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A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects

IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1015-1025页

作者： Jinfei Hu Zheng Chen Xin Ma Han Lai Bin Yao State Key Laboratory of Fluid Power and Mechatronic systems Zhejiang UniversityHangzhou 310027China IEEE Ocean College Zhejiang UniversityZhoushan 316021 the State Key Laboratory of Fluid Power and Mechatronic systems Zhejiang UniversityHangzhou 310027 Ocean Research Center of Zhoushan Zhejiang UniversityZhoushan 316021China School of engineering Technology Purdue UniversityWest LafayetteIN 47907 USA department of mechanical and Automation engineering The Chinese University of Hong KongHong Kong 999077China School of mechanical engineering Purdue UniversityWest LafayetteIN 47907 USA

Currently,most teleoperation work is focusing on scenarios where slave robots interact with unknown ***,in some fields such as medical robots or rescue robots,the other typical teleoperation application is precise object ***,the object’s weight is unknown yet essential for both accurate control of the slave robot and intuitive perception of the human ***,due to high cost and limited installation space,it is unreliable to employ a force sensor to directly measure the ***,in this paper,a control scheme free of force sensor is proposed for teleoperation robots to transfer a weight-unknown object *** this scheme,the workspace mapping between master and slave robot is firstly established,based on which,the operator can generate command trajectory on-line by operating the master ***,a slave controller is designed to follow the master command closely and estimate the object’s weight rapidly,accurately and robust to unmodeled ***,for the sake of telepresence,a master controller is designed to generate force feedback to reproduce the estimated weight of the *** the end,comparative experiments show that the proposed scheme can achieve better control accuracy and telepresence,with accurate force feedback generated in only 500 ms.

关键词： Adaptive robust control teleoperation telepresence transparency weight estimation

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Parallel Planning:A New Motion Planning Framework for Autonomous Driving

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 236-246页

作者： Long Chen Xuemin Hu Wei Tian Hong Wang Dongpu Cao Fei-Yue Wang IEEE School of Data and Computer Science Sun Yat-sen University the School of Computer Science and Information engineering Hubei University Institute of Measurement and Control systems Karlsruhe Institute of Technology department of mechanical and Mechatronics engineering University of Waterloo the State Key Laboratory of Management and Control for Complex systems.Institute of Automation Chinese Academy of Sciences the Research Center for Military Computational Experiments and Parallel systems Technology National University of Defense Technology

Motion planning is one of the most significant technologies for autonomous driving. To make motion planning models able to learn from the environment and to deal with emergency situations, a new motion planning framework called as"parallel planning" is proposed in this paper. In order to generate sufficient and various training samples, artificial traffic scenes are firstly constructed based on the knowledge from the reality.A deep planning model which combines a convolutional neural network(CNN) with the Long Short-Term Memory module(LSTM) is developed to make planning decisions in an end-toend mode. This model can learn from both real and artificial traffic scenes and imitate the driving style of human ***, a parallel deep reinforcement learning approach is also presented to improve the robustness of planning model and reduce the error rate. To handle emergency situations, a hybrid generative model including a variational auto-encoder(VAE) and a generative adversarial network(GAN) is utilized to learn from virtual emergencies generated in artificial traffic scenes. While an autonomous vehicle is moving, the hybrid generative model generates multiple video clips in parallel, which correspond to different potential emergency scenarios. Simultaneously, the deep planning model makes planning decisions for both virtual and current real scenes. The final planning decision is determined by analysis of real observations. Leveraging the parallel planning approach, the planner is able to make rational decisions without heavy calculation burden when an emergency occurs.

关键词： Autonomous driving artificial traffic scene deep learning emergencies motion planning parallel planning

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3D bioprinting： an emerging technology full of opportunities and challenges

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Bio-Design and Manufacturing 2018年第1期1卷 2-13页

作者： Bin Zhang Yichen Luo Liang Ma Lei Gao Yuting Li Qian Xue Huayong Yang Zhanfeng Cui State Key Laboratory of Fluid Power and Mechatronic systems Zhejiang University Hangzhou 310058 China School of mechanical engineering Zhejiang University Hangzhou 310058 China Institute of Biomedical engineering Department of Engineering Science University of Oxford OX3 7DQ Oxford UK

