scholarly journals Analysis, Design and Experimental Research of a Novel Bilateral Patient Transfer Robot

Machines ◽  
2022 ◽  
Vol 10 (1) ◽  
pp. 33
Author(s):  
Lingfeng Sang ◽  
Hongbo Wang ◽  
Yu Tian
Keyword(s):  
Experimental Research ◽  
Medical Staff ◽  
Degrees Of Freedom ◽  
Difficult Problem ◽  
Patient Transfer ◽  
Patient Comfort ◽  
Transfer Model ◽  
Mechanical Structure ◽  
Working Principle ◽  
Low Efficiency

Patient transfer has always been a difficult problem in the hospital. For medical staff, there are problems including high risk of infection, heavy physical labor and low efficiency of transfer; for patients, there are problems including poor comfort and secondary injury. In this paper, a novel bilateral patient transfer robot is investigated and designed. The following tasks are conducted: (1) Based on the process of patient transfer, a transfer model, which consists of two degrees of freedom, is proposed, and the working principle of bilateral patient transfer robot is obtained and analyzed in detail. (2) Force analysis of the patient transfer robot is conducted. The corresponding relationship between the patient comfort and the insertion angle is proposed, and the optimal sizes of mechanical structure are obtained. (3) Based on the theoretical analysis, the mechanical structure and the control system of the robot are designed, and the prototype is manufactured. (4) Experimental research is conducted. The results show that the prototype can complete the required motion performance with a carrying capacity up to 150 kg and patient comfort is excellent. The results of this paper prove that this kind of patient transfer robot has good performance, it can also reduce the burden on medical staff.

Theoretical Calculation and Experimental Research on Sequential Turbocharging of a Marine Diesel Engine

2011 ◽  
Vol 305 ◽  
pp. 416-422
Author(s):  
Peng Qi Zhang ◽  
Qing Lin He ◽  
Yin Yan Wang
Keyword(s):  
Diesel Engine ◽  
Theoretical Calculation ◽  
Experimental Research ◽  
Marine Diesel Engine ◽  
Test Results ◽  
Low Load ◽  
Marine Diesel ◽  
Working Principle ◽  
Test Result

The paper introduces the working principle of the sequential turbo-charging (STC) system of multi-turbocharger. To improve low-load performance and operating economy of the 234V12 diesel engine, a STC system of multi-turbocharger for the diesel engine was designed. Theoretical calculation and experimental research was done on this improved marine diesel engine. Then, a 3-phase STC system is presented by analyzing and comparing the test result and the switching boundary of this system is confirmed. The test results show that the low-load performance is improved obviously by use of multi-turbocharger STC system.

A Heuristic Algorithm on Solving the Great Group Dividing of Figure

2012 ◽  
Vol 239-240 ◽  
pp. 1557-1560
Author(s):  
Hai Yan Zhou ◽  
Li Ping Wen
Keyword(s):  
Heuristic Algorithm ◽  
Time Complexity ◽  
Difficult Problem ◽  
Minimax Group ◽  
Maximum Time ◽  
Simple Figure ◽  
Time Price ◽  
Low Efficiency ◽  
Index Level ◽  
Complexity Of Algorithm

The problem of the great group of a figure is the famous NP-difficult problem. There exists an algorithm of solving the great group of figure or only applying to some of the special figure .There need time price is index level, and is low efficiency. It puts forward a kind of solving the minimax group partition algorithm with the most magnanimous nodes for elicitation information. This algorithm can be applied to any simple figure, and the maximum time complexity of algorithm is O(sn3).

Two-Point Floating Clamping Device Based on Fixed Cylinder with Double-Piston and Toggle-Lever Force Amplifier

2011 ◽  
Vol 201-203 ◽  
pp. 2220-2223 ◽  
Author(s):  
Guang Ju Si ◽  
Kang Min Zhong ◽  
Jun Peng Jia
Keyword(s):  
Degrees Of Freedom ◽  
Clamping Force ◽  
Compact Structure ◽  
Mechanical Calculation ◽  
Working Principle ◽  
Working Status ◽  
Clamping Device ◽  
Fixed Cylinder ◽  
Vibration Noise

Two-point floating clamping device, widely used in manufacturing field, can effectively ensure the same clamping force on different workpieces or different surfaces in one workpiece. But due to the application of unitary suspended articulated cylinder, traditional two-point floating devices have disadvantages such as poor working status, great impaction, vibration and noise. A kind of innovatively designed two-point floating clamping devices, with rigidly fixed cylinder replacing unitary suspended articulated cylinder, is presented in this paper. To solve the problem of insufficient degrees of freedom, three different methods are applied. This device has significant advantages in compact structure, small impaction and vibration noise. Moreover, the working principle and mechanical calculation formulas are presented in this paper, which is instructive to the industrial field.

