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Abstract

The research was attempted to mimic the locomotion of the salamander, which is found to be one of the main animals from an evolutionary point of view. The design of the limb and body was started with the parametric studies of pneumatic network (Pneu-Net). Pneu-Net is a pneumatically operated soft actuator that bends when compressed fluid is passed inside the chamber. Finite Element Analysis software, ANSYS, was used to evaluate the height of the chamber, number of chambers and the gap between chambers for both limb and body of the soft mechanism. The parameters were decided based on the force generated by the soft actuators. The assembly of the salamander robot was then exported to MATLAB for simulating the locomotion of the robot in a physical environment. Sine-based controller was used to simulate the robot model and the fastest locomotion of the salamander robot was identified at 1 Hz frequency, 0.3 second of signal delay for limb actuator and negative π phase difference for every contralateral side of the limbs. Shin-Etsu KE-1603, a hyper elastic material, was used to build the salamander robot and a series of experiments were conducted to record the bending angle, the respective generated force in soft actuators and the gait speed of the robot. The developed salamander robot was able to walk at 0.06774 m/s, following an almost identical pattern to the simulation.
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Bibliography

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  9.  A. Bicanski et al., “Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics”, Biol. Cybern. 107, 545–564 (2013).
  10.  Q. Liu, H. Yang, J. Zhang, and J. Wang, “A new model of the spinal locomotor networks of a salamander and its properties”, Biol. Cybern. 112(4), 369‒385 (2018).
  11.  Q. Liu, Y. Zhang, J. Wang, H. Yang, and L. Hong, “Modeling of the neural mechanism underlying the terrestrial turning of the salamander”, Biol. Cybern. 114, 317–336 (2020).
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  14.  N. Ili, M.R. Muhammad Razif, A.M. Faudzi, E. Natarajan, K. Iwata, and K. Suzumori, “3-D finite-element analysis of fiber-reinforced soft bending actuator for finger flexion”, 2013 IEEE/ASME Int. Conf. Adv. Intell. Mechatronics Mechatronics Hum. Wellbeing, AIM 2013, 2013, pp. 128–133.
  15.  M.R.M. Razif, A.A.M. Faudzi, M. Bavandi, N.A.M. Nordin, E. Natarajan, and O. Yaakob, “Two chambers soft actuator realizing robotic gymnotiform swi mmers fin”, 2014 IEEE Int. Conf. Robot. Biomimetics, IEEE ROBIO 2014, 2014, pp. 15–20.
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  17.  Y. Nishioka, M. Uesu, H. Tsuboi, S. Kawamura, T. Yasuda, and M. Yamano, “Development of a pneumatic soft actuator with pleated inflatable structures”, Adv. Robot. 31(14), 753–762 (2017).
  18.  Z. Wang, P. Polygerinos, J.T.B. Overvelde, K.C. Galloway, K. Bertoldi, and C.J. Walsh, “Interaction Forces of Soft Fiber Reinforced Bending Actuators”, IEEE/ASME Trans. Mechatron. 22(2), 717–727 (2017).
  19.  A. Ning, M. Li, and J. Zhou, “Modeling and understanding locomotion of pneumatic soft robots”, Soft Mater. 16(3), 151–159 (2018).
  20.  W. Hu, W. Li, and G. Alici, “3D Printed Helical Soft Pneumatic Actuators”, in 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2018, pp. 950–955.
  21.  S. Furukawa, S. Wakimoto, T. Kanda, and H. Hagihara, “A Soft Master-Slave Robot Mimicking Octopus Arm Structure Using Thin Artificial Muscles and Wire Encoders”, Actuators 8(40), 1–13 (2019).
  22.  V. Cacucciolo, J. Shintake, Y. Kuwajima, S. Maeda, D. Floreano, and H. Shea, “Stretchable pumps for soft machines”, Nature 572, 516–519 (2019).
  23.  M.A. Robertson, O.C. Kara, and J. Paik, “Soft pneumatic actuator-driven origami-inspired modular robotic ‘pneumagami’”, Int. J. Robot. Res. 40(1), 72–85 (2020).
  24.  E. Natarajan, “Evaluation of a Suitable Material for Soft Actuator Through Experiments and FE Simulations”, Int. J. Manuf. Mater. Mech. Eng. 10(2), 64–76 (2020).
  25.  B. Mosadegh, P. Polygerinos, Ch. Keplinger, S. Wennstedt, R.F. Shepherd, U. Gupta, J. Shim, K. Bertoldi, C.J. Walsh, and G.M. Whitesides, “Pneumatic Networks for Soft Robotics that Actuate Rapidly”, Adv. Funct. Mater. 2014(24), 2163–2170 (2014).
  26.  T. Wang, L. Ge, and G. Gu, “Progra mmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motions”, Sens. Actuator A-Phys. 217, 131–138 (2018).
  27.  P. Boyraz, G. Runge, and A. Raatz, “An Overview of Novel Actuators for Soft Robotics”, Actuators 7(48), 1–21 (2018).
  28.  M. Manns, J. Morales, and P. Frohn, “Additive manufacturing of silicon based PneuNets as soft robotic actuators”, Procedia CIRP 72, 328‒333 (2018).
  29.  Y. Sun, Q. Zhang, X. Chen and H. Chen, “An Optimum Design Method of Pneu-Net Actuators for Trajectory Matching Utilizing a Bending Model and GA”, Math. Probl. Eng. 2019, 6721897 (2019), doi: 10.1155/2019/6721897.
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Authors and Affiliations

