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The purpose of this paper is to propose a robotic system for percutaneous surgery. The key component in the system, a robotic arm that can manipulate a puncture needle is presented. The mechanical design, the motion control and the force control method of the robotic arm are discussed in the paper.

The arm with an arc mechanism placed on a 3D Cartesian stage is developed as a puncture needle manipulator to locate the position of the needle tip, tune the needle’s posture and actuate the puncture motion under the visual guidance of two orthogonal X-ray images of a patient by a surgeon. A focusing method by using two laser spots is proposed to automatically move the needle tip to a surgery entry point on the skin. A dynamics model is developed to control the position of the needle mechanism and an explicit force control strategy is utilized to perform the needle insertion.

With the surgical system, a surgeon can easily perform puncture operation by taking two orthogonal real-time X-ray images as a visual feedback and accurately navigating the needle insertion. The laser-guided focusing method is efficient in placement of the needle tip. The explicit force control strategy is proved to be effective for holding constant and stable puncture force in experiments.

The robotic arm has an advantage in easy redirection of the needle because the rotation and the translation are decoupled in the mechanism. By adopting simple laser pens and a well-developed kinematics model, the system can handle the entry point, locating task automatically. The focusing method and the force control method proposed in the paper are useful for the present system and could be intuitive for similar surgical robots.

Deployment of deep neural networks on embedded devices is becoming increasingly popular because it can reduce latency and energy consumption for data communication. This paper aims to give out a method for deployment the deep neural networks on a quad-rotor aircraft for further expanding its application scope.

In this paper, a design scheme is proposed to implement the flight mission of the quad-rotor aircraft based on multi-sensor fusion. It integrates attitude acquisition module, global positioning system position acquisition module, optical flow sensor, ultrasonic sensor and Bluetooth communication module, etc. A 32-bit microcontroller is adopted as the main controller for the quad-rotor aircraft. To make the quad-rotor aircraft be more intelligent, the study also proposes a method to deploy the pre-trained deep neural networks model on the microcontroller based on the software packages of the RT-Thread internet of things operating system.

This design provides a simple and efficient design scheme to further integrate artificial intelligence (AI) algorithm for the control system design of quad-rotor aircraft.

This method provides an application example and a design reference for the implementation of AI algorithms on unmanned aerial vehicle or terminal robots.

Intelligent and connected vehicle technology is in the ascendant. High-level autonomous driving places more stringent requirements on the accuracy and reliability of environmental perception. Existing research works on multitarget tracking based on multisensor fusion mostly focuses on the vehicle perspective, but limited by the principal defects of the vehicle sensor platform, it is difficult to comprehensively and accurately describe the surrounding environment information.

In this paper, a multitarget tracking method based on roadside multisensor fusion is proposed, including a multisensor fusion method based on measurement noise adaptive Kalman filtering, a global nearest neighbor data association method based on adaptive tracking gate, and a Track life cycle management method based on M/N logic rules.

Compared with fixed-size tracking gates, the adaptive tracking gates proposed in this paper can comprehensively improve the data association performance in the multitarget tracking process. Compared with single sensor measurement, the proposed method improves the position estimation accuracy by 13.5% and the velocity estimation accuracy by 22.2%. Compared with the control method, the proposed method improves the position estimation accuracy by 23.8% and the velocity estimation accuracy by 8.9%.

A multisensor fusion method with adaptive Kalman filtering of measurement noise is proposed to realize the adaptive adjustment of measurement noise. A global nearest neighbor data association method based on adaptive tracking gate is proposed to realize the adaptive adjustment of the tracking gate.

This paper aims to present a detailed mechanical design of a seven-degrees-of-freedom mobile parallel robot for the tungsten inert gas (TIG) welding and machining processes in fusion reactor. Detailed mechanical design of the robot is presented and both the kinematic and dynamic behaviors are studied.

First, the model of the mobile parallel robot was created in computer-aided design (CAD) software, then the simulation and optimization of the robot were completed to meet the design requirements. Then the robot was manufactured and assembled. Finally, the machining and tungsten inert gas (TIG) welding tests were performed for validation.

