Academic literature on the topic 'Robot R-Min'
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic 'Robot R-Min.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Journal articles on the topic "Robot R-Min"
1
Tobis, Slawomir, Joanna Piasek, Miroslawa Cylkowska-Nowak, and Aleksandra Suwalska. "Robots in Eldercare: How Does a Real-World Interaction with the Machine Influence the Perceptions of Older People?" Sensors 22, no. 5 (February 22, 2022): 1717. http://dx.doi.org/10.3390/s22051717.
Full textAbstract:
(1) Background: Using autonomous social robots in selected areas of care for community-dwelling older adults is one of the promising approaches to address the problem of the widening care gap. We posed the question of whether a possibility to interact with the technology to be used had an impact on the scores given by the respondents in various domains of needs and requirements for social robots to be deployed in care for older individuals. (2) Methods: During the study, the opinions of older people (65+; n = 113; with no severe cognitive impairment) living in six social care institutions about a robot in care for older people were collected twice using the Users’ Needs, Requirements and Abilities Questionnaire (UNRAQ): after seeing a photo of the robot only and after a 90–150 min interaction with the TIAGo robot. (3) Results: Mean total scores for both assistive and social functions were higher after the interaction (p < 0.05). A positive correlation was found between opinion changes in social and assistive functions (r = 0.4842; p = 0.0000). (4) Conclusions: Preimplementation studies and assessments should include the possibility to interact with the robot to provide its future users with a clear idea of the technology and facilitate necessary customisations of the machine.
2
Castellani, W. J., F. Van Lente, and D. Chou. "Robotic sample preparation evaluated for the immunochemical determination of cardiac isoenzymes." Clinical Chemistry 32, no. 9 (September 1, 1986): 1672–76. http://dx.doi.org/10.1093/clinchem/32.9.1672.
Full textAbstract:
Abstract A general-purpose bench-top laboratory robot was programmed to perform sample preparation for immunoprecipitative and immunoinhibitory determinations of cardiac isoenzymes with commercial kits. Run size could be varied from 1 to 24 patients' samples, and was determined by the robot without prompting. The robot placed the processed samples into a sample rotor for dried transfer to a batch centrifugal analyzer. Robotic precision compared well with that of manual performance of the same procedures at four concentrations of lactate dehydrogenase (EC 1.1.1.27) isoenzyme 1 activity and at one of two concentrations of creatine kinase (EC 2.7.3.2.) isoenzyme MB activity; for the other creatine kinase MB concentration, use of the robot significantly improved precision. Results for 100 samples from patients after open-heart surgery were highly correlated with manually obtained results for both isoenzyme determinations (r less that 0.96 each). Time to completion for small run sizes for either approach was comparable about 25 min. For larger batches, robotic run time increased rapidly, to 169 min for 24 patients' samples vs 41 min by manual assay.
3
Lee, Dongkyu, Seonggun Joe, Jae-Hoon Jung, Jong-Uk Kim, and Byungkyu Kim. "A simple and reliable reel mechanism-based robotic colonoscope for high mobility." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 232, no. 16 (July 31, 2017): 2753–63. http://dx.doi.org/10.1177/0954406217723941.
Full textAbstract:
Colonoscopes are one The first two authors contributed equally to this work of the best tools to detect colorectal cancer despite their several drawbacks. In order to solve the limitations of conventional colonoscopes and detect cancer more efficiently, robotic colonoscopes and capsule endoscopes have been proposed. However, active capsule endoscopes require expensive control systems, and they have functional limitations due to their small volumes. In addition, robotic colonoscopes fail to achieve sufficient mobility, resulting in longer colonoscopy times than with conventional colonoscopes. Therefore, the present study proposes a simple, reliable reel mechanism-based robotic colonoscope that achieves high mobility. Because the robot is operated by a reel with an external high-capacity motor, enhanced mobility is attained regardless of environment. Moreover, the proposed robotic colonoscope allows for the inclusion of an instrument channel, unlike previously reported robotic colonoscopes. A theoretical analysis is implemented to confirm the mobile performance. The analysis results are compared with the results of a locomotion test in a urethane tube (diameter = 28 mm). Ultimately, the robot achieves high mobility (66.04 ± 5.97 mm/s with a motor speed of 200 r/min), and the error between the theoretical and experimental results is less than 1%. Furthermore, an in-vitro test in an excised porcine colon is performed to verify the feasibility of the locomotion in a large intestine. In straight and sloping paths (30° and 45°), the robot travels at 21.11 ± 1.69 mm/s, 18.77 ± 3.42 mm/s, and 8.76 ± 1.68 mm/s, respectively, with a motor speed of 150 r/min. This is within the reliable operation range for colonoscopies.
