Mechanism Design Research Papers - Academia.edu (original) (raw)

KHR-I has been developed on the purpose of research about biped walking. It has 21 DOF without hands and head, which has 12 DOF in legs, 1 DOF in torso, and 8 DOF in arms. The objective of KHR-2 (41 DOF) was to develop the humanoid which can walk on the living-floor with human-like appearance and movement. KHR-3 has the purpose that it has more human-like features, movements and human-friendly character. Mechanical design of KHR-3 is presented on this paper. The design concept, lower body design, upper body design and actuator selection of joints are included in this paper. We have developed and published KHR-I and 2 in last three years. KHR3 platform is based on KHR-2. It has 41 degree of freedom (DOF), 125 cm height, and 55 kg weight. The differences from KHR-2 are mechanical stiffness and detailed design of the frame in the mechanical point of view. Stiffness of the frame is increased and detailed design about joints and link frame has been modified or redesigned. We introduced exterior art design concept on KHR-2 in beginning, and the concept has been implemented on KHR-3 in mechanical design stage

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- Mechanism Design, Humanoid robots, Humanoid robot, Point of View
- by Robin Wootton
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- Mechanism Design, Scientific American
- by Isa Hafalir
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- Applied Mathematics, Game Theory, Statistics, Economic Theory

Design strategies for foldable mechanisms have been developed with inspiration from origami. In this study, we investigate a new direction that blocks are folded in a way that origami folds as the ori-blocks to generate a new type of foldable mechanisms consisting of multiple blocks. During the investigation, we propose a design approach to construct ori-blocks dissected from cylinders and cones, where “ori” is derived from the word “origami” in its original meaning as “folding”. In this way, we cut the solids into six portions and assign rotation axes to assemble the portions into movable blocks. Interestingly, this connects the Bricard classical linkages developed in 1897 to these ori-blocks with coincidence of the position and orientation of the axes when the blocks are replaced by links. The study bridges the gap between ori-blocks, origami, and mechanisms, which proposes a set of novel reconfigurable mechanisms as ori-blocks. As spatial linkages have been widely used in a broad range of technical fields, we anticipate that ori-blocks will find several potential applications owing to their kinematics in reconfigurability.

- by Guanglu Jia
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- Mechanism Design, Origami, Kinematics, Equivalence
- by Hsiangchu Lai
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- Management Science, Mechanism Design, Conflict Management, Supply Chain

The planner wants to give k identical, indivisible objects to the top k valuation agents at zero costs. Each agent knows her own valuation of the object and whether it is among the top k. Modify the (k+1)st-price sealed-bid auction by introducing a small participation fee and the option not to participate in it. This simple mechanism implements the desired outcome in iteratively undominated strategies. Moreover, no pair of agents can profitably deviate from the equilibrium by coordinating their strategies or bribing each other.

- by H. Reiju Mihara
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- Social Choice Theory, Mechanism Design

It has long been standard in agency theory to search for incentive-compatible mechanisms on the assumption that people care only about their own material wealth. However, this assumption is clearly refuted by numerous experiments, and we feel that it may be useful to consider nonpecuniary utility in mechanism design and contract theory. Accordingly, we devise an experiment to explore optimal contracts in an adverse-selection context. A principal proposes one of three contract menus, each of which offers a choice of two incentive-compatible contracts, to two agents whose types are unknown to the principal. The agents know the set of possible menus, and choose to either accept one of the two contracts offered in the proposed menu or to reject the menu altogether; a rejection by either agent leads to lower (and equal) reservation payoffs for all parties. While all three possible menus favor the principal, they do so to varying degrees. We observe numerous rejections of the more lopside...

- by Gary Charness
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- Economics, Agency Theory, Contract Theory, Mechanism Design
- by Louis LeGrand
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- Robotics, Computer Science, Computer Vision, Object Recognition (Computer Vision)

Negotiation is essential in settings where computational agents have conflicting interests and a desire to cooperate. Mechanisms in which agents exchange potential agreements according to various rules of interaction have become very popular in recent years as evident, for example, in the auction and mechanism design community. These can be seen as models of negotiation in which participants focus on their positions. It is argued, however, that if agents focus instead on the interests behind their positions, they may increase the likelihood and quality of an agreement. In order to achieve that, agents need to argue over each others’ goals and beliefs during the process of negotiation. In this paper, we identify concepts that seem essential for supporting this type of dialogue. In particular we investigate the types of arguments agents may exchange about each others’ interests, and we begin an analysis of dialogue moves involving goals.

