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Related Concept Videos

Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
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One-Degree-of-Freedom System01:24

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In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
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Centroid of a Body: Problem Solving01:03

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The centroid of a body is a crucial concept in engineering and physics. Finding the centroid of a body can help determine its stability, its balance point, and even its design. In this context, consider a thin wire bent in the form of a quarter circular arc. Polar coordinates are used to calculate the centroid. The wire is first divided into small differential elements of a length equal to the radius multiplied by the differential angle.
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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Related Experiment Video

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Utilizing a Reconfigurable Maze System to Enhance the Reproducibility of Spatial Navigation Tests in Rodents
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A 3D-Printed Self-Learning Three-Linked-Sphere Robot for Autonomous Confined-Space Navigation.

Brian Elder1, Zonghao Zou2, Samannoy Ghosh1

  • 1Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA.

Advanced Intelligent Systems (Weinheim an Der Bergstrasse, Germany)
|March 31, 2022
PubMed
Summary

This study introduces a 3D-printed, three-linked-sphere robot controlled by reinforcement learning for autonomous navigation in confined spaces. This adaptable robotic system navigates complex environments without prior mapping, opening new possibilities for biomedical applications.

Keywords:
3D printingconfined-space navigationreinforcement learningrobotsthree-linked-sphere

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Biomedical Engineering

Background:

  • Reinforcement learning (RL) enables robots to adapt and learn behaviors, reducing the need for complex modeling and sensing.
  • Navigating confined and dynamic environments, crucial for biomedical applications like ingestible electronics, remains a significant robotic challenge.

Purpose of the Study:

  • To demonstrate a compact, 3D-printed robot capable of autonomous crawling in confined channels.
  • To integrate a reinforcement learning algorithm for adaptable navigation in challenging environments.

Main Methods:

  • A scalable, three-linked-sphere robot was designed and 3D-printed.
  • A model-free reinforcement learning control strategy was employed for autonomous locomotion.
  • The robot's ability to navigate frictional surfaces in open and confined spaces was tested without prior environmental knowledge.

Main Results:

  • The robot successfully achieved adaptable, autonomous crawling in a confined channel.
  • Bidirectional locomotion was demonstrated across frictional surfaces in various environments.
  • The system showed navigation capabilities without requiring prior environmental mapping.

Conclusions:

  • The synergistic integration of a scalable robotic platform and RL control enables autonomous navigation in dynamic, confined spaces.
  • This technology holds potential for sensing, imaging, and surgical procedures within previously inaccessible internal body environments.
  • The developed system offers a promising approach for future advancements in minimally invasive medical robotics.