4
Lutfarakhmanov, I. I., S. T. Lazarev, N. A. Zdorik, A. D. Lifanova, A. A. Grazhdankin, I. R. Galeev, I. I. Musin, P. I. Mironov, and V. N. Pavlov. "Anaesthesia-Specifi c Oxygen Transport Assessment in Robot-Assisted Pelvic Surgery: a Clinical Trial." Creative surgery and oncology 11, no. 4 (December 21, 2021): 307–15. http://dx.doi.org/10.24060/2076-3093-2021-11-4-307-315.
Full textAbstract:
Background. Robot-assisted pelvic surgery rapidly becomes a choice in surgeries for gynaecological oncology and urology. These interventions require special settings (pneumoperitonaeum and Trendelenburg position), which inevitably and systemically impact oxygen transport. Low oxygen delivery during surgery associates with manifold adverse outcomes. A single universal oxygen delivery threshold is impractical, as oxygen consumption must be taken into account. This study examines the effects of pneumoperitonaeum and Trendelenburg position on oxygen transport in patients of ASA functional class I–III (as per American Society of Anaesthesiologists).Materials and methods. Delivery, consumption, oxygen extraction, perioperative adverse events and type of general anaesthesia were prospectively studied in 126 adult patients.Results and discussion. Mean oxygen consumption was 242 mL/min/m2 , mean oxygen delivery — 612 mL/min/m2 . Oxygen delivery was below median 529 mL/min/m2 in 54 (43 %) patients. Perioperative adverse events developed in 36 (29 %) patients. A strong correlation (r > 0.500; p<0.001) between oxygen delivery and consumption was observed in 54 patients. Blood lactate level of 2.7 mmol/L at surgery end was indicative of inadequate oxygen delivery.Conclusion. No relationship was revealed between oxygen delivery and adverse perioperative events, and neither — between oxygen delivery and consumption relative to a particular anaesthetic.
5
Azhar, Kamran, Sohail Zafar, Agha Kashif, and Zohaib Zahid. "On fault-tolerant partition dimension of graphs." Journal of Intelligent & Fuzzy Systems 40, no. 1 (January 4, 2021): 1129–35. http://dx.doi.org/10.3233/jifs-201390.
Full textAbstract:
Fault-tolerant resolving partition is natural extension of resolving partitions which have many applications in different areas of computer sciences for example sensor networking, intelligent systems, optimization and robot navigation. For a nontrivial connected graph G (V (G) , E (G)), the partition representation of vertex v with respect to an ordered partition Π = {Si : 1 ≤ i ≤ k} of V (G) is the k-vector r ( v | Π ) = ( d ( v , S i ) ) i = 1 k , where, d (v, Si) = min {d (v, x) |x ∈ Si}, for i ∈ {1, 2, …, k}. A partition Π is said to be fault-tolerant partition resolving set of G if r (u|Π) and r (v|Π) differ by at least two places for all u ≠ v ∈ V (G). A fault-tolerant partition resolving set of minimum cardinality is called the fault-tolerant partition basis of G and its cardinality the fault-tolerant partition dimension of G denoted by P ( G ) . In this article, we will compute fault-tolerant partition dimension of families of tadpole and necklace graphs.
6
Huang, Gao, Marco Ceccarelli, Qiang Huang, Weimin Zhang, Zhangguo Yu, Xuechao Chen, and Jingeng Mai. "Design and Feasibility Study of a Leg-exoskeleton Assistive Wheelchair Robot with Tests on Gluteus Medius Muscles." Sensors 19, no. 3 (January 28, 2019): 548. http://dx.doi.org/10.3390/s19030548.