- by Liz Sonenberg
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- Image Processing, Pattern Recognition, Interaction, Mechanism Design

Scanned displays have potential for achieving high brightness and see-through configurations in many display applications. A MEMS- based solution based on these tradeoffs for SVGA level performance is presented, with test data illustrating optical, mechanical, and electrical performance. Comparison of this scanner against video requirements and other scanners previously reported are illustrated. The feasibility of MEMS-based scanners for Retinal Scanning Displays and other applications is discussed, with extension to higher video performance standards.

- by Thor Osborn
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- Video, Mechanism Design, Microelectromechanical systems, Displays
- by Samer Shorman
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- Computer Science, Information Technology, Social Networking, Mechanism Design
- by Marco Casari
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- Mechanism Design, Applied Economics, Regulatory Economics, Natural disaster

This paper presents a new solar arrays deployment mechanism for space applications. It consists of a modular kinematic structure, which is operated by a single cable (1 DoF). Compared to traditional methods, this mechanism has the advantage of being reversible in the movement. Kinematic analysis of the mechanism is carried out in this work, as well as static analysis. They allow to define the main actuation parameters such as cable pull tension and spring stiffness. Moreover, suitable values for the mechanism parameters are computed by means of a dedicated algorithm.

The aim of this paper is to study what is the best structure of a Board of Directors when collusive aspects between the Board and the CEO are taken into account. We analyze how shareholders should select the members of the Board in a framework with asymmetric information and uncertainty about the optimal projects for the …rm. In particular, we examine the optimal degree of independence of the Board from a shareholders perspective. This allows us to state when it is bene…cial for shareholders to have an insider-oriented board or an outsider oriented board with a majority of independent directors when collusion is a major threat.

- by Sylvain Bourjade
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- Business, Finance, Corporate Governance, Mechanism Design

In support of the Charged Kaons at the Main Injector (CKM) experiment, an SRF cryomodule was designed, assembled, and tested at Fermilab. The cryomodule prototype consists of a single niobium 13-cell 3.9 GHz superconducting RF cavity installed in its horizontal cryostat. The prototype was simplified to hold an additional dummy cavity in place of a second 13-cell SRF cavity. Although this cryomodule was originally intended for beamline deflection in the CKM experiment, this first preliminary test aims to compliment existing vertical 3-cell 3.9 GHz SRF cavity testing and also to gain expertise in the field of SRF testing. The cryomodule's thermal and mechanical design is reported. The test process and instrumentation is described. The first operational cooldown with RF powering is discussed and some cryogenic results are given.

- by T. Nicol and +1
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- Mechanism Design, Low Temperature
- by Daren Dillon
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- Engineering, Mechanism Design, Microelectromechanical systems, Near Infrared
- by Moez Bennouri
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- Mechanism Design, Institutional Investors, Risk Aversion
- by Gustavo S Luengo
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- Engineering, Continuum Mechanics, Mechanism Design, Scientific Instruments
- by murat yucel
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- Addiction, Anterior Cingulate, Mechanism Design, Drug Use
- by Antonio González
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- Mechanical Engineering, Modeling, Mechanism Design, Optimization

ABSTRACT The Hobby-Eberly Telescope (HET) is a revolutionary large telescope of 9.2 meter aperture, located in West Texas at McDonald Observatory. The Low Resolution Spectrograph (LRS, an international collaboration between the University of Texas at Austin (UT), the Instituto de Astronomía de la Universidad Nacional Autónoma de México (IAUNAM), Stanford University, Ludwig-Maximillians-Universität, Munich (USM), and Georg-August-Universität, Göttingen (USG)) is a high throughput, imaging grism spectrograph which rides on the HET tracker at prime focus. The remote location and tight space and weight constraints make the LRS a challenging instrument, built on a limited budget. The mechanical design and fabrication were done in Germany, and the camera and CCD system in Texas. The LRS is a grism spectrograph with three modes of operation: imaging, longslit, and multi-object. Here we present a detailed description of the mechanical design of the LRS. Fabrication, assembly and testing of the LRS will be completed by mid 1998. First light for the LRS on the HET is expected in the summer of 1998.

