bluuebunny/crossref_metadata_2025_split huggingface dataset:
Autonomous Robotic Subcutaneous Injection Under Near-Infrared Image Guidance
Authors: Huang Dingliang , Hu Bin , Chen Yinna , Chen Yu , Sui Liangchen , Wang Zhaoyang , Jiang Yijun , Ren Zhongyuan , Wang Yuxuan , Cao Xu , Qi Peng 
Published: November 2021

Abstract
Subcutaneous injections are administered into the region beneath the skin, while avoiding puncturing the blood vessels, which gives many types of medications for various medical conditions. In this paper, a portable robotic system performing autonomous cannulation of subcutaneous injections is proposed, and it achieves to automatically locate the proper injection site by analyzing near-infrared (NIR) image sequences. The robot mainly consists of two functional modules-image processing module and motion control module. The former with a full-search algorithm processes the images obtained by the NIR equipment. The puncture point is selected in the area where there are no blood vessels and a method of “range square” is utilized. The motion control module of the robotic system employs the pulse width modulation (PWM) wave to effectively control the motors and manipulates the syringe to puncture at the selected point. The image processing algorithm was evaluated based on the real NIR images of volunteers’ hands and forearms, and the image servo control of the robot was tested on the phantom. The experimental results were analyzed by a medical professional, and the success rate of the image processing algorithm is 96.09%, while the puncture time can satisfy the clinical demand for the efficiency of puncture procedures.
Prediction of Driver’s Center of Gravity Position on a Stand-Up Type PMV Considering Intentions
Authors: Nakagawa Chihiro , Sato Kosuke , Shintani Atsuhiko 
Published: November 2021

Abstract
In recent years, Personal Mobility Vehicles (PMVs) have been attracting attention as a new means of transportation. They are environmentally friendly without exhausting harmful gases. These vehicle bodies are relatively smaller than cars, so they have a high affinity for pedestrian space. However, depending on the specifications of the vehicle, driver’s behaviors have great effect on the vehicle movement because the weight of the vehicle is comparatively low. In addition, applying the automatic driving on PMV will be one of the next steps to make use of PMVs. It is important to understand the dynamic behavior of drivers not only during their intentional driving but also during the automatic driving. In this study, we focused on stand-up type PMVs. We measured driver’s center of gravity and several forces on a standing PMV. From the measurements, we looked at the correlation coefficient, and used multiple regression analysis to derive the prediction equations of driver’s center of gravity position on stand-up type PMVs. These results can be applied to simulate the dynamic motion of the PMV and a driver.
In-Situ Laser-Based Process Monitoring and In-Plane Surface Anomaly Identification for Additive Manufacturing Using Point Cloud and Machine Learning
Authors: Lyu Jiaqi , Akhavan Taheri Boroujeni Javid , Manoochehri Souran 
Published: November 2021

Abstract
Additive Manufacturing (AM) is a trending technology with great potential in manufacturing. In-situ process monitoring is a critical part of quality assurance for AM process. Anomalies need to be identified early to avoid further deterioration of the part quality. This paper presents an in-situ laser-based process monitoring and anomaly identification system to assure fabrication quality of Fused Filament Fabrication (FFF) machine. The proposed data processing and communication architecture of the monitoring system establishes the data transformation between workstation, FFF machine, and laser scanner control system. The data processing performs calibration, filtering, and segmentation for the point cloud of each layer acquired from a 3D laser scanner during the fabrication process. The point cloud dataset with in-plane surface depth information is converted into a 2D depth image. Each depth image is discretized into 100 equal regions of interest and then labeled accordingly. Using the image dataset, four Machine Learning (ML) classification models are trained and compared, namely Support Vector Machine (SVM), K-Nearest Neighbors (KNN), Convolutional Neural Network (CNN), and Hybrid Convolution AutoEncoder (HCAE). The HCAE classification model shows the best performance based on F-scores to effectively classify the in-plane anomalies into four categories, namely empty region, normal region, bulge region, and dent region.
Topology Optimization Design of Structures Based on Eigenfrequency Matching
Authors: Giraldo-Guzmán Daniel , Lissenden Clifford , Shokouhi Parisa , Frecker Mary 
Published: November 2021

Abstract
We demonstrate the design of resonating structures using a density-based topology optimization approach, which requires the eigenfrequencies to match a set of target values. To develop a solution, several optimization modules are implemented, including material interpolation models, penalization schemes, filters, analytical sensitivities, and a solver. Moreover, common challenges in topology optimization for dynamic systems and their solutions are discussed. In this study, the objective function is to minimize the error between the target and actual eigenfrequency values. The finite element method is used to compute the eigenfrequencies at each iteration. To solve the optimization problem, we use the sequential linear programming algorithm with move limits, enhanced by a filtering technique. Finally, we present a resonator design as a case study and analyze the design process with different optimization parameters.
Efficient Design Principles for Designing Innovative Aerial Robots
Authors: Tan Chee How , Foong Shaohui , Hölttä-Otto Katja 
Published: November 2021