Full textAbstract:
The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and leg muscle exercises. It also presents a novel pedal-cycling actuation method with a crank-rocker mechanism. The mechanism is driven by a single motor with a mechanical structure that ensures user safety. A control system is designed based on a master-slave control with sensor fusion method. Here, the intended motion of the user is detected by pedal-based force sensors and is then used in combination with joystick movements as control signals for leg-exoskeleton and wheelchair motions. Experimental data is presented and then analyzed to determine robotic motion characteristics as well as the assistance efficiency with attached electromyogram (EMG) sensors. A typical muscle EMG signal analysis shows that the exercise efficiency for EMG activated amplitudes of the gluteus medius muscles approximates a walking at speed of 3 m/s when cycling at different speeds (i.e., from 16 to 80 r/min) in a wheelchair. As such, the present wheelchair robot is a good candidate for enabling effective gluteus medius muscle exercises for persons living with gluteus medius muscle disabilities.
7
Lu, Xiaolong, Zhiwen Wang, Hui Shen, Kangdong Zhao, Tianyue Pan, Dexu Kong, and Jens Twiefel. "A Novel Dual-Rotor Ultrasonic Motor for Underwater Propulsion." Applied Sciences 10, no. 1 (December 19, 2019): 31. http://dx.doi.org/10.3390/app10010031.
Full textAbstract:
Micro underwater vehicles (MUVs) have been highlighted recently for underwater explorations because of their high maneuverability, low price, great flexibility, etc. The thrusters of most conventional MUVs are driven by electromagnetic motors, which need big mechanical transmission parts and are prone to being interrupted by the variance of ambient electromagnetic fields. In this paper, a novel dual-rotor ultrasonic motor with double output shafts, compact size, and no electromagnetic interference is presented, characterized, and applied for actuating underwater robots. This motor was composed of a spindle-shaped stator, pre-pressure modulation unit, and dual rotors, which can output two simultaneous rotations to increase the propulsion force of the MUV. The pre-pressure modulation unit utilized a torsion spring to adjust the preload at the contact faces between the stator and rotor. The working principle of the ultrasonic motor was developed and the vibration mode of the stator was analyzed by the finite element method. Experimental results show that the no-load rotary speed and stalling torque of the prototype ultrasonic motor were 110 r/min and 3 mN·m, respectively, with 150 V peak-to-peak driving voltage at resonance. One underwater robot model equipped with the proposed ultrasonic motor-powered thruster could move at 33 mm/s immersed in water. The dual-rotor ultrasonic motor proposed here provides another alternative for driving MUVs and is appropriate for developing specific MUVs when the electromagnetic interference issue needs to be considered.
8
Nadeem, Asim, Agha Kashif, Sohail Zafar, and Zohaib Zahid. "On 2-partition dimension of the circulant graphs." Journal of Intelligent & Fuzzy Systems 40, no. 5 (April 22, 2021): 9493–503. http://dx.doi.org/10.3233/jifs-201982.
Full textAbstract:
The partition dimension is a variant of metric dimension in graphs. It has arising applications in the fields of network designing, robot navigation, pattern recognition and image processing. Let G (V (G) , E (G)) be a connected graph and Γ = {P1, P2, …, Pm} be an ordered m-partition of V (G). The partition representation of vertex v with respect to Γ is an m-vector r (v|Γ) = (d (v, P1) , d (v, P2) , …, d (v, Pm)), where d (v, P) = min {d (v, x) |x ∈ P} is the distance between v and P. If the m-vectors r (v|Γ) differ in at least 2 positions for all v ∈ V (G), then the m-partition is called a 2-partition generator of G. A 2-partition generator of G with minimum cardinality is called a 2-partition basis of G and its cardinality is known as the 2-partition dimension of G. Circulant graphs outperform other network topologies due to their low message delay, high connectivity and survivability, therefore are widely used in telecommunication networks, computer networks, parallel processing systems and social networks. In this paper, we computed partition dimension of circulant graphs Cn (1, 2) for n ≡ 2 (mod 4), n ≥ 18 and hence corrected the result given by Salman et al. [Acta Math. Sin. Engl. Ser. 2012, 28, 1851-1864]. We further computed the 2-partition dimension of Cn (1, 2) for n ≥ 6.