- by Carlos Tejada
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- Mechanism Design, Optical Design, Proceedings, Astronomical instrumentation
- by Yadira Lara
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- Business, Corporate Finance, Mechanism Design, International Finance

La description cinématique d'un système donné de solides rigides (résolution du problème direct) ne permet pas d'aborder le problème de son invention. Le problème inverse, c'est-à-dire l'obtention du concept si la cinématique est fixée (entrée-sortie) n'a jamais été abordé de façon analytique. On propose, à partir d'une approche paramétrique, une formulation permettant de résoudre le problème inverse pour tout train épicycloïdal à deux étages. En outre, pour ces mécanismes, on met en évidence une théorie unifiée dont le noyau primitif est une fonction homographique de tous les paramètres du système.The calculation of a given gear train (solution of the direct problem) is never really difficult, but does not give one any idea how it was invented. Since the inverse problem (i.e. obtaining the concept if the kinematics are fixed) has never been approached in an analytical way, we propose, from the general formula of the ratios, a single equation which enables one to resolve the inverse problem for every two-level gear train, and suggest new unified kinematic and dynamic formulations.

- by Yves Rémond
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- Mechanism Design, Epicyclic/Planetaries

Nowadays, the integration of different mechanical design process stages (Design, analysis and manufacturing) of is a necessity so as to reduce the time of design and optimization. This tendency of integration CAD/CAM/Analysis and automation of the corresponding processes requires shared data between the various tasks using an integrated product model. Our research is oriented to CAD/CAM/Analysis integration by rebuilding the CAD model (BREP) starting from the CAE results (deformed mesh).

- by Abdelmajid BENAMARA
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- Mechanism Design, Finite Elements, Finite Element, CAD

Peer review is a necessary and essential quality control step for scientific publications but lacks proper incentives. Indeed, the process, which is very costly in terms of time and intellectual investment, not only is not remunerated by the journals but it is also not openly recognized by the academic community as a relevant scientific output for a researcher. Therefore, scientific dissemination is affected in timeliness, quality and fairness. Here, to solve this issue, we propose a blockchain-based incentive system that rewards scientists for peer reviewing other scientists’ work and that builds up trust and reputation. We designed a privacy-oriented protocol of smart contracts called Ants-Review that allows authors to issue a bounty for open anonymous peer reviews on Ethereum. If requirements are met, peer reviews will be accepted and paid by the approver proportionally to their assessed quality. To promote ethical behaviour and inclusiveness the system implements a gamified mech...

- by Nazzareno Massari
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- Computer Science, Open Source Software, Mechanism Design, Cryptography

We present a quantum solution to coordination problems that can be implemented with existing technologies. Using the properties of entangled states, this quantum mechanism allows participants to rapidly find suitable correlated choices as an alternative to conventional approaches relying on explicit communication, prior commitment or trusted third parties. Unlike prior proposals for quantum games our approach retains the same choices as in the classical game and instead utilizes quantum entanglement as an extra resource to aid the participants in their choices.

- by Bernardo Huberman
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- Mathematics, Mathematical Physics, Computer Science, Physics
- by Xiaotie Deng
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- Mechanism Design, Social Welfare, Nash Equilibrium
- by Manohar Sohal
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- Design, Production, Heat Transfer, Construction
- by Frank Pompeo and +2
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- Mechanism Design, Finite Element, Design optimization, Thermal management
- by Omkar Palsule-Desai
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- Applied Mathematics, Game Theory, Statistics, Economic Theory
- by Nigel Craig
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- Records Management, Mechanism Design, Construction Industry, Information Processing