Elango Natarajan
1
ORCID: ORCID
Kwang Y. Chia
1
Ahmad Athif Mohd Faudzi
2
Wei Hong Lim
1
Chun Kit Ang
1
Ali Jafaari
2

  1. Faculty of Engineering, UCSI University, Kuala Lumpur, Malaysia
  2. Center for Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia, Kulala Lumpur, Malaysia
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Abstract

Boron nitride (BN) reinforced Al6061 aluminum-based composites are synthesized by conventional stir casting method followed by exposure to hot extrusion. The optical images confirmed the distribution of BN nanoparticles in the aluminum alloy matrix. The concentration of BN is varied from (0.5, 1.5, 3, 4.5, 6, 7.5, and 9 wt%) in the composites and its effect on the tensile strength was investigated. The results revealed that both extruded and heat-treated composites specimens showed enhanced toughness and tensile strength by increasing BN nanoparticle concentration. The heat-treated composite samples showed lower flexibility of up to 40%, and further, it exhibited 37% greater hardness and 32% enhancement in tensile strength over the extruded sample. The tensile properties of Al6061-BN composites were evaluated by temperature-dependent internal friction (TDIF) analysis and the results showed that the as-prepared composite's strength increased with temperature.
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Authors and Affiliations

Y.B. Mukesh
1
Prem Kumar Naik
2
Raghavendra Rao R
3
N.R. Vishwanatha
4
N.S. Prema
5
H.N. Girish
6
Naik L. Laxmana
3
Puttaswamy Madhusudan
7 8
ORCID: ORCID

  1. Department of Mechanical Engineering, Chaitanya Bharathi Institute of Technology, Proddatur, Andhra Pradesh, India
  2. Department of Mechanical Engineering, AMC Engineering College, Bengaluru, India
  3. Department of Mechanical Engineering, Malnad College of Engineering, Hassan, India
  4. Department of Mechanical Engineering, Navkis College of Engineering, Hassan, India
  5. Department of Information Science and Engineering, Vidyavardhaka College of Engineering, Mysore, India
  6. Department of Studies in Earth Science, University of Mysore, 570006, India
  7. Environmental Engineering and Management Research Group, Ton Duc Thang University, Ho Chi Minh City 758307, Vietnam
  8. Faculty of Environment and Labour Safety, Ton Duc Thang University, Ho Chi Minh City 758307, Vietnam
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Abstract

This work presents an automatic system for generating kidney boundaries in computed tomography (CT) images. This paper presents the main points of medical image processing, which are the parts of the developed system. The U-Net network was used for image segmentation, which is now widely used as a standard solution for many medical image processing tasks. An innovative solution for framing the input data has been implemented to improve the quality of the learning data as well as to reduce the size of the data. Precision-recall analysis was performed to calculate the optimal image threshold value. To eliminate false-positive errors, which are a common issue in segmentation based on neural networks, the volumetric analysis of coherent areas was applied. The developed system facilitates a fully automatic generation of kidney boundaries as well as the generation of a three-dimensional kidney model. The system can be helpful for people who deal with the analysis of medical images, medical specialists in medical centers, especially for those who perform the descriptions of CT examination. The system works fully automatically and can help to increase the accuracy of the performed medical diagnosis and reduce the time of preparing medical descriptions.
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Authors and Affiliations

Tomasz Les
1

  1. Faculty of Electrical Engineering, Warsaw University of Technology, ul. Koszykowa 75, 00-662 Warszawa, Poland
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Abstract