9
Lee, Sae Byul, Hyun Ho Han, Jisun Kim, and BeomSeok Ko. "Abstract P3-21-02: Robotic nipple sparing mastectomy in the management of breast cancer and prophylactic surgeries with SP system." Cancer Research 82, no. 4_Supplement (February 15, 2022): P3–21–02—P3–21–02. http://dx.doi.org/10.1158/1538-7445.sabcs21-p3-21-02.
Full textAbstract:
Abstract Background: Robot-assisted nipple-sparing mastectomy (R-NSM) improves cosmetic outcomes over conventional nipple-sparing mastectomy (CNSM). However, data on the feasibility and safety of the R-NSM are limited. The aim of this study was to present the results of early experience of R-NSM with SP system.Methods: Preliminary analysis of R-NSM using da Vinci SP system for breast cancer and prophylactic cases during the period October 2020 thru April 2021 from Asan Medical Center , Seoul, S Korea. Data on clinicopathologic characteristics, type of surgery, method of breast reconstruction, complications and recurrence were analyzed to determine the performance and safety of R-NSM using da Vinci SP system Results: During the period October 2020 thru April 2021, a total of 41 robotic breast surgery procedures were performed in 39 female patients with breast cancer ( 35 invasive, 4 non-invasive ), and 2 patients who underwent surgery for prophylactic reasons. Five patients were bilateral and 29 were unilateral. Immediate breast reconstruction (IBR) was performed in all patients. Autologous reconstruction was performed in 16 cases, and implants were used in 23 cases. The mean age of all 41 patients was 47 years (range 31-58) and mean BMI was 23.1 (range 17.9-32.7). In two patients, neoadjuvant chemotherapy was performed before surgery. For 39 cancer cases the mean tumor size was 3.6 cm (range 0.0-8.0 cm). 14 cases had multiple tumors. Sentinel node biopsy was performed in all patients, and axillary dissection was performed in 6 cases. The pathologic stage was 12.8% DCIS, 51.3% stage I, 28.2% stage II, and 7.7 stage III. The mean operation time for R-NSM with IBR was 361 min (range 168- 788) and without IBR was 172 min ( range 80- 325). The mean hospital stay was 6.1 days (range 4-9). There were no conversions to open surgery. In three patients, nipples were removed as tumor positives from the retroareolar frozen section during surgery. The mean estimated blood loss was less than 10cc and 4 patients received transfusion but they pre-operative hemoglobin deficiency and required transfusion right after surgery. There were no procedure related reoperation and readmission and no cases of mortality during 60 day follow up period.. There were no major perioperative complications. There were 4 patient who experienced partial nipple necrosis and did not require medical intervention and were resolved. The conventional NSM method had low cosmetic satisfaction due to the enlarged skin incision on the front of the breast. When the incision is made smaller, the surgical field of view is narrow and it is difficult to perform precise surgery due to difficulty in the surgical procedure. Conclusion: From our preliminary experience, R-NSM alone or combined with IBR is a safe procedure, with clinical outcomes results, and is promising new technology for breast cancer patients indicated for mastectomy. Citation Format: Sae Byul Lee, Hyun Ho Han, Jisun Kim, BeomSeok Ko. Robotic nipple sparing mastectomy in the management of breast cancer and prophylactic surgeries with SP system [abstract]. In: Proceedings of the 2021 San Antonio Breast Cancer Symposium; 2021 Dec 7-10; San Antonio, TX. Philadelphia (PA): AACR; Cancer Res 2022;82(4 Suppl):Abstract nr P3-21-02.
10
Kusins, Jonathan R., O. Remus Tutunea-Fatan, and Louis M. Ferreira. "Experimental analysis of the process parameters affecting bone burring operations." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 232, no. 1 (November 17, 2017): 33–44. http://dx.doi.org/10.1177/0954411917742943.