Since public sector reform initiatives, public accountability and transparency have advanced democracy and good governance on managing state finances. State financial management mechanism involves regional policies and fiscal decentralization trend in the devolution of responsibility for empowerment from central to local units of governments, but the governance face challenges to effectively manage and control the use of public funds that best meet citizen’s needs. This study determines the effect of public accountability and transparency on the management of state finances in Indonesia, as well as the extent to which public accountability and transparency affect the management of state finances. Based on a descriptive quantitative case-oriented research approach, 60 survey interviews are collected and analyzed with multiple linear regression analysis techniques. This study concludes that Public Accountability partially has a significant effect on the Financial Management Mechanism. On the other hand, partially public transparency has no significant effect on the State Financial Management Mechanism. Cumulatively, some aspects of Public Accountability and Transparency have a significant effect on the State Financial Management Mechanism. If unaccountability in decentralise administrative model prevails, the problem of ineffective policy output may persist to impair sustainable finance and public values for good governance in times of covid-19 crisis-related society

We report on a fruitful combination of applying academic experience with formal modelling and verification techniques to an industrial case study. The goal of the case study was to investigate a priori, i.e. before implementation, the effects of adding a lightweight and easy-to-use publish/subscribe (event) notification service to thinkteam r ○ —an asynchronous and dispersed groupware system which was developed by think3. Researchers from the Formal Methods and Tools (FM&T) group of ISTI–CNR—with a longstanding experience in research on the development and application of formal methods, notations, and software tools for the specification, design, and verification of complex computer systems— therefore teamed up with think3—a global provider of integrated product development solutions that provides mechanical design and Product Data Management (PDM) software catering the product management needs of design processes in the manufacturing industry. The technical details of this joint re...

- by Alessandro Forghieri
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- Computer Science, Groupware, Model Checking, Mechanism Design
- by Philippe van Basshuysen
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- Political Economy, Ethics, Mechanism Design, Engineering Economics
- by Adryell Sousa
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- Mechanism Design, Stability, Mobile Robots, Marine Technology

—Increasing trend in disasters worldwide has forced the use of emerging technology, especially unmanned aerial systems for disaster surveying and relief operations. Unmanned helicopters have been used more often for the surveying and rescuing in the disaster struck areas. To provide the element of rescuing in the unmanned helicopters, in this research paper, a single piece, servo actuated airdrop mechanism design has been proposed and fabricated. Proposed airdrop mechanism is capable of carrying 1kg payload of first aid kit to drop in disaster affected areas. Design has been modelled using the SolidWorks virtual Computer Aided Design (CAD) platform and fabricated using the CNC machine to get the high level of precision. The proposed airdrop mechanism can be utilized in small and medium size unmanned aerial systems to drop the payload of 1 kg capacity.

- by Umair Iqbal
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- Mechanism Design, Unmanned Aerial Vehicle (UAV), Disaster Releif

Mechanical/Industrial Engineering students at Higher Technical School of Industrial Engineering (ETSII) of Technical University of Madrid (UPM) receive an in-depth knowledge of mechanical design and manufacturing processes, but the increasing interaction with other engineering branches, induces the need to integrate concepts which allow students to make an integral design of new products, and thereby facilitate their subsequent integration into multidisciplinary engineering teams in industry. Complex engineering projects are usually carried out by the assimilation of different work teams, which could even be located geographically distant. Collaborative Web environments are proven to be ideal knowledge repositories, as it has seen in Academia and in Industry. The work here presented reproduces the organization of actual engineering projects, and brings it into the classroom. This new way of developing Project Work documentation and discussion has helped students become self-directed learners who internalize specific topics from different subjects, programmes and courses with their own interests, and has been considered as an easy alternative to promote active learning, not only in this area but in other courses. Project were launched in the engineering disciplines, each offering possibilities for the application of specific skills in the following courses: TEC -Manufacturing Technology-, CAD -Computer Aided Design-, SIM -Simulation in Mechanical Engineering-, and FAB -Fabrication / Manufacturing. TEC and SIM are applied in the Mechanical Engineering programme at ETSII, while FAB is part of the Industrial Engineering programme; finally CAD is voluntarily employed by students in different semesters and programmes. The new approach is oriented towards inducing collaboration within multidisciplinary teams. This paper describes the experience of collaboration among students and teachers in order to develop multidisciplinary projects, and to reproduce as closely as possib- - le, the team's integration into a company environment. A new methodology based on student interaction and content development in a Wiki environment has been developed. The collaborative server has allowed creating an “out-of-the-classroom” active discussion forum for students of different teams /topics, and to compile an important “project work” portfolio. This experience has been very satisfactory for students and teachers, who have participated with enthusiasm due to the exit of the well-distributed work and the easiness of use of the selected platform (Wiki). The quality of the developed projects has been dramatically improved due to the integration of the results provided by the different teams.