scholarly journals Hidden Nambu mechanics II: Quantum/semiclassical dynamics

2019 ◽  
Vol 2019 (12) ◽  
Author(s):  
Atsushi Horikoshi
Keyword(s):  
Time Evolution ◽  
Quantum Dynamics ◽  
Degrees Of Freedom ◽  
Hamiltonian Dynamics ◽  
Extended Phase ◽  
Nambu Mechanics ◽  
Mechanical Structure ◽  
Wave Packet Dynamics ◽  
Semiclassical Dynamics ◽  
Metastable Potential

Abstract Nambu mechanics is a generalized Hamiltonian dynamics characterized by an extended phase space and multiple Hamiltonians. In a previous paper [Prog. Theor. Exp. Phys. 2013, 073A01 (2013)] we revealed that the Nambu mechanical structure is hidden in Hamiltonian dynamics, that is, the classical time evolution of variables including redundant degrees of freedom can be formulated as Nambu mechanics. In the present paper we show that the Nambu mechanical structure is also hidden in some quantum or semiclassical dynamics, that is, in some cases the quantum or semiclassical time evolution of expectation values of quantum mechanical operators, including composite operators, can be formulated as Nambu mechanics. We present a procedure to find hidden Nambu structures in quantum/semiclassical systems of one degree of freedom, and give two examples: the exact quantum dynamics of a harmonic oscillator, and semiclassical wave packet dynamics. Our formalism can be extended to many-degrees-of-freedom systems; however, there is a serious difficulty in this case due to interactions between degrees of freedom. To illustrate our formalism we present two sets of numerical results on semiclassical dynamics: from a one-dimensional metastable potential model and a simplified Henon–Heiles model of two interacting oscillators.

scholarly journals Diversity Maintenance for Efficient Robot Path Planning

2020 ◽  
Vol 10 (5) ◽  
pp. 1721
Author(s):  
Petar Ćurković ◽  
Lovro Čehulić
Keyword(s):  
Path Planning ◽  
Autonomous Vehicles ◽  
Degrees Of Freedom ◽  
Population Based ◽  
Difficult Problem ◽  
Fitness Sharing ◽  
Diversity Maintenance ◽  
Novelty Search ◽  
High Level ◽  
Path Planner

Path planning is present in many areas, such as robotics, video games, and unmanned autonomous vehicles. In the case of robots, it is a primary low-level prerequisite for the successful execution of high-level tasks. It is a known and difficult problem to solve, especially in terms of finding optimal paths for robots working in complex environments. Recently, population-based methods for multi-objective optimization, i.e., swarm and evolutionary algorithms successfully perform on different path planning problems. Knowing the nature of the problem is hard for optimization algorithms, it is expected that population-based algorithms might benefit from some kind of diversity maintenance implementation. However, advantages and potential traps of implementing specific diversity maintenance methods into the evolutionary path planner have not been clearly spelled out and experimentally demonstrated. In this paper, we fill this gap and compare three diversity maintenance methods and their impact on the evolutionary planner for problems of different complexity. Crowding, fitness sharing, and novelty search are tailored to fit specific problems, implemented, and tested for two scenarios: mobile robot operating in a 2D maze, and 3 degrees of freedom (DOF) robot operating in a 3D environment including obstacles. Results indicate that the novelty search outperforms the other two methods for problem domains of higher complexity.

Design and Realization of a Flexible Claw of Rough Wall Climbing Robot

2011 ◽  
Vol 328-330 ◽  
pp. 388-392 ◽  
Author(s):  
Dong Liang Chen ◽  
Qun Zhang ◽  
Shao Zhi Liu
Keyword(s):  
Experimental Study ◽  
Degrees Of Freedom ◽  
Material Selection ◽  
Structure Design ◽  
Rough Wall ◽  
Flexible Structure ◽  
Climbing Robot ◽  
Mechanical Structure ◽  
Four Bar Linkage

Based on the research of foot characteristics of insecta, a climbing robot’s mechanical structure and kinematics are analyzed, and the main crawling institutions was designed by a kind of bionic four-bar linkage. Claws are made of sharp spines, claws are composed of a number of toes which are flexible structure with local degrees of freedom, they have a grate adaptivity to the rough wall. We have studied the characteristics of the rough wall climbing, and made analysis affection of reliability with the angle perched on. The experimental study indicates spine planning and structure design, material selection are reasonable.

