi.org/10.1115/detc2021-70662","url":null,"abstract":"\u0000 The use of glass elements in civil engineering is spreading in the last years beyond merely aesthetic functions for their ease of installation and production. Nonetheless, the structural performance of such materials in any condition of use is object of investigation. In this scenario, the paper analyses the performance of an innovative concept of tensegrity floor (Patent no 0001426973) characterized by a particular steel-glass adhesive junction that permits a profitable structural cooperation between such basically different materials. As known, at the base of the effectiveness of tensegral structures lies the correct tensioning of metal strands which are devoted at keeping the rigid elements compressed. The tensioning level is then responsible of the actual deformation of the structure, which is of course of uttermost importance while speaking of civil applications. To address this issue with the adequate level of confidence required by construction practice, a mechatronic servo-system is proposed, aimed at maintaining, and modifying when needed, the stress state of the metal cables to adjust the deformation of the upper plane in response to varying loads. Three different actuation schemes, with different levels of realization complexity, are analysed and compared in simulated environment by means of a hybrid multibody-finished elements mode.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122072474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Digital Twin Behavior Matching of Gas Plumes Using a Fixed Sensor Mesh and Dynamic Mode Decomposition 基于固定传感器网格和动态模态分解的数字孪生气体羽流行为匹配

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70708

Derek Hollenbeck, Y. Chen

引用次数: 0

Mechatronic Design of a Mobile Robot for Personal Assistance 个人辅助移动机器人的机电一体化设计

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70389

L. Tagliavini, Andrea Botta, L. Carbonari, G. Quaglia, D. Gandini, M. Chiaberge

{"title":"Mechatronic Design of a Mobile Robot for Personal Assistance","authors":"L. Tagliavini, Andrea Botta, L. Carbonari, G. Quaglia, D. Gandini, M. Chiaberge","doi":"10.1115/detc2021-70389","DOIUrl":"https://doi.org/10.1115/detc2021-70389","url":null,"abstract":"\u0000 In this paper, a novel mobile platform for assistive robotics tasks is presented. The machine is designed for working in a home environment, un-structured and possibly occupied by people. To work in this space, the platform must be able to get rid of all the consequent difficulties: to overpass small objects as steps and carpets, to operate with an as-high-as-possible dynamics, to avoid moving obstacles, and to navigate autonomously to track persons for person monitoring purposes. The proposed platform is designed to have an omni-directional mobility that improves the manoeuvrability with respect to state-of-the-art differential drive robots. It also will have a non-axisymmetric shape to easily navigate narrow spaces, and real-time edge computing algorithms for navigation. This work shows the design paradigm adopted for the realization of a novel mobile robot, named Paquitop. For a robust output, the design process used a modular approach which disjointed the several sub-systems which compose the machine. After a brief analysis of the expected features, a set of basic requirements are drawn to guide the functional and executive design. The overall architecture of the platform is presented, together with some details on the mechanical and electrical systems.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124104659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Fractional-Order Impedance Control Design for Robot Manipulator 机器人机械手的分数阶阻抗控制设计

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71936

Xiaolian Liu, Shaohua Wang, Ying Luo

{"title":"Fractional-Order Impedance Control Design for Robot Manipulator","authors":"Xiaolian Liu, Shaohua Wang, Ying Luo","doi":"10.1115/detc2021-71936","DOIUrl":"https://doi.org/10.1115/detc2021-71936","url":null,"abstract":"\u0000 In order to make robot manipulators work more compliantly when contacting with the environment, it is necessary to reduce the contact force caused by positioning errors. One effective way to solve this problem is impedance control, which makes the robot manipulator a second-order mass-spring-damping system in principle. In this paper, a position-based fractional-order impedance control design method is proposed for the robot manipulator force control. The end-effector/environment contact model is established, and the closed-loop system is analyzed with the reference force as input. A fractional-order impedance parameters design method is proposed for better force-control performance, which calculates and optimizes parameters through frequency-domain specifications (i.e., phase margin and gain crossover frequency) and time-domain specification (i.e., the minimum JITSE). With the Robotics ToolBox for MATLAB (RTB), the performance comparison between integer-order and fractional-order impedance controls is illustrated in simulation. The fractional-order impedance control system has a faster response, smaller overshoot, and better resistance to external disturbances from the environment.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121950090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications 用于软机器人和外骨骼应用的波纹膜片驱动器