- by Gregorio Romero
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- Mechanical Engineering, Active Learning, Computer Aided Design, Mechanism Design

Robotic technology has become more interested field to safely interact with the human. Therefore, there is a need to continuously improve the mathematical models and flexibility of robot arm when subjected to a collision force in order to reduce environmental impact, but maintain very high stiffness otherwise. To implement these requirements, adjustable compliant mechanism (ACM), which consists of flat plate spring (FPS), two thin disks, ball bearing and stepper motor, is proposed in this research. The ACM has advantages of variable stiffness which can be achieved only by passive mechanical elements. The theoretical relation between spring stiffness and rotational angle was derived for rectangular cross section. Comparison was made between three types of materials used for FPS which were AISI Steel 4340, Brass and Aluminum 6061 T6. The steel spring exhibited the best flexibility and good rigidity as well. Several of impact forces showed the variable stiffness of the FPS, but an abrupt drops in the stiffness when rotational angle was 90° under various impact forces. Furthermore, the stiffness and impact force can be set to any value depending on the application.

- by Husam K . M . Al-Jothery
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- Engineering, Mechanical Engineering, Robotics, Computer Science

Passive knee prostheses require a significant amount of additional metabolic energy to carry out a gait cycle, therefore affecting the natural human walk performance. Current active knee prostheses are still limited because they do not reply with accuracy of the natural human knee movement, and the time response is relatively large. This paper presents the design and control of a new biomimetic-controlled transfemoral knee prosthesis based on a polycentric-type mechanism. The aim was to develop a knee prosthesis able to provide additional power and to mimic with accuracy of the natural human knee movement using a stable control strategy. The design of the knee mechanism was obtained from the body-guidance kinematics synthesis based on real human walking patterns obtained from computer vision and 3D reconstruction. A biomechanical evaluation of the synthesized prosthesis was then carried out. For the activation and control of the prosthesis, an echo-control strategy was proposed and developed. In this echo-control strategy, the sound side leg is sensed and synchronized with the activation of the knee prosthesis. An experimental prototype was built and evaluated in a test rig. The results revealed that the prosthetic knee is able to mimic the biomechanics of the human knee.

Auction is a form of organization of competition that leads to the assignment and valuation of resources based on the information obtained from the competing agents. From the perspective of systems science it is a distributed resource allocation algorithm applied in the environment with information asymmetry, i.e., where the interconnected and interacting subsystems have different information about the system as a whole. This paper presents an overview of the historical development of mathematical theory underlying modern approach to auction design. Selected practical applications of the theory are also discussed.

- by Michał P. Karpowicz
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- Mechanism Design, Auctions, Auction Theory

We examine and build on literature related to roommate matching, a problem especially relevant to collegiate and prep-school contexts but which can also be extended to other matching problems such as seating at a wedding. We were especially interested in this topic because of its relevance to our own lives, as well as its being an intellectually engaging variant of the student-teacher matching that we studied in CS 136. This project paper proceeds as follows: First, we discuss current solutions to matching roommates used by universities today. Second, we introduce the stable roommates problem, and discuss seminal papers in the academic literature that pose solutions to the problem and its variants. Lastly, we discuss implementation details of those solutions, and apply those implementations to match people with real data gathered from the Harvard community. We conclude that while stable matchings rarely exist when using randomly generated preference orderings, they are much more common using the real Harvard data. We also discuss time complexity and report on student satisfaction with our matchings.