Abstract
The field of aerial robotics has advanced rapidly, but the design knowledge has not yet been codified into reusable design principles. Design principles have been developed for many other areas of mechanical design to both advance the field itself and help novice designers benefit from the past expert knowledge easier. We used an inductive approach and collected 90 aerial robot examples through the reviewing of recent work in aerial robotics and studying the key motivations, features, functionalities and potential design contradictions. Then, design principles are iteratively derived by identifying patterns and grouping them by the problem they solve, and the innovation made to solve it. From this, we find 35 unique design examples that can be grouped into either fourteen design principles for more sensing, battery, mission, or actuation efficient design; or six design principles to improve a desired functionality in an aerial robot such as reducing complexity or improving how the robot can interact with objects or its environment. We compared the research results with similar work in the area of mechanical design and examined the commonalities and highlighted design principles unique to aerial robots. The design principles presented in this research can support the design for future innovative aerial robots.
Design for Product Circularity: Circular Economy Indicators With Tools Mapped Along the Engineering Design Process
Authors: Saidani Michael , Kim Harrison 
Published: November 2021

Abstract
Monitoring the circularity potential of products and materials is key to ensure environmental savings and economic profitability of circular economy loops, such as reuse, remanufacturing, or recycling. The choices and decisions made during the product design phase have a major influence and impact on the circularity performance of products. While numerous indicators and tools have been recently developed to assess, manage, and accelerate the transition to a more circular economy, their application and usability during the early design phases of products are often overlooked. Based on a screening of several tens of circular economy indicators, the present research work identified twelve product-centric circularity indicators, each of them coming with a computational tool, to be deployed during the design process in order to improve the circularity potential of products. To help designers and engineers selecting the appropriate solution, these circularity indicators and tools are positioned on a generic five-step design process, namely: requirements definition, conceptual design, detailed design, designs comparison, product monitoring and communication. Concrete examples are given on how these indicators and their assessment framework can support the design of more circular products. Current shortcomings of available approaches are finally highlighted and discussed (such as the lack of c-indicators for the detailed design phase or linkage with computer-aided design software) for an augmented integration of such promising circularity indicators and their associated tools within the design and development process of products.
Design of a Monolithic Constant-Force Compliant Mechanism for Extended Range of Motion and Minimal Force Variation
Authors: Lo Ching-Wei , Chang Yuan , Wang Mien-Li , Lin Cian-Ru , Lee Jyh-Jone 
Published: November 2021

Abstract
Compliant mechanisms enable passive force control through induction of strain energy during deformation. This has been perceived as a desired factor for developing precise handling equipment of limited size where additional sensors and controls are inessential to its operation. In this paper, our objective is to design a monolithic constant-force compliant mechanism to be integrated in a constant-force gripper for extended range of bidirectional motion. A topology synthesis method has been proposed by means of domain definition, discrete parameterization, topology optimization, and nonlinear structural deformation evaluation. This article adapts a compliant topology of a homogeneous beam configuration that exhibits zero stiffness behavior over a pre-established effective region. The optimization by genetic algorithm generates discrete shaping parameters for formation of an optimal geometry. The structural deformation computation via vector form intrinsic finite element that accounts for large displacement motion quantifies an iterative series of load-displacement relations in the optimization. Results have been verified using a conventional finite element method. A conceptual gripper has been proposed with a pair of embedded constant-force compliant mechanisms. This procedure has prepared a general guideline for future development of passive compliant devices that require accurate force regulation over a wide range of motion.
Human-Centric Design Requirements and Challenges for Enabling Human-AI Interaction in Engineering Design: An Interview Study
Authors: Shergadwala Murtuza N. , Seif El-Nasr Magy 
Published: November 2021

Abstract
AI technologies are enabling the development of not only active tools that provide decision-support, but also interactive tools that seek human input and feedback. As interactive tools facilitate human-AI interaction, their design needs to be informed by human-centric requirements, that is, the needs of the users of such tools. In the context of engineering design, there is a gap in our understanding of designing intelligent tools that facilitate human-AI interaction. To fill this gap, the research question of this study is, What are the human-centric design requirements for the design of AI agents to enable human-AI interaction in engineering design contexts? To answer this question, we conducted an interview study with faculty members in engineering design. The faculty predominantly discussed engineers, designers, and engineering design students as the potential stakeholders who would directly benefit from human-AI interaction. For such stakeholders, we identify several human-centric design requirements and challenges in designing AI tools that facilitate human-AI interaction in engineering design. We find that the requirements focused on the need to understand the stakeholders’ cognition and the engineering design contexts. The results of our study point to the need for the theory of mind in AI agents to enable them to infer stakeholder preferences while engaging in engineering design activities.
Energy Absorption Characteristics of Passenger Car With Origami Structure
Authors: Yang Yang , Zhao Xilu , Hagiwara Ichiro 
Published: November 2021