Three-dimensional （3D） printing is a novel promising technology based on 3D imaging and layer-by-layer additive fabrication. It has a profound influence on all aspects of our lives and is playing an increasing important role in many areas including engineering, manufacturing, art, education and medicine. ＂3D bioprinting＂ has been put forward with the technical progress in 3D printing and might be a possible way to solve the serious problem of human organ shortage in tissue engineering and regenerative medicine. Many research groups flung them into this area and have already made some gratifying achievements. However, it is a long way to fabricate a live organ. Many elements lead to the limitation of 3D bioprinting. This review introduces the background and development history of 3D bioprinting, compares different approaches of 3D bioprinting and illustrates the key factors of the printing process. Meanwhile, this review also points out existing challenges of 3D bioprinting and has a great prospect. Some points proposed in this review might be served as reference for the research of this field.

关键词： 3D printing Bioprinting Printing approaches Printing factors

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Recent advances in biodegradation controls over Mg alloys for bone fracture management: A review

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Journal of Materials Science & Technology 2019年第4期35卷 535-544页

作者： Ming-Shi Song Rong-Chang Zeng Yun-Fei Ding Rachel W.Li Mark Easton Ivan Cole Nick Birbilis Xiao-Bo Chen School of engineering RMIT University department of Materials Science and engineering Monash University College of Materials Science and engineering Shandong University of Science and Technology School of mechanical engineering Huaihai Institute of Technology The Medical School The Australian National University

Magnesium(Mg) alloys possess comparable physical and mechanical properties to bone, making them an outstanding candidate of implant materials for bone fracture treatment. In addition to the excellent biocompatibility, and bioactivity, the engagement of Mg alloys is key for a number of biological functionalities in the human body. The unique biodegradation nature of Mg alloy implants implies that it may not require a secondary removal procedure when the expected supporting tasks accomplish, as they may simply and safely "disappear" over time. Nonetheless, the demonstrated drawback of potentially rapid degradation, is an issue that must be addressed appropriately for Mg implants and is consequently given unique attention in this review article. Herein, the critical criteria and the state-of-the-art strategies for controlling the degradation process of Mg alloys are reported. Furthermore, future developments of biodegradable Mg and its alloys systems with satisfactory specifications for clinical trials and deployment,are discussed. This review aims to provide information to materials scientists and clinical practitioners in the context of developing practical biodegradable Mg alloys.

关键词： Magnesium alloys Biodegradation Corrosion mechanisms Cytocompatibility

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The use of metal hydrides in fuel cell applications

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Progress in Natural Science:Materials International 2017年第1期27卷 3-20页

作者： Mykhaylo V.Lototskyy Ivan Tolj Lydia Pickering Cordellia Sita Frano Barbir Volodymyr Yartys HySA systems Competence Centre South African Institute for Advanced Materials Chemistry (SAIAMC) University of the Western Cape university of Split Faculty of Electrical Engineering Mechanical Engineering and Naval Architecture Department of Thermodynamics and Heat Engines Institute for Energy Technology Kjeller

This paper reviews state-of-the-art developments in hydrogen energy systems which integrate fuel cells with metal hydride-based hydrogen storage. The 187 reference papers included in this review provide an overview of all major publications in the field, as well as recent work by several of the authors of the review. The review contains four parts. The first part gives an overview of the existing types of fuel cells and outlines the potential of using metal hydride stores as a source of hydrogen fuel. The second part of the review considers the suitability and optimisation of different metal hydrides based on their energy efficient thermal integration with fuel *** performances of metal hydrides are considered from the viewpoint of the reversible heat driven interaction of the metal hydrides with gaseous H;. Efficiencies of hydrogen and heat exchange in hydrogen stores to control H;charge/discharge flow rates are the focus of the third section of the review and are considered together with metal hydride – fuel cell system integration issues and the corresponding engineering solutions. Finally, the last section of the review describes specific hydrogen-fuelled systems presented in the available reference data.