Full textAbstract:
The experimental quantification of the process parameters associated with bone burring represents a desirable outcome both from the perspective of an optimized surgical procedure as well as that of a future implementation into the design of closed-loop controllers used in robot-assisted bone removal operations. Along these lines, the present study presents an experimental investigation of the effects that tool type, rotational speed of the tool, depth of cut, feed rate, cutting track overlap, and tool angle (to a total of 864 total unique combinations) have on bone temperature, tool vibration, and cutting forces associated with superficial bone removal operations. The experimental apparatus developed for this purpose allowed a concurrent measurement of bone temperature, tool vibration, and cutting forces as a function of various process parameter combinations. A fully balanced experimental design involving burring trials performed on a sawbone analog was carried out to establish process trends and subsets leading to local maximums and minimums in temperature and vibration were further investigated. Among the parameters tested, a spherical burr of 6 mm turning at 15,000 r/min and advancing at 2 mm/s with a 50% overlap between adjacent tool paths was found to yield both low temperatures at the bone/tool interface and minimal vibrations. This optimal set of parameters enables a versatile engagement between tool and bone without sacrificing the optimal process outcomes.
Dissertations / Theses on the topic "Robot R-Min"
1
Jeanneau, Guillaume. "Analyse et conception d'un robot parallèle sous-actionné intrinsèquement sûr." Thesis, Ecole centrale de Nantes, 2022. http://www.theses.fr/2022ECDN0018.
Full textAbstract:
Cette thèse introduit le robot R-Min, un concept de robot parallèle sous-actionné conçu pour réduire les efforts dus à un impact avec une personne. L’architecture est basée sur celle du mécanisme à cinq barres sur lequel des liaisons pivots sont ajoutées sur les avant-bras. Les modèles géométrico-statique et cinémato-statique sont déduits des conditions énergétiques nécessaires à l’équilibre du robot. Une étude discrète des solutions à ces modèles permet d’obtenir l’espace de travail du robot et le lieu de ces singularités. L’étude se concentre alors sur l’analyse de la sécurité. Un modèle réduit masse-ressort-masse, prenant en compte une raideur dynamiquement cohérente, est défini permettant d’obtenir une simplification du modèle dynamique au moment de l’impact et ainsi donne une nouvelle manière de caractériser la sécurité des robots souples. Une analyse expérimentale du robot R-Min permet en premier lieu de valider la faisabilité de modéliser et de contrôler ce type de structure tout en réduisant ses oscillations. Ensuite, l’effet sur la sécurité du sousactionnement, de la raideur, des vitesses, de l’objet impacté, est évalué lors d’un impact entre le robot R-Min et un dispositif de mesure dédié. Les résultats sont renforcés en simulation et permettent de conclure qu’une structure parallèle souple est une nouvelle solution permettant l’amélioration de la sécurité des robots de manière intrinsèqueThis thesis introduces the R-Min robot, a concept of an underactuated parallel robot designed to reduce the efforts due to an impact with a person. The architecture is based on the five-bar mechanism on which revolute joints are added on the forearms. The geometrico-static and kinemato-static models are deduced from the robot energetic condition necessary for robot equilibrium. A discrete study of the solutions to these models allows to obtain the workspace of the robot and the locus of its singularities. The study then focuses on the safety analysis. A reduced massspring-mass model, taking into account a dynamically consistent stiffness, is defined allowing to obtain a simplification of the dynamic model at the time of the impact and thus gives a new way to characterize the safety of compliant robots. An experimental analysis of the RMin robot allows first to validate the feasibility of modeling and controlling this type of structure while reducing its oscillations. Then the respective effect on the safety of the underactuation, of the stiffness, of the velocities and of the impacted object is evaluated for the impact of the R-Min robot with a dedicated measurement device. Results are reinforced in simulation and leads to the conclusion that an underactuated parallel structure permits safety improvement of intrinsically safe robots
2
Do, Martin Minh Thong [Verfasser], and R. [Akademischer Betreuer] Dillmann. "A Continuous Grasp Representation for the Imitation Learning of Grasps on Humanoid Robots / Martin Minh Thong Do. Betreuer: R. Dillmann." Karlsruhe : KIT-Bibliothek, 2014. http://d-nb.info/107246456X/34.
Full textBook chapters on the topic "Robot R-Min"
1
Baryshev, Alexey A. "Entrepreneurial Action as Metaphorical Process and its Metaphorics." In Start-Ups and SMEs, 1441–58. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-1760-4.ch074.