Abstract
In the crash collision, the vehicle energy absorbers play an important role in the energy absorbed performance. Current vehicle energy absorbers have two defects during collision, such as only 70 % collapsed in its length and high initial peak load. It is because present energy absorbed column is the most primitive from the point of Origami structure. We developed the column so called Reversed Spiral Origami Structure; RSO which solves these 2 defects. However, for RSO, the manufacturing cost of hydroforming in the existing technology is too expensive to be applied in real vehicle structure. To address the problems, we have developed a new molding method called “Partial-heating torsion molding method”. And we have developed RTO (Reversed Torsion Origami Structure) by this new molding method at a very low cost. We show this RTO also solves the two defects of the present vehicle absorbers by not only simulation but also experiments. This structure is possible to replace conventional energy absorbers and it is expected to be widely used such as not only in automobile structures but also in building ones.
The MAIANDROS System for Random-Vibration-Based On-Board Railway Vehicle and Track Monitoring
Authors: Vlachospyros Georgios , Iliopoulos Ilias A. , Kritikakos Kiriakos , Kaliorakis Nikolaos , Fassois Spilios D. , Sakellariou John S. , Deloukas Alexandros , Leoutsakos George , Giannakis Christos , Chronopoulos Elias , Tountas Elias , Kapiris Dimosthenis 
Published: November 2021

Abstract
A bird’s–eye overview of the innovative, on–board and Multi–Purpose, random vibration based MAIANDROS Condition Monitoring system for railway vehicles and infrastructure is presented. The system includes Modules for Suspension Monitoring (SM), Wheel Monitoring (WM), Track Monitoring (TM) for track segment condition characterization, Lateral Stability Monitoring (LSM), and Remaining Useful Life Estimation (RULE) for critical components such as wheels. It is based on Statistical Time Series type methods and proper decision making, and aims at overcoming various challenges of current systems while pushing their performance limits. Its unique advantages include high diagnostic performance, ability to detect early–stage (incipient) faults, robustness to varying Operating Conditions, early detection of the onset of hunting, operation with a minimal number of low–cost sensors, and minimal computational complexity for achieving real–time or almost real–time operation. Its high achievable performance is demonstrated via indicative assessments using a prototype system onboard an Athens Metro vehicle and Monte Carlo simulations with a SIMPACK based high–fidelity vehicle model.
A Study of a Pendulum-Like Vibration Isolator With Quasi-Zero-Stiffness
Authors: Tian Yishen , Cao Dengqing , Wang Yan 
Published: November 2021

Abstract
This article introduces a pendulum element to a 3-spring vibration isolator to achieve a high-static-low-dynamic (HSLD) stiffness or even quasi-zero stiffness (QZS) around the equilibrium position. Numerical simulation is given and the harmonic balance method (HBM) is used to obtain time responses for analysis. Effects of different parameters on the isolation performance are studied and summarized. Approximation force and displacement transmissibility of the system are calculated to evaluate the isolation performance. Comparisons are made with those of an equivalent linear isolator and the typical 1 degree-of-freedom (DOF) QZS isolator. Results show that the novel vibration isolator performs better than existing isolators under selected parameters. The left bent backbone of the novel isolator demonstrates evident softening geometric nonlinearity. Therefore, it achieves a wider frequency range of isolation than the linear 1DOF isolator and typical 3-spring QZS isolator. Moreover, the transmissibility of the novel isolator is smaller at higher frequencies as the jump phenomenon occurs on the left.
Introduction and Preliminary Investigation of Buoyancy Assisted Robots That Are Cheap, Safe, and Will Never Fall Down
Authors: Williams Matthew David , Hong Dennis 
Published: November 2021