Modeling, Testing, and Evaluation of a Building-Integrated Photovoltaic-Thermal Collector

2009 ◽  
Author(s):  
Charles D. Corbin ◽  
Michael J. Brandemuehl
Keyword(s):  
Heat Transfer ◽  
Thermal Efficiency ◽  
Low Cost ◽  
Convection Heat Transfer ◽  
Calibration Error ◽  
Transfer Model ◽  
Transfer Coefficients ◽  
Electrical Efficiency ◽  
Building Integrated Photovoltaic ◽  
Low Efficiency

The performance of Building-Integrated Photovoltaic-Thermal (BIPV/T) collector is examined in this study. A full scale-test collector is monitored over several weeks in the summer of 2008 and measured data is used to calibrate a heat transfer model implemented in a common scientific computing software package. Following calibration, error between experimental measurements and the calibrated model outputs is within the limits of measurement uncertainty. Collector simulations are constructed to examine thermal efficiency, the effectiveness of the collector as a night-sky radiator, the effect of heat collection on electrical efficiency, the effect of two common exterior convection coefficients on collector performance, and the effect of eliminating the air gap between the PV and absorber surfaces. Overall collector thermal efficiency is relatively low compared to existing collectors. However, the potential low cost of the system could allow larger collector areas to compensate for low efficiency, especially in warm climates. Combined thermal and electrical efficiency can be as high as 34%. Additional analysis also indicates that the predicted thermal performance is highly dependent on the thermal resistance between the PV cells and the absorber plate and is sensitive to assumptions regarding wind-driven convection heat transfer coefficients.

MBARS2: A New Design for a 3- Degrees of Freedom Parallel Structure for Joint Arthroplasty

2008 ◽  
Author(s):  
A. Wolf ◽  
S. Amir ◽  
A. B. Mor
Keyword(s):  
Coordinate System ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Joint Arthroplasty ◽  
Robotic System ◽  
Parallel Structure ◽  
Tracking Systems ◽  
Mechanical Structure ◽  
Workspace Analysis

In this report we present the second prototype of a 3-degrees-of-freedom active, miniature bone-attached, robotic system. The report focuses on the mechanical structure, workspace analysis and inverse kinematics solution. The robot is capable of preparing the bone cavity for an implant during joint arthroplasty procedures. This system, just as its predecessor is image-free and all planning is performed intraoperatively in the robot coordinate system, eliminating the need for external tracking systems in the OR. Experiments were conducted using the first robot prototype to evaluate its accuracy and the results supported the feasibility of the concept.

scholarly journals Metric Embedding Learning on Multi-Directional Projections

Algorithms ◽  
2020 ◽  
Vol 13 (6) ◽  
pp. 133 ◽  
Author(s):  
Gábor Kertész
Keyword(s):  
Feature Extraction ◽  
High Performance ◽  
Classification Performance ◽  
Difficult Problem ◽  
Input Image ◽  
Image Size ◽  
Matching Problems ◽  
Low Efficiency ◽  
Multi Class Classification ◽  
Directional Image

Image based instance recognition is a difficult problem, in some cases even for the human eye. While latest developments in computer vision—mostly driven by deep learning—have shown that high performance models for classification or categorization can be engineered, the problem of discriminating similar objects with a low number of samples remain challenging. Advances from multi-class classification are applied for object matching problems, as the feature extraction techniques are the same; nature-inspired multi-layered convolutional nets learn the representations, and the output of such a model maps them to a multidimensional encoding space. A metric based loss brings same instance embeddings close to each other. While these solutions achieve high classification performance, low efficiency is caused by memory cost of high parameter number, which is in a relationship with input image size. Upon shrinking the input, the model requires less trainable parameters, while performance decreases. This drawback is tackled by using compressed feature extraction, e.g., projections. In this paper, a multi-directional image projection transformation with fixed vector lengths (MDIPFL) is applied for one-shot recognition tasks, trained on Siamese and Triplet architectures. Results show, that MDIPFL based approach achieves decent performance, despite of the significantly lower number of parameters.

Experimental Research on Ultrasonic Vibration Deep Hole Honing of Titanium Alloy

2011 ◽  
Vol 314-316 ◽  
pp. 1107-1111
Author(s):  
Hong Bing Zhao ◽  
Ying Fei Nan
Keyword(s):  
Surface Roughness ◽  
Titanium Alloy ◽  
Ultrasonic Vibration ◽  
Experimental Research ◽  
High Surface ◽  
The Self ◽  
Deep Hole ◽  
High Surface Roughness ◽  
Low Efficiency ◽  
Better Than

Deep hole honing is the primary way of finishing, the main problems existing now are the low efficiency, high surface roughness, especially in the processing of difficult to cut materials. In this study, the test is on the titanium alloy and uses the self-developed ultrasonic vibration honing equipment. The results show that in the same conditions, the ultrasonic vibration in deep-hole honing can improve the efficiency about 1 times, and meanwhile the surface roughness can reach below 0.8μm, the oilstone is uneasy to block, and the technical effects are better than traditional honing process.

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