关键词： Fuel cells Hydrogen storage Metal hydrides Thermal integration System development

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Digital Twin for human-Robot Interactive Welding and Welder Behavior Analysis

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 334-343页

作者： Qiyue Wang Wenhua Jiao Peng Wang YuMing Zhang Institute for Sustainable Manufacturing and the department of Electrical and Computer engineering University of KentuckyLexingtonKY 40506 USA the Institute for Sustainable Manufacturing and the department of Electrical and Computer engineering and also with the Department of Mechanical EngineeringUniversity of KentuckyLexingtonKY 40506 USA

This paper presents an innovative investigation on prototyping a digital twin(DT)as the platform for human-robot interactive welding and welder behavior *** humanrobot interaction(HRI)working style helps to enhance human users'operational productivity and comfort;while data-driven welder behavior analysis benefits to further novice welder *** HRI system includes three modules:1)a human user who demonstrates the welding operations offsite with her/his operations recorded by the motion-tracked handles;2)a robot that executes the demonstrated welding operations to complete the physical welding tasks onsite;3)a DT system that is developed based on virtual reality(VR)as a digital replica of the physical human-robot interactive welding *** DT system bridges a human user and robot through a bi-directional information flow:a)transmitting demonstrated welding operations in VR to the robot in the physical environment;b)displaying the physical welding scenes to human users in *** to existing DT systems reported in the literatures,the developed one provides better capability in engaging human users in interacting with welding scenes,through an augmented *** verify the effectiveness,six welders,skilled with certain manual welding training and unskilled without any training,tested the system by completing the same welding job;three skilled welders produce satisfied welded workpieces,while the other three unskilled do not.A data-driven approach as a combination of fast Fourier transform(FFT),principal component analysis(PCA),and support vector machine(SVM)is developed to analyze their *** an operation sequence,i.e.,motion speed sequence of the welding torch,frequency features are firstly extracted by FFT and then reduced in dimension through PCA,which are finally routed into SVM for *** trained model demonstrates a 94.44%classification accuracy in the testing *** successful pattern recognition in skilled

关键词： Digital twin(DT) human-robot interaction(HRI) machine learning virtual reality(VR) welder behavior analysis

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Profiling the responsiveness of focal adhesions of human cardiomyocytes to extracellular dynamic nano-topography

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Bioactive Materials 2022年第4期7卷 367-377页

作者： Huaiyu Shi Xiangjun Wu Shiyang Sun Chenyan Wang Zacharias Vangelatos Ariel Ash-Shakoor Costas P.Grigoropoulos Patrick T.Mather James H.Henderson Zhen Ma department of Biomedical&Chemical engineering Syracuse UniversitySyracuseNY13244USA BioInspired Syracuse Institute for Materials and Living systems Syracuse UniversitySyracuseNY13244USA department of mechanical engineering University of CaliforniaBerkeleyPA94720USA department of Chemical engineering Bucknell UniversityLewisburgPA17837USA

Focal adhesion complexes function as the mediators of cell-extracellular matrix interactions to sense and transmit the extracellular *** studies have demonstrated that cardiomyocyte focal adhesions can be modulated by surface topographic ***,the response of focal adhesions to dynamic surface topographic changes remains *** study this dynamic responsiveness of focal adhesions,we utilized a shape memory polymer-based substrate that can produce a flat-to-wrinkle surface transition triggered by an increase of *** this dynamic culture system,we analyzed three proteins(paxillin,vinculin and zyxin)from different layers of the focal adhesion complex in response to dynamic extracellular topographic ***,we quantified the dynamic profile of cardiomyocyte focal adhesion in a time-dependent manner,which provides new understanding of dynamic cardiac mechanobiology.

关键词： Stimuli-responsive biomaterials Shape memory polymer Focal adhesion Costamere Dynamic mechanobiology human induced pluripotent stem cells

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Hydrogel-elastomer-based stretchable strain sensor fabricated by a simple projection lithography method

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International Journal of Smart and Nano Materials 2021年第3期12卷 256-268页

作者： Zhenqing Li Xiangnan He Jianxiang Cheng Honggeng Li Yuan-Fang Zhang Xiaojuan Shi Kai Yu Hui Ying Yang Qi Ge Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenChina Guangdong Provincial Key Laboratory of human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenChina Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore department of mechanical engineering University of Colorado DenverDenverCOUSA National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbinP.R.China