The synchronisation of a complex chaotic network of permanent magnet synchronous motor systems has increasing practical importance in the field of electrical engineering. This article presents the control design method for the hybrid synchronization and parameter estimation of ring-connected complex chaotic network of permanent magnet synchronous motor systems. The design of the desired control law is a challenging task for control engineers due to parametric uncertainties and chaotic responses to some specific parameter values. Controllers are designed based on the adaptive integral sliding mode control to ensure hybrid synchronization and estimation of uncertain terms. To apply the adaptive ISMC, firstly the error system is converted to a unique system consisting of a nominal part along with the unknown terms which are computed adaptively. The stabilizing controller incorporating nominal control and compensator control is designed for the error system. The compensator controller, as well as the adopted laws, are designed to get the first derivative of the Lyapunov equation strictly negative. To give an illustration, the proposed technique is applied to 4-coupled motor systems yielding the convergence of error dynamics to zero, estimation of uncertain parameters, and hybrid synchronization of system states. The usefulness of the proposed method has also been tested through computer simulations and found to be valid.
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Authors and Affiliations

Nazam Siddique
1
ORCID: ORCID
Fazal U. Rehman
1

  1. Capital University of Science and Technology, Islamabad Expressway, Kahuta Road, Zone-V Islamabad, Pakistan
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Abstract

Adsorption cooling and desalination technologies have recently received more attention. Adsorption chillers, using eco-friendly refrigerants, provide promising abilities for low-grade waste heat recovery and utilization, especially renewable and waste heat of the near ambient temperature. However, due to the low coefficient of performance (COP) and cooling capacity (CC) of the chillers, they have not been widely commercialized. Although operating in combined heating and cooling (HC) systems, adsorption chillers allow more efficient conversion and management of low-grade sources of thermal energy, their operation is still not sufficiently recognized, and the improvement of their performance is still a challenging task. The paper introduces an artificial intelligence (AI) approach for the optimization study of a two-bed adsorption chiller operating in an existing combined HC system, driven by low-temperature heat from cogeneration. Artificial neural networks are employed to develop a model that allows estimating the behavior of the chiller. Two crucial energy efficiency and performance indicators of the adsorption chiller, i.e., CC and the COP, are examined during the study for different operating sceneries and a wide range of operating conditions. Thus this work provides useful guidance for the operating conditions of the adsorption chiller integrated into the HC system. For the considered range of input parameters, the highest CC and COP are equal to 12.7 and 0.65 kW, respectively. The developed model, based on the neurocomputing approach, constitutes an easy-to-use and powerful optimization tool for the adsorption chiller operating in the complex HC system.
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Authors and Affiliations

Jarosław Krzywanski
1
ORCID: ORCID
Karol Sztekler
2
ORCID: ORCID
Marcin Bugaj
3
ORCID: ORCID
Wojciech Kalawa
2
ORCID: ORCID
Karolina Grabowska
1
ORCID: ORCID
Patryk Robert Chaja
4
ORCID: ORCID
Marcin Sosnowski
1
ORCID: ORCID
Wojciech Nowak
2
ORCID: ORCID
Łukasz Mika
2
ORCID: ORCID
Sebastian Bykuć
4
ORCID: ORCID

  1. Jan Dlugosz University in Czestochowa, Faculty of Science and Technology, ul. A. Krajowej 13/15, 42-200 Czestochowa, Poland
  2. AGH University of Science and Technology, Faculty of Energy and Fuels, ul. A. Mickiewicza 30, 30-059 Cracow, Poland
  3. Warsaw University of Technology, Faculty of Power and Aeronautical Engineering, ul. Nowowiejska 24, 00-665 Warsaw, Poland
  4. Institute of Fluid-Flow Machinery Polish Academy of Sciences, Department of Distributed Energy, ul. Fiszera 14, 80-952 Gdansk, Poland
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Abstract

Magnetic nanoparticle’s different applications in nanomedicine, due to their unique physical properties and biocompatibility, were intensively investigated. Recently, Fe₃O₄ nanoparticles, are confirmed to be the best sonosensitizers to enhance the performance of HIFU (high intensity focused ultrasound). They are also used as thermo-sensitizers in magnetic hyperthermia. A new idea of dual, magneto-ultrasound, coupled hyperthermia allows the ultrasound intensity to be reduced from the high to a moderate level. Our goal is to evaluate the enhancement of thermal effects of focused ultrasound of moderate intensity due to the presence of nanoparticles. We combine experimental results with numerical analysis. Experiments are performed on tissue-mimicking materials made of the 5% agar gel and gel samples containing Fe₃O₄ nanoparticles with φ  = 100 nm with two fractions of 0.76 and 1.53% w/w. Thermocouples registered curves of temperature rising during heating by focused ultrasound transducer with acoustic powers of the range from 1 to 4 W. The theoretical model of ultrasound-thermal coupling is solved in COMSOL Multiphysics. We compared the changes between the specific absorption rates (SAR) coefficients determined from the experimental and numerical temperature rise curves depending on the nanoparticle fractions and applied acoustic powers.We confirmed that the significant role of nanoparticles in enhancing the thermal effect is qualitatively similarly estimated, based on experimental and numerical results. So that we demonstrated the usefulness of the FEM linear acoustic model in the planning of efficiency of nanoparticle-mediated moderate hyperthermia.
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Authors and Affiliations