Full textAbstract:
The objective of this paper is to formulate new approach to entrepreneurship and its result that is challenged by appearance of novel spheres of entrepreneurial activity related to social innovations, social networks, solution for corporate management and people`s wellbeing, production of gadget for precarious wants. These items inspire the study of axiological bases of value created by entrepreneurs. This purpose suggests addressing and revisiting the notions of entrepreneurial action and value. Their complete conceptualization applying to nascent new economy is unlikely to be possible. With this in mind, we focused on searching for metaphors that can cast light on the specifics of newly-emerging phenomena related to entrepreneurial action and value created by it. Using the theory of metaphor, we find that entrepreneurial action is of metaphorical nature itself. In the article, the creation of value is described by means of the transferal of enterprising constituents of entrepreneur's identity onto produced things. We specify these constituents as referred to the different periods of entrepreneurial history. The identification of the constituents was based on the theory of pillars and carriers of institutions by W. R. Scott. The metaphors of appropriateness, utility and wellbeing were proposed for the different periods of the development of value. The metaphor of rhetoric was defined as a root metaphor for all moduses of entrepreneurial action considered as a process of convincing on the value of things produced. Special metaphors for entrepreneurial action for each period of value development were also proposed. The metaphor of performative rhetoric was considered as shedding light on dominant modus of entrepreneurial action and modus of value under conditions of knowledge society.
Conference papers on the topic "Robot R-Min"
1
Jeanneau, Guillaume, Vincent Begoc, Sebastien Briot, and Alexandre Goldsztejn. "R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations." In 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. http://dx.doi.org/10.1109/icra40945.2020.9196990.
Full text
2
Jeanneau, Guillaume, Vincent Bégoc, and Sébastien Briot. "Geometrico-Static Analysis of a New Collaborative Parallel Robot for Safe Physical Interaction." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22330.
Full textAbstract:
Abstract This paper introduces a geometrico-static analysis of an intrinsically safe parallel manipulator called R-Min. This robot was designed to reduce the risk of injury during a collision with a human operator, thanks to an underactuated architecture which enables large internal displacements in case of a collision. Indeed, the R-Min architecture is based on a modification of the well-known planar five-bar mechanism, where additional passive joints are introduced on the distal links in order to create a planar seven-bar mechanism with two degrees of underactuation. These two additional degrees of freedom are passively driven through the use of a supplementary passive leg, in which a tension spring is mounted between the base and the end-effector. In this paper, the conditions satisfying the equilibrium and the stability of the mechanism are introduced, based on a geometrico-static analysis. The direct and inverse problems are then solved using a numerical approach. Solutions to both problems are presented and classified. One subset of solutions to the inverse problem is isolated and projected in the Cartesian space in order to obtain the payload-invariant workspace of the R-Min robot.
3
Drouin, Christophe, Abolfazl Pourghodrat, Sylvain Miossec, Gérard Poisson, and Carl A. Nelson. "Dimensional Optimization of a Two-Arm Robot for Single-Site Surgery Operations." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12918.
Full textAbstract:
Unlike open surgery, minimally invasive surgery (MIS) involves small incisions through which instruments are passed to perform surgery. This technique is preferred since it reduces postoperative pain and recovery time. Laparoendoscopic single-site (LESS) surgery is the next step in MIS; a single incision is created instead of multiple access points for allowing the instruments to enter the peritoneal cavity. However, such minimally invasive techniques force the surgeon to perform more complex movements, hence the interest to use robotic systems. Design of robots for LESS is challenging to avoid collisions, reduce weight, and improve compactness while respecting the technical requirements (minimum forces, velocities). In this paper, we present the dimensional synthesis of a two-arm robot used for LESS. Each arm has a 2R-R-R architecture with link lengths optimized to respect the workspace constraints and maximize compactness while improving the performance in terms of forces and velocities (kinetostatic properties).
4
Yu, Deqi, Jiandao Yang, Wei Lu, Daiwei Zhou, Kai Cheng, and Rui Yang. "Development of 1500-r/min 75-Inch Ultra-Long Last Stage Blades for Nuclear Steam Turbine." In ASME Turbo Expo 2017: Turbomachinery Technical Conference and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/gt2017-63325.
