1
|
Liu Y, Luo Y, Xiao T, Liang J. Non-back-drivable clutch based self-locking mechanism of prosthetic joint to improve manipulation stability. Front Bioeng Biotechnol 2024; 12:1385076. [PMID: 38872901 PMCID: PMC11169929 DOI: 10.3389/fbioe.2024.1385076] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/11/2024] [Accepted: 05/10/2024] [Indexed: 06/15/2024] Open
Abstract
During activities of daily living (ADLs), the wrist is mainly engaged in positioning and directing the hand. Researches have demonstrated that restoring wrist mobility can significantly enhance the manipulation ability, reduce body distortion caused by motion compensation, and improve the quality of life for amputees. However, most daily activities, particularly the delicate ones, place high demands on the ability of wrist to maintain a certain rotation angle, also known as non-back-drivable ability, which poses a challenge to the design of prosthetic wrists. To address this issue, various solutions have been proposed, including motor holding brakes, high reduction ratio reducers, and worm gears. However, the motor holding brake only functions after a power outage and cannot continuously prevent torque from the load end. The latter two solutions may alter the transmission ratio, resulting in reduced movement speed and transmission efficiency. Therefore, how to design a miniaturized non-back-drivable mechanism without changing the transmission ratio so that the forearm rotational freedom can be locked at any position for any duration is a problem to be solved in the research of prosthetic wrist designs. This paper presents a line-contact based non-back-drivable clutch (NBDC) that does not cause changes in the transmission ratio, ensuring the motion performance of the prosthetic limb. At the same time, it does not introduce additional friction in the forward transmission process, guaranteeing the overall efficiency. Most importantly, it only allows the torque transmitting from the motor to the load, prevents the load reversely from driving back even in a power failure condition, significantly improving the stability, safety, and comfort. Detailed kinematic and static analyses of the working process has been conducted, and transient dynamics simulation has been performed to verify its effectiveness. Through experiments, it is demonstrated that the self-locking torque of the output end could reach approximately 600 Nmm, and the unlocking torque of the input end is about 80 Nmm, which can be effectively integrated in prosthetic wrist rotation joints, contributing to the performance, safety and energy saving of prosthetic joint systems.
Collapse
Affiliation(s)
- Yang Liu
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| | - Yuhui Luo
- School of Art, Soochow University, Suzhou, China
| | - Ting Xiao
- Huazhong University of Science and Technology Hospital, Wuhan, China
| | - Jiejunyi Liang
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
| |
Collapse
|
2
|
Wang R, Xiao H, Quan X, Gao J, Fukuda T, Shi Q. Bioinspired Soft Spine Enables Small-Scale Robotic Rat to Conquer Challenging Environments. Soft Robot 2024; 11:70-84. [PMID: 37477672 DOI: 10.1089/soro.2022.0220] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/22/2023] Open
Abstract
For decades, it has been difficult for small-scale legged robots to conquer challenging environments. To solve this problem, we propose the introduction of a bioinspired soft spine into a small-scale legged robot. By capturing the motion mechanism of rat erector spinae muscles and vertebrae, we designed a cable-driven centrally symmetric soft spine under limited volume and integrated it into our previous robotic rat SQuRo. We called this newly updated robot SQuRo-S. Because of the coupling compliant spine bending and leg locomotion, the environmental adaptability of SQuRo-S significantly improved. We conducted a series of experiments on challenging environments to verify the performance of SQuRo-S. The results demonstrated that SQuRo-S crossed an obstacle of 1.07 body height, thereby outperforming most small-scale legged robots. Remarkably, SQuRo-S traversed a narrow space of 0.86 body width. To the best of our knowledge, SQuRo-S is the first quadruped robot of this scale that is capable of traversing a narrow space with a width smaller than its own width. Moreover, SQuRo-S demonstrated stable walking on mud-sand, pipes, and slopes (20°), and resisted strong external impact and repositioned itself in various body postures. This work provides a new paradigm for enhancing the flexibility and adaptability of small-scale legged robots with spine in challenging environments, and can be easily generalized to the design and development of legged robots with spine of different scales.
Collapse
Affiliation(s)
- Ruochao Wang
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Hang Xiao
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Yangtze Delta Region Academy of Beijing Institute of Technology, Jiaxing, China
| | - Xiaolong Quan
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Junhui Gao
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Toshio Fukuda
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Qing Shi
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
- Yangtze Delta Region Academy of Beijing Institute of Technology, Jiaxing, China
| |
Collapse
|
3
|
Li J, Deng J, Zhang S, Chen W, Zhao J, Liu Y. Developments and Challenges of Miniature Piezoelectric Robots: A Review. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2305128. [PMID: 37888844 PMCID: PMC10754097 DOI: 10.1002/advs.202305128] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Revised: 08/26/2023] [Indexed: 10/28/2023]
Abstract
Miniature robots have been widely studied and applied in the fields of search and rescue, reconnaissance, micromanipulation, and even the interior of the human body benefiting from their highlight features of small size, light weight, and agile movement. With the development of new smart materials, many functional actuating elements have been proposed to construct miniature robots. Compared with other actuating elements, piezoelectric actuating elements have the advantages of compact structure, high power density, fast response, high resolution, and no electromagnetic interference, which make them greatly suitable for actuating miniature robots, and capture the attentions and favor of numerous scholars. In this paper, a comprehensive review of recent developments in miniature piezoelectric robots (MPRs) is provided. The MPRs are classified and summarized in detail from three aspects of operating environment, structure of piezoelectric actuating element, and working principle. In addition, new manufacturing methods and piezoelectric materials in MPRs, as well as the application situations, are sorted out and outlined. Finally, the challenges and future trends of MPRs are evaluated and discussed. It is hoped that this review will be of great assistance for determining appropriate designs and guiding future developments of MPRs, and provide a destination board to the researchers interested in MPRs.
Collapse
Affiliation(s)
- Jing Li
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Deng
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Shijing Zhang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Weishan Chen
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Zhao
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Yingxiang Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| |
Collapse
|
4
|
Xie H, Gao Z, Jia G, Shimoda S, Shi Q. Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat. CYBORG AND BIONIC SYSTEMS 2023; 4:0032. [PMID: 37342211 PMCID: PMC10278959 DOI: 10.34133/cbsystems.0032] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/05/2023] [Accepted: 04/23/2023] [Indexed: 06/22/2023