Barbara Gambin
1
ORCID: ORCID
Eleonora Kruglenko
1

  1. Institute of Fundamental Technological Research, Polish Academy of Sciences, ul. Pawińskiego 5B, 02-106 Warsaw, Poland
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Abstract

This article considers the problem of the rise in temperature of the windings of an induction motor during start-up. Excessive growth of thermal stresses in the structure of a cage winding increases the probability of damage to the winding of the rotor. For the purpose of analysis of the problem, simplified mathematical relationships are given, enabling the comparison of quantities of energy released in a rotor winding during start-up by different methods. Also, laboratory tests were carried out on a specially adapted cage induction motor enabling measurement of the temperature of a rotor winding during its operation. Because there was no possibility of investigating motors in medium- and high-power drive systems, the authors decided to carry out tests on a low-power motor. The study concerned the start-up of a drive system with a 4 kW cage induction motor. Changes in the winding temperature were recorded for three cases: direct online start-up, soft starting, and the use of a variable-frequency drive (VFD). Conclusions were drawn based on the results obtained. In high-power motors, the observed phenomena occur with greater intensity, because of the use of deep bar and double cage rotors. For this reason, indication is made of the particular need for research into the energy aspects of different start-up methods for medium- and high-power cage induction motors in conditions of prolonged start-up.
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Authors and Affiliations

Jan Mróz
1
Piotr Bogusz
1

  1. Rzeszów University of Technology, The Faculty of Electrical and Computer Engineering, al. Powstańców Warszawy 12, 35-959 Rzeszów, Poland
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Abstract

Real time simulators of IEC 61850 compliant protection devices can be implemented without their analogue part, reducing costs and increasing versatility. Implementation of Sampled Values (SV) and GOOSE interfaces to Matlab/Simulink allows for interaction with protection relays in closed loop during power system simulation. Properly configured and synchronized Linux system with Real Time (RT) patch, can be used as a low latency run time environment for Matlab/Simulink generated model. The number of overruns during model execution using proposed SV and GOOSE interfaces with 50 µs step size is minimal. The paper discusses the implementation details and time synchronization methods of IEC 61850 real time simulator implemented in Matlab/Simulink that is built on top of run time environment shown in authors preliminary works and is the further development of them. Correct operation of the proposed solution is evaluated during the hardware-in-the-loop testing of ABB REL670 relay.
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Authors and Affiliations

Karol Kurek
1
ORCID: ORCID
Łukasz Nogal
1
ORCID: ORCID
Ryszard Kowalik
1
Marcin Januszewski
1

  1. Faculty of Electrical Engineering, Warsaw University of Technology, Pl. Politechniki 1, 00-661 Warszawa, Poland
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Abstract

Results of complex mathematical and computer simulation of gear hobbing are given. A systematic approach to research allowed for the development of simulation models and sequencing of all aspects of this complex process. Based on the modeling of non-deformable chips, a new analytical method for analyzing hobbing has been proposed. The shear, friction and cutting forces at the level of certain teeth and edges in the active space of the cutter are analyzed depending on the cut thickness, cross-sectional area, intensity of plastic deformation and length of contact with the workpiece has been developed. The results of computer simulations made it possible to evaluate the load distribution along the cutting edge and to predict the wear resistance and durability of the hob cutter, as well as to develop measures and recommendations for both the tool design and the technology of hobbing in general. Changing the shape of cutting surface, or the design of the tooth, can facilitate separation of the cutting process between the head and leading and trailing edges. In this way, more efficient hobbing conditions can be achieved and the life of the hob can be extended.
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Authors and Affiliations

Ihor Hrytsay
1
ORCID: ORCID
Vadym Stupnytskyy
1
ORCID: ORCID
Vladyslav Topchi
1
ORCID: ORCID

  1. Lviv Polytechnic National University, Lviv, Ukraine

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