Full textAbstract:
The 1500-r/min 1905mm (75inch) ultra-long last three stage blades for half-speed large-scale nuclear steam turbines of 3rd generation nuclear power plants have been developed with the application of new design features and Computer-Aided-Engineering (CAE) technologies. The last stage rotating blade was designed with an integral shroud, snubber and fir-tree root. During operation, the adjacent blades are continuously coupled by the centrifugal force. It is designed that the adjacent shrouds and snubbers of each blade can provide additional structural damping to minimize the dynamic stress of the blade. In order to meet the blade development requirements, the quasi-3D aerodynamic method was used to obtain the preliminary flow path design for the last three stages in LP (Low-pressure) casing and the airfoil of last stage rotating blade was optimized as well to minimize its centrifugal stress. The latest CAE technologies and approaches of Computational Fluid Dynamics (CFD), Finite Element Analysis (FEA) and Fatigue Lifetime Analysis (FLA) were applied to analyze and optimize the aerodynamic performance and reliability behavior of the blade structure. The blade was well tuned to avoid any possible excitation and resonant vibration. The blades and test rotor have been manufactured and the rotating vibration test with the vibration monitoring had been carried out in the verification tests.
5
Vardoulis, Orestis, Theodore G. Papaioannou, and Nikos Stergiopulos. "A New Pulse Contour Analysis for Cardiac Output Estimation: The Systolic Volume Balance Method." In ASME 2012 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/sbc2012-80167.
Full textAbstract:
Cardiac output (CO) monitoring is essential for the optimal management of critically ill patients. Several methods have been proposed for CO estimation based on arterial pressure waveform analysis, known as “pulse contour cardiac output” (PCCO) monitoring. Most of them are based on invasive recording of blood pressure and require repeated calibrations, while they are still subject to inaccuracy under specific conditions. The Systolic Volume Balance (SVB) method was developed as a new non-invasive method based on physical principles and was further validated by a one-dimensional model of the systemic arterial tree. CO estimates were compared against the “real” CO values of the one dimensional model. 507 different hemodynamic cases were simulated by altering heart rate (HR), total arterial compliance (C) and total arterial resistance (R). It was found that CO can be accurately estimated by the new SVB formula. The bias between the brachial PCCO and the model’s CO was 0.042 L/min with 0.341 L/min SD of difference. The limits of agreement were −0.7–0.6 L/min indicating high precision. The intraclass correlation coefficient and the root mean square error between estimated and “real” CO values were 0.861 and 0.041 L/min respectively, indicating good accuracy and agreement.
6
Ramadan, Muawia, Bashir Salah, and Bernd Noche. "Innovative Estimating Travel Time Model for Dual-Command Cycle Time of Stewart-Gough Platform in Automated Storage/Retrieval Systems." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70078.
Full textAbstract:
The travel time models of automated storage and retrieval systems (AS/RS’s) have been widely used in distribution and production environments. This paper extends previous work presented on impact design aspects of automated storage/retrieval systems by determining the expected cycle travel time for single command. Our new study improves the throughput performance rate of new AS/RS’s design on cycle travel time that will be specified by estimating travel time for dual command to serve as storage and retrieval (S/R) machine using a parallel wire-based Stewart-Gough platform (parallel wire robot). This improved efficiency in new design is called Stewart-Gough Platform based Automated Storage and Retrieval Systems (SGP-AS/RS’s). A numerical case study has been presented to clarify the travel time analysis based on mini unit-load storage and retrieval system. The improved throughput has been demonstrated by making a comparison between the conventional AS/RS results and the (SGP-AS/RS’s) results in the numerical case study. The effectiveness and ability of (SGP-AS/RS’s) has been proofed by determining the expected travel time for single command and dual command for random and classed-based analysis of storage assignment.
7
Guo, Jianhua, Hongyuan Jiang, Gang Han, and Hui Yan. "A New Design of Tooth Profiles Increases Synchronous Belt’s Fatigue Life." In ASME 2008 International Mechanical Engineering Congress and Exposition. ASMEDC, 2008. http://dx.doi.org/10.1115/imece2008-66301.