Currently, the implementation of the robot system has been successfully carried out in the laboratory. The excellent performance has indicated that the robot’s mechanical and software designs are suitable for the given tasks. The quality and accuracy of welding and machining has reached the requirements.

This mobile parallel industrial robot is particularly used in fusion reactor. Furthermore, the structure of the mobile parallel robot can be optimized for different applications.

This study investigates the extent to which a company's usage of open access (OA) literature for R&D activities depends on its size. The authors’ assumption is that smaller pharmaceutical companies have less access to (usually expensive) journal subscriptions.

A fixed-effect Poisson model was used to study a panel dataset of USPTO pharmaceutical company patents. The dependent variable is the count of citations to OA resources in a given company patent.

Results support current anecdotal evidence that many SMEs suffer from high journal prices.

This result justifies the assumption made by policymakers about the potentially positive impact OA mandates have on national innovation activity. It was also shown that collaborating with universities can be a potential coping mechanism for companies that struggle to gain access to the journals they need. In addition to the novelty of its findings, this study introduces a new way to study the impact of OA in nonacademic contexts.

This study aims to focus on the development of an experimental setup for testing tribological pairings under a gas atmosphere at pressures up to 10 bar.

A pressure chamber allowing oscillating movement through an outer shaft was constructed and mounted on an oscillating tribometer. Due to a metal spring bellows system, a methodology for the evaluation of the coefficient of friction values separately from the spring forces was developed.

The selected material concept was qualitatively and quantitatively assessed. An evaluation of the static and the dynamic coefficient of friction was performed, which was crucial for the understanding of the adhesion effects of the tested material pairing. The amount of information that is lost due to averaging the measured friction values is higher than one would expect.

The developed experimental setup is unique and, compared with the existing tribometers for testing under gas ambient pressures, allows testing under contact conditions that are closer to real applications, such as compressors and expanders. An in-depth observation of the adhesion and stick–slip effects of the tested material pairings is possible as well.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-06-2023-0173/

Numerous metals can be processed using the additive manufacturing process laser-based powder bed fusion of metals (PBF-LB/M, ISO/ASTM 52900). The main advantages of additive manufacturing technologies are the high degree of design freedom and the cost-effective implementation of lightweight structures. This could be profitable for gears with increased power density, combining reduced mass with considerable material strength. Current research on additively manufactured gears is focused on developing lightweight structures but is seldom accompanied by simulations and even less by mechanical testing. There has been very little research into the mechanical and material properties of additively manufactured gears. The purpose of this study is to investigate the behavior of lightweight structures in additively manufactured gears under static loads.

This research identifies the static load-carrying capacity of helical gears with different lightweight structures produced by PBF-LB/M with the case hardening steel 16MnCr5. A static gear loading test rig with a maximum torque at the pinion of T₁ = 1200 Nm is used. Further focus is set on analyzing material properties such as the relative density, microstructure, hardness depth profile and chemical composition.

All additively manufactured gear variants show no failure or plastic deformation at the maximum test load. The shaft hub connection, the lightweight hub designs and the gearing itself are stable and intact regarding their form and function. The identified material characteristics are comparable to conventionally manufactured gears (wrought and machined), but also some particularities were observed.

This research demonstrates the mechanical strength of lightweight structures in gears. Future research needs to consider the dynamic load-carrying capacity of additively manufactured gears.

The purpose of this paper is to present the status of the on-going development of the new computerized environment for aircraft synthesis and integrated optimization methods (CEASIOM) and to compare results of different aerodynamic tools. The concurrent design of aircraft is an extremely interdisciplinary activity incorporating simultaneous consideration of complex, tightly coupled systems, functions and requirements. The design task is to achieve an optimal integration of all components into an efficient, robust and reliable aircraft with high performance that can be manufactured with low technical and financial risks, and has an affordable life-cycle cost.

CEASIOM (www.ceasiom.com) is a framework that integrates discipline-specific tools like computer-aided design, mesh generation, computational fluid dynamics (CFD), stability and control analysis and structural analysis, all for the purpose of aircraft conceptual design.

A new CEASIOM version is under development within EU Project AGILE (www.agile-project.eu), by adopting the CPACS XML data-format for representation of all design data pertaining to the aircraft under development.

