Advances in Mechanical Systems Dynamics 2020

The fundamentals of mechanical system dynamics were established before the beginning of the industrial era. The 18th century was a very important time for science and was characterized by the development of classical mechanics. This development progressed in the 19th century, and new, important applications related to industrialization were found and studied. The development of computers in the 20th century revolutionized mechanical system dynamics owing to the development of numerical simulation. We are now in the presence of the fourth industrial revolution. Mechanical systems are increasingly integrated with electrical, fluidic, and electronic systems, and the industrial environment has become characterized by the cyber-physical systems of industry 4.0. Within this framework, the status-of-the-art has become represented by integrated mechanical systems and supported by accurate dynamic models able to predict their dynamic behavior. Therefore, mechanical systems dynamics will play a central role in forthcoming years. This Special Issue aims to disseminate the latest research findings and ideas in the field of mechanical systems dynamics, with particular emphasis on novel trends and applications

How to build a biological machine using engineering materials and methods

We present work in 3D printing electric motors from basic materials as the key to building a self-replicating machine to colonise the Moon. First, we explore the nature of the biological realm to ascertain its essence, particularly in relation to the origin of life when the inanimate became animate. We take an expansive view of this to ascertain parallels between the biological and the manufactured worlds. Life must have emerged from the available raw material on Earth and, similarly, a self-replicating machine must exploit and leverage the available resources on the Moon. We then examine these lessons to explore the construction of a self-replicating machine using a universal constructor. It is through the universal constructor that the actuator emerges as critical. We propose that 3D printing constitutes an analogue of the biological ribosome and that 3D printing may constitute a universal construction mechanism. Following a description of our progress in 3D printing motors, we suggest that this engineering effort can inform biology, that motors are a key facet of living organisms and illustrate the importance of motors in biology viewed from the perspective of engineering (in the Feynman spirit of "what I cannot create, I cannot understand")

A hand exoskeleton with series elastic actuation for rehabilitation : design, control and experimentation

Rehabilitation of the hands is critical for restoring independence in activities of daily living for individuals with upper extremity disabilities. Conventional therapies for hand rehabilitation have not shown significant improvement in hand function. Robotic exoskeletons have been developed to assist in therapy and there is initial evidence that such devices with force-control based strategies can help in effective rehabilitation of human limbs. However, to the best of our knowledge, none of the existing hand exoskeletons allow for accurate force or torque control. In this dissertation, we design and prototype a novel hand exoskeleton that has the following unique features: (i) Bowden-cable-based series elastic actuation allowing for bidirectional torque control of each joint individually, (ii) an underlying kinematic mechanism that is optimized to achieve large range of motion and (iii) a thumb module that allows for independent actuation of the four thumb joints. To control the developed hand exoskeleton for efficacious rehabilitation after a neuromuscular impairment such as stroke, we present two types of subject-specific assist-as-needed controllers. Learned force-field control is a novel control technique in which a neural-network-based model of the required torques given the joint angles for a specific subject is learned and then used to build a force-field to assist the joint motion of the subject to follow a trajectory designed in the joint-angle space. Adaptive assist-as-needed control, on the other hand, estimates the coupled digit-exoskeleton system torque requirement of a subject using radial basis function (RBF) and on-the-y adapts the RBF magnitudes to provide a feed-forward assistance for improved trajectory tracking. Experiments with healthy human subjects showed that each controller has its own trade-offs and is suitable for a specific type of impairment. Finally, to promote and optimize motor (re)-learning, we present a framework for robot-assisted motor (re)-learning that provides subject-specific training by allowing for simultaneous adaptation of task, assistance and feedback based on the performance of the subject on the task. To train the subjects for dexterous manipulation, we present a torque-based task that requires subjects to dynamically regulate their joint torques. A pilot study carried out with healthy human subjects using the developed hand exoskeleton suggests that training under simultaneous adaptation of task, assistance and feedback can module challenge and affect their motor learning.Mechanical Engineerin

Advances in Robot Kinematics : Proceedings of the 15th international conference on Advances in Robot Kinematics

International audienceThe motion of mechanisms, kinematics, is one of the most fundamental aspect of robot design, analysis and control but is also relevant to other scientific domains such as biome- chanics, molecular biology, . . . . The series of books on Advances in Robot Kinematics (ARK) report the latest achievement in this field. ARK has a long history as the first book was published in 1991 and since then new issues have been published every 2 years. Each book is the follow-up of a single-track symposium in which the participants exchange their results and opinions in a meeting that bring together the best of world’s researchers and scientists together with young students. Since 1992 the ARK symposia have come under the patronage of the International Federation for the Promotion of Machine Science-IFToMM.This book is the 13th in the series and is the result of peer-review process intended to select the newest and most original achievements in this field. For the first time the articles of this symposium will be published in a green open-access archive to favor free dissemination of the results. However the book will also be o↵ered as a on-demand printed book.The papers proposed in this book show that robot kinematics is an exciting domain with an immense number of research challenges that go well beyond the field of robotics.The last symposium related with this book was organized by the French National Re- search Institute in Computer Science and Control Theory (INRIA) in Grasse, France

Advances in Reinforcement Learning

Reinforcement Learning (RL) is a very dynamic area in terms of theory and application. This book brings together many different aspects of the current research on several fields associated to RL which has been growing rapidly, producing a wide variety of learning algorithms for different applications. Based on 24 Chapters, it covers a very broad variety of topics in RL and their application in autonomous systems. A set of chapters in this book provide a general overview of RL while other chapters focus mostly on the applications of RL paradigms: Game Theory, Multi-Agent Theory, Robotic, Networking Technologies, Vehicular Navigation, Medicine and Industrial Logistic

Wearable and Nearable Biosensors and Systems for Healthcare

Biosensors and systems in the form of wearables and “nearables” (i.e., everyday sensorized objects with transmitting capabilities such as smartphones) are rapidly evolving for use in healthcare. Unlike conventional approaches, these technologies can enable seamless or on-demand physiological monitoring, anytime and anywhere. Such monitoring can help transform healthcare from the current reactive, one-size-fits-all, hospital-centered approach into a future proactive, personalized, decentralized structure. Wearable and nearable biosensors and systems have been made possible through integrated innovations in sensor design, electronics, data transmission, power management, and signal processing. Although much progress has been made in this field, many open challenges for the scientific community remain, especially for those applications requiring high accuracy. This book contains the 12 papers that constituted a recent Special Issue of Sensors sharing the same title. The aim of the initiative was to provide a collection of state-of-the-art investigations on wearables and nearables, in order to stimulate technological advances and the use of the technology to benefit healthcare. The topics covered by the book offer both depth and breadth pertaining to wearable and nearable technology. They include new biosensors and data transmission techniques, studies on accelerometers, signal processing, and cardiovascular monitoring, clinical applications, and validation of commercial devices