Full textAbstract:
Synchronous belt and its driving pulley have non-conjugate tooth profiles. Because of non-conjugate motion and polygon effect, interference occurs during incomplete meshing, resulting in excessive wear and tear at tooth-root, which are the main forms of failure of synchronous belts. Tooth cracking also results from uneven stress distribution and/or increased maximal stress. In addition to discovering better materials to increase the strength of the belt’s teeth, optimization of the geometry of tooth profiles of belt and pulley to decrease the maximum tooth-root stress and to reduce interference during meshing is critical in improving the carrying capacity and increasing the belt’s life span. In the present study we proposed a new design of synchronous belt’s and pulley’s tooth profiles, modifying several key geometric parameters commonly used in synchronous belts’ designs. Applying the conformal mapping function and the theory of plane elasticity we systemically investigated the distribution of stress and distortion at the belt’s and pulley’s teeth of varying geometric parameters and analyzed the interference during meshing using an approach to investigating tooth profiles of non-constant pitch diameter. Finite Element Analysis showed that with the same load the maximum principal stress values of belt teeth in complete meshing in our design (STSB) were 54.4% and 67.8% of that of HTD (by Uniroyal) and STPD (by Good Year) belts with an 8 mm pitch commonly used in automobiles, respectively. The uneven distribution of stress along the edge of tooth profile was reduced, and the interference during meshing minimized with our design. We then experimentally tested belts made of the same materials with the three designs manufactured by the same factory. The belts were tested in the enclosed type of testing machine for synchronous belt’s fatigue-life, power = 6.5 kW and speed = 1500 r/min with test belt tension at 400 N. The fatigue lives of the belts (n = 5 each group) were 988 ± 36, 439 ± 21 and 665 ± 22 hours (mean ± SD) for STSB, HTD and STPD belts (p<0.0001), respectively, demonstrating the superiority of our design. We anticipate that the new design will have wide applications not limited to the automobile industry.
8
Ozbayoglu, Murat, Evren Ozbayoglu, Baris Guney Ozdilli, and Oney Erge. "Estimation of Cuttings Concentration and Frictional Pressure Losses During Drilling Using Data-Driven Models." In ASME 2021 40th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/omae2021-63653.
Full textAbstract:
Abstract Drilling practice has been evolving parallel to the developments in the oil and gas industry. Current supply and demand for oil and gas dictate search for hydrocarbons either at much deeper and hard-to-reach fields, or at unconventional fields, both requiring extended reach wells, long horizontal sections, and 3D complex trajectories. Cuttings transport is one of the most challenging problems while drilling such wells, especially at mid-range inclinations. For many years, numerous studies have been conducted to address modeling of cuttings transport, estimation of the concentration of cuttings as well as pressure losses inside the wellbores, considering various drilling variables having influence on the process. However, such attempts, either mechanistic or empirical, have many limitations due to various simplifications and assumptions made during the development stage. Fluid thixotropy, temperature variations in the wellbore, uncertainty in pipe eccentricity as well as chaotic motion of cuttings due to pipe rotation, imperfections in the wellbore walls, variations in the size and shape of the cuttings, presence of tool joints on the drillstring, etc. causes the modeling of the problem extremely difficult. Due to the complexity of the process, the estimations are usually not very accurate, or not reliable. In this study, data-driven models are used to address the estimation of cuttings concentration and frictional loss estimation in a well during drilling operations, instead of using mechanistic or empirical methods. The selected models include Artificial Neural Networks, Random Forest, and AdaBoost. The training of the models is determined using the experimental data regarding cuttings transport tests collected in the last 40 years at The University of Tulsa – Drilling Research Projects, which includes a wide range of wellbore and pipe sizes, inclinations, ROPs, pipe rotation speeds, flow rates, fluid and cuttings properties. The evaluation of the models is conducted using Root Mean Square Error, R-Squared Values, and P-Value. As the inputs of the data-driven models, independent drilling variables are directly used. Also, as a second approach, dimensionless groups are developed based on these independent drilling variables, and these dimensionless groups are used as the inputs of the models. Moreover, performance of the data-driven model results are compared with the results of a conventional mechanistic model. It is observed that in many cases, data-driven models perform significantly better than the mechanistic model, which provides a very promising direction to consider for real time drilling optimization and automation. It is also concluded that using the independent drilling variables directly as the model inputs provided more accurate results when compared with dimensional groups are used as the model inputs.