Abstract
We introduce and define a new family of mobile robots called BAR (Buoyancy Assisted Robots) that are cheap, safe, and will never fall down. BARs utilize buoyancy from lighter-than-air gases as a way to support the weight of the robot for locomotion. A new BAR robot named BLAIR (Buoyant Legged Actuated Inverted Robot) whose buoyancy is greater than its weight is also presented in this paper. BLAIRs can walk “upside-down” on the ceiling, providing unique advantages that no other robot platforms can. Unlike other legged robots, the mechanics of how BARs walk is fundamentally different. We also perform a preliminary investigation for BARs. This includes comparing safety, cost, and energy consumption with other commercially available robots. Additionally, the preliminary investigation also includes analyzing previous works relating to BARs. A dynamical analysis is performed on the novel robot BLAIR. This is presented to show the impacts of buoyant and drag forces on BLAIRs. Preliminary analysis with the prevalence of drag is presented with simulations using a genetic algorithm and simulations. Results show that BARs with different mechanisms prefer different styles of walking gaits such as prancing or skipping. This work lays the foundation for future research work on the gaits for BARs.
A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms
Authors: Kong Lingyu , Chen Genliang , Huang Guanyu , Song Sumian , Xie Anhuan , Zhang Dan 
Published: November 2021

Abstract
Kinematic error model plays an important role in improving the positioning accuracy of robot manipulators by kinematic calibration. The identifiability of kinematic parameters in the error model directly affects the positioning accuracy of the mechanism. And the number of identifiable kinematic parameters determines how many parameters can be accurately identified by kinematic calibration, which is one of the theoretical basis of kinematic error modeling. For serial mechanisms, a consensus has been reached that the maximum number of identifiable kinematic parameters is 4R + 2P + 6, where R and P represent the numbers of revolute and prismatic joints, respectively. Due to complex topologies of parallel mechanisms, there is still no agreement on the formula of the maximum number of identifiable parameters. In this paper, a comprehensive numerical study on the number of identifiable kinematic parameters of parallel mechanisms is conducted. The number of identifiable parameters of 3802 kinds of limbs with different types or actuation arrangements are analyzed. It can be concluded that the maximum number of identifiable kinematic parameters is Σ i = 1 n 4Ri + 2Pi + 6 − Ci − 2(PP)i/3(PPP1)i/(2Ri + 2Pi)(PPP)i, where Ci represents the number of joints whose motion cannot be measured and n denotes the number of limbs in a parallel mechanism; (PP)i, (PPP1)i, and (PPP)i represent two consecutive unmeasurable P joints, three consecutive P joints in which two of them cannot be measured, and three unmeasurable P joints, respectively.
Connecting Qualitative and Quantitative Analysis Through Bond Graph Modeling and System Dynamics
Authors: Suk Hailie , Hall John 
Published: November 2021

Abstract
Access to resources can contribute to social progress in extremely impoverished communities. The introduction of cyber-physical systems for electricity, water, and irrigation facilitates greater fulfillment of needs. Yet, the availability of resources may be inconsistent or lacking. The social dynamics of the community can provide insight into how the available resources support well-being. Thus, the cyber-physical system requires the addition of a social consideration to become cyber-physical-social systems. However, the social considerations typically include qualitative parameters. This prompts the need for integrating qualitative and quantitative information.
In this paper, we present a method for mathematically representing qualitative and quantitative relationships. This is achieved by connecting Bond Graph Modeling and System Dynamics. The Bond Graph model is used to mathematically represent relationships between qualitative and quantitative elements. These relationships are used in the System Dynamics analysis. The method is anchored in expanding cyber-physical to cyber-physical-social systems through incorporating both qualitative and quantitative information in the systems analysis.
The mathematical connectivity of qualitative and quantitative information is a key feature of this approach. A test problem in resource allocation is used to demonstrate the function and flexibility of the method. This is anchored in connecting qualitative and quantitative information in the analysis.
Integer Ratio Self-Synchronization in Pairs of Limit Cycle Oscillators
Authors: Bhaskar Aditya , Shayak B. , Zehnder Alan T. , Rand Richard H. 
Published: November 2021

Abstract
The existence of multiple stable states of higher order m:n locking in coupled limit cycle oscillators has been studied by prior authors in the context of injection-locking in systems driven by an external periodic force. The current work builds on this concept to study the higher order locking characteristics of pairs of limit cycle oscillators self-synchronizing under coupling forces. To this end we analyze three oscillator systems: Van der Pol oscillators using numerical analysis, a simplified model for MEMS oscillators using numerical analysis as well as perturbation theory, and a full model of thermo-optically driven MEMS oscillators using numerical analysis. For the Van der Pol system, higher order locking is observed for the strongly nonlinear case corresponding to relaxation oscillations and the transition from weak to strong nonlinearity is studied using a parameter sweep. Additionally, coupling of a different nature such as quadratic coupling is also capable of inducing higher order coupling in Van der Pol oscillators. For the MEMS systems with linear coupling, higher order locking is observed when a strong cubic stiffness nonlinearity exists. Devil’s staircase-like structures are obtained for the coupling strength-frequency ratio parameter space which suggest overlapping Arnold locking regions for m:n locks corresponding to different integers.