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71544

Veysel Erel, A. R. Lindsay, Inderjeet Singh, M. Wijesundara

{"title":"Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications","authors":"Veysel Erel, A. R. Lindsay, Inderjeet Singh, M. Wijesundara","doi":"10.1115/detc2021-71544","DOIUrl":"https://doi.org/10.1115/detc2021-71544","url":null,"abstract":"\u0000 Soft robotics is projected to have a significant impact on healthcare, industry, and the military to deliver assistance in rehabilitation, daily living activities, repetitive motion tasks, and human performance augmentation. Many attempts have been made for application-specific robotic joints, robots, and exoskeletons using various actuator types, materials, and designs. The progress of creating soft robotic systems can be accelerated if a set of actuators with defined characteristics were developed, similar to conventional robotic actuators, which can be assembled to create desired systems including exoskeletons and end effectors. This work presents such an attempt by designing a modular corrugated diaphragm actuator that can apply linear displacement, force, and bending motion. This modular actuator approach allows for creating various robotic joints by arranging them into different configurations. Numerical simulation, fabrication, and testing were carried out to evaluate the displacement, force, and bending characteristics of the corrugated diaphragm actuator as a single unit and in multi-unit arrays to understand their applicability for different scenarios. Actuator arrays that are configured in a serial and parallel manner were investigated. The results will be presented in terms of using this modular actuator concept to create single and multi-DOF joints, which will demonstrate the versatility of this modular actuator approach.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"222 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131560943","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stress and Resistance Relaxation for Carbon Nanoparticle Silicone Rubber Composite Large-Strain Sensors 碳纳米颗粒硅橡胶复合材料大应变传感器的应力和阻力松弛

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69206

R. Ellingham, T. Giffney

{"title":"Stress and Resistance Relaxation for Carbon Nanoparticle Silicone Rubber Composite Large-Strain Sensors","authors":"R. Ellingham, T. Giffney","doi":"10.1115/detc2021-69206","DOIUrl":"https://doi.org/10.1115/detc2021-69206","url":null,"abstract":"\u0000 The high stretchability, scalability and bio-compatibility of carbon black nanoparticle (CB)-polydimethylsiloxane (PDMS) elastomer composites are attractive characteristics for diverse applications ranging from the biomedical to aerospace fields. These materials are particularly useful as high strain sensors, but show stress relaxation and resistance relaxation behaviour that must be better understood in order to improve sensing performance and optimize the material design. In this work, we have characterized and modelled the resistance relaxation behaviour of these composites to understand the response of resistance to transient step strain input. CB-PDMS specimens have been fabricated with 7.5 and 10 weight percentage (w.t.%) of CB and subjected to repeated stretching while continually monitoring resistance and stress. A model for the resistive relaxation in time has been developed using 30 relaxations to give maximum coefficients of variance of the constants of 18.54% and 52.72% for 7.5 and 10 w.t.% of CB. The ability to model resistance relaxation is useful for the development of, accurate, highly flexible dynamic strain sensors.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130962877","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Model Predictive Control of Fixed Wing Aircraft Using a Disturbance Observer Approach 基于扰动观测器的固定翼飞机模型预测控制

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70022

V. Deshpande, Youmin Zhang

引用次数: 0

Recent Field Implementation of Contemporary and Smart Farming Technologies at the University of Maryland Eastern Shore 马里兰大学东岸现代和智能农业技术的最新现场实施

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-68464

A. Nagchaudhuri, C. Hartman, Travis Ford, J. Pandya

引用次数: 0

Fractional Order Filter Discretization With Marine Predators Algorithm 基于海洋掠食者算法的分数阶滤波器离散化

Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-67611

Abdullah Ateş, Y. Chen

{"title":"Fractional Order Filter Discretization With Marine Predators Algorithm","authors":"Abdullah Ateş, Y. Chen","doi":"10.1115/detc2021-67611","DOIUrl":"https://doi.org/10.1115/detc2021-67611","url":null,"abstract":"\u0000 In this study, discrete time models of continuous time fractional order filters are obtained by using the Marine Predators Algorithm (MPA).\u0000 Marine Predators optimization algorithm is a population-based heuristic method. This method is inspired by the hunting behavior of marine predators. The algorithm works on three basic phases. These phases occur according to the difference or equality of the velocity of the prey and the predator. As it is known, uniform distribution is generally used in stochastic based optimization algorithms. However, in the MPA method, Brownian and Levy distributions are also used as well as uniform distribution.\u0000 First, continuous time frequency responses of fractional order filters are generated. Then, fourth order discrete time filters are designed that can give similar responses with generated continues time filter frequency responses. Ten parameters were optimized for the design of fourth order discrete time filters numerator and denominator. The Marine Predators method’s results are compared with the results of the Fractional order Darwinian Particle Swarm Optimization (FODPSO) algorithm, from which discrete time filters are obtained for two fractional order continuous time filter models. In this way, it has been shown comparatively that the Marine Predators Algorithm can be used in real engineering problems and can do filter discretization better.","PeriodicalId":221388,"journal":{"name":"Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127095499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1