- by Peter Hickman and +1
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- Algorithms, Economics, Computational Complexity, Mechanism Design

中国やインド、ブラジルや東南アジアの新興国は高いGDPの伸びが期待されている。しかし、このGDPの伸張に対し、国民の幸福が伸張するか否か不明である。... more

- by Elisha Sacks
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- Cognitive Science, Computer Science, Computer Graphics, Mechanism Design

The combined motion of the human thumb, index and middle
fingers while rotating a small object across the extended,
intermediate and flexed planes with respect to the fingers
was analyzed. Auto reflective markers were attached on
the fingers to track their motion across three postures and
planes via a 3D motion capture system. Central, right and
left rotation postures were considered in each plane for
investigation and the rotation experiments were performed
with 30 healthy subjects. The obtained data were used to
compute the finger joint angles. Based on the three criteria of
(i) manipulability measure, (ii) major axis direction angle of
the manipulability ellipsoid and (iii) ratio of the minor over
major axis lengths, the collective behavior of the fingers was
studied. It has been found after analysis that the thumb and
middle finger were active, while the index finger operated
passively when manipulating small objects in cooperative
rotational motion across the three planes. Activeness refers
to the independence of a digit in controlling the motion of
an object whereas passiveness denotes its dependence on
other digits. An active finger governs the motion of an object
whereas a passive finger simply supports it. The results of this
investigation are of great importance in planning treatment
for rehabilitation and for designing controllers for robotic
therapists, finger exoskeletons and prostheses.

- by Prof. Felix Orlando Maria Joseph
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- Robotics, Mechanism Design, Neural Networks, Hand Biomechanics
- by Marco Ceccarelli
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- Mechanical Engineering, Robotics, Static Analysis, Mechanism Design

The rising demand for an energy efficient and eco-friendly mode of underwater propulsion has led to the development of bio-mimetic robots that adopt the swimming modes of real fishes. This paper deals with the parameter optimization of the bio-mimetic fin of a knife fish robot. The optimization is done to enhance the capability of the robot to generate wide range of undulations. A knife fish robot was fabricated and tested in a pool for different types of waves. The response of each wave on the swimming performance of the robot was studied to obtain the maximum thrust generating wave.

- by Ajith Anil Meera
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- Mechanical Engineering, Robotics, Underwater Robotics, Biomimetics

The present work is a report of design, development and fabrication of Safety Mechanism of Power Press Machine.
Industrial injuries have been identified as one of the key economic development inhibitors. Fatal and non-fatal injury rates for the workforce for which accidents are reported. Based on these rates, fatal accidents can be estimated to range between 50,000 and 75,000 and non-fatal accidents 5 to 7.5 million per year for the entire workforce in India. If mortalities due to all causes were considered for Indian workers in the age group 15-60 years, workplace fatalities contribute premature deaths in this population to the extent of 5 per cent. Many of these accidents are caused in the Metal press industries Because of the Malfunction of machine, carelessness of the operator, etc.
Safety mechanism should be designed and implemented on the Power press machine to ensure the safety of the operator. This work deals with design and fabrication of Safety mechanism for Power press machine and performance analysis of the same.

- by Ashish Balsurkar
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- Mechanical Engineering, Safety Engineering, Computer Aided Engineering, Design
- by A. Abedian
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- Mechanism Design, Numerical Method, Case Study, Materials Design
- by Daniel P Ferris
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- Design, Manufacturing, Mechanism Design, Human Body

Economic methodologists most often study the relations between models and reality
while focusing on the issues of the model’s epistemic relevance in terms of its relation
to the ‘real world’ and representing the real world in a model. We complement the
discussion by bringing the model’s constructive mechanisms or self-implementing
technologies in play. By this, we mean the elements of the economic model that are
aimed at ‘implementing’ it by envisaging the ways to change the reality in order to
bring it more in line with the model. We are thus concerned mainly not with the ways to
change the model to ‘fit’ the reality, but rather with the model’s own armature that is
supposed to transform the world along theoretical lines. The case we study is Arrow–
Debreu–McKenzie general equilibrium model. In particular, we show the following:
gradient methods and stability could be regarded as constructive mechanisms of
general equilibrium modeling in the context of market socialism debates; the obsession
of general equilibrium theorists with these concepts can be partly explained by the fact
that they hoped not to be faithful to reality, but rather to adjust it to fit the theoretical
model; mechanism design theory initiated by the stability theorist Leonid Hurwicz
could be seen as a successor of this position. We conclude by showing the relevance of
this analysis for epistemic culture of much of contemporary economics and hence,
claim that it is an important complement to the traditional philosophy of economic
modeling.

- by Aleksey Ushakov and +1
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- Mathematical Economics, History of Economic Thought, Sociology of Economic Knowledge, Performativity