Stretchable strain sensor detects a wide range of strain variation and is therefore a key component in various *** traditional ones made of elastomers doped with conductive components or fabricated with liquid conductors,ionically conductive hydrogel-based strain sensors remain conductive under large deformations and are ***,dehydration is a challenging issue for the *** have developed hydrogel-elastomer-based strain sensors where an elastomer matrix encapsulates a hydrogel circuit to prevent its ***,the reported multistep approaches are generally *** group recently reported a multimaterial 3D printing approach that enables fast fabrication of such sensors,yet requires a self-built digital-light-processing-based multimaterial 3D ***,we report a simple projection lithography method to fabricate hydrogel-elastomer-based stretchable strain sensors within 5 *** method only requires a UV projector/lamp with photomasks;the chemicals are commercially available;the protocols for preparing the polymer precursors are friendly to users without chemistry ***,the manufacturing flexibility allows users to readily pattern the sensor circuit and attach the sensor to a 3D printed soft pneumatic actuator to enable strain sensing on the *** proposed approach paves a simple and versatile way to fabricate hydrogel-elastomer-based stretchable strain sensors and flexible electronic devices.

关键词： Ionically conductive hydrogel stretchable strain sensor projection lithography

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Big Data Bot with a Special Reference to Bioinformatics

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Computers, Materials & Continua 2023年第5期75卷 4155-4173页

作者： Ahmad M.Al-Omari Shefa M.Tawalbeh Yazan H.Akkam Mohammad Al-Tawalbeh Shima’a Younis Abdullah A.Mustafa Jonathan Arnold Biomedical systems and Informatics engineering department Yarmouk UniversityIrbid21163Jordan department of Medicinal Chemistry and Pharmacognosy Yarmouk UniversityIrbid21163Jordan department of Electrical Computer and Software EngineeringUniversity of Ontario Institute of TechnologyOshawaL1H7K4Canada department of mechanical engineering University of MosulMosul41001Iraq Genetics department University of GeorgiaAthens30602GAUSA

There are quintillions of data on deoxyribonucleic acid(DNA)and protein in publicly accessible data banks,and that number is expanding at an exponential *** scientific fields,such as bioinformatics and drug discovery,rely on such data;nevertheless,gathering and extracting data from these resources is a tough *** data should go through several processes,including mining,data processing,analysis,and *** study proposes software that extracts data from big data repositories automatically and with the particular ability to repeat data extraction phases as many times as needed without human *** software simulates the extraction of data from web-based(point-and-click)resources or graphical user interfaces that cannot be accessed using command-line *** software was evaluated by creating a novel database of 34 parameters for 1360 physicochemical properties of antimicrobial peptides(AMP)sequences(46240 hits)from various MARVIN software panels,which can be later utilized to develop novel ***,for machine learning research,the program was validated by extracting 10,000 protein tertiary structures from the Protein Data *** a result,data collection from the web will become faster and less expensive,with no need for manual data *** software is critical as a first step to preparing large datasets for subsequent stages of analysis,such as those using machine and deep-learning applications.

关键词： Bioinformatics big data data extraction bot drug design

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Optimization and comparative performance analysis of conventional and desiccant air conditioning systems regenerated by two different modes for hot and humid climates:Experimental investigation

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Energy and Built Environment 2023年第3期4卷 281-296页

作者： Taliv Hussain mechanical engineering department Aligarh Muslim UniversityAligarhIndia.202002

A desiccant air conditioning system is considered a capable alternative to a conventional air conditioning system because of its independent control of temperature,humidity and being ***,to resolve the problem of more energy consumption for the restoration of a desiccant,structures comprising of desiccant can utilize thermal energy or complete waste heat to revive desiccant ***,this research work executes an experimental,optimization and comparative examination for conventional and desiccant air conditioning sys-tems regenerated by two different modes,*** using(Mode-I)complete waste heat from condenser and secondly using(Mode-II)rod(electric heater)heat for regeneration at different process air inlet temperatures,i.e.(28,29.5,31,32.5,34,35.5 and 37°C),at different process air inlet velocities,i.e.(1.5,2.5,3.5 and 4.5 m/s)and a fix(2.5 m/s)regeneration air inlet ***,optimization of performance parameters,***,ECOP,dehumidification effectiveness,moisture removal capacity(kg/hr),DCOP,regeneration effectiveness and regeneration rate(kg/hr),is identified for achieving maximum efficiency of conventional and desiccant air con-ditioning systems under the above operating conditions.

关键词： Conventional air conditioning system Desiccant air conditioning system Mode-I,Mode-II,Optimization and performance parameters

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