Results obtained from different methods have been compared and analyzed. Some differences have been observed; however, they are mainly due to the different physical modelizations that are used by each of these methods.

This paper summarizes the current status of the development of the new CEASIOM software, in particular for the following modules: CPACS file visualizer and editor CPACSupdater (Matlab) Automatic unstructured (Euler) & hybrid (RANS) mesh generation by sumo Multi-fidelity CFD solvers: Digital Datcom (Empirical), Tornado (VLM), Edge-Euler & SU2-Euler, Edge-RANS & SU2-RANS Data fusion tool: aerodynamic coefficients fusion from variable fidelity CFD tools above to compile complete aero-table for flight analysis and simulation.

This paper aims to estimate a New Keynesian small open economy dynamic stochastic general equilibrium (DSGE) model for Egypt using Bayesian techniques and data for the period FY2004/2005:Q1-FY2015/2016:Q4 to assess monetary and fiscal policy interactions and their impact on economic stabilization. Outcomes of monetary and fiscal authority commitment to policy instruments, interest rate, government spending and taxes, are evaluated using Taylor-type and optimal simple rules.

The study extends the stylized micro-founded small open economy New Keynesian DSGE model, proposed by Lubik and Schorfheide (2007), by explicitly introducing fiscal policy behavior into the model (Fragetta and Kirsanova, 2010 and Çebi, 2011). The model is calibrated using quarterly data for Egypt on key macroeconomic variables during FY2004/2005:Q1-FY2015/2016:Q4; and Bayesian methods are used in estimation.

The results show that monetary and fiscal policy instruments in Egypt contribute to economic stability through their effects on inflation, output and debt stock. The monetary policy Taylor rule estimates reveal that the Central Bank of Egypt (CBE) attaches significant importance to anti-inflationary policy and (to a lesser extent) to output targeting but responds weakly to nominal exchange rate variations. CBE decisions are significantly influenced by interest rate smoothing. Egyptian fiscal policy has an important role in output and government debt stabilization. Additionally, the fiscal authority chooses pro-cyclical government spending and counter-cyclical tax policies for output stabilization. Again, past values of the fiscal instruments are influential in the evolution of the future fiscal policy-making process.

A few studies have examined the interaction between monetary and fiscal policy in Egypt within a unified framework. The presented paper integrates the monetary and fiscal policy analysis within a unified dynamic general equilibrium open economy rational expectations framework. Without such a framework, it would not be easy to jointly analyze monetary and fiscal transmission mechanisms for output, inflation and debt. Also, it would be neither possible to contrast the outcome of monetary and fiscal authorities commitment to a simple Taylor instrument rule vis-à-vis optimal policy outcomes nor to assess the behavior of monetary and fiscal agents in macroeconomic stability in context of an active/passive policy decisions framework.

This paper aims to describe the control software of a novel manufacturing system called plasma-assisted bio-extrusion system (PABS), designed to produce complex multi-material and functionally graded scaffolds for tissue engineering applications. This fabrication system combines multiple pressure-assisted and screw-assisted printing heads and plasma jets. Control software allows the users to create single or multi-material constructs with uniform pore size or pore size gradients by changing the operation parameters, such as geometric parameters, lay-down pattern, filament distance, feed rate and layer thickness, and to produce functional graded scaffolds with different layer-by-layer coating/surface modification strategies by using the plasma modification system.

MATLAB GUI is used to develop the software, including the design of the user interface and the implementation of all mathematical programing for both multi-extrusion and plasma modification systems.

Based on the user definition, G programing codes are generated, enabling full integration and synchronization with the hardware of PABS. Single, multi-material and functionally graded scaffolds can be obtained by manipulating different materials, scaffold designs and processing parameters. The software is easy to use, allowing the efficient control of the PABS even for the fabrication of complex scaffolds.

This paper introduces a novel additive manufacturing system for tissue engineering applications describing in detail the software developed to control the system. This new fabrication system represents a step forward regarding the current state-of-the-art technology in the field of biomanufacturing, enabling the design and fabrication of more effective scaffolds matching the mechanical and surface characteristics of the surrounding tissue and enabling the incorporation of high number of cells uniformly distributed and the introduction of multiple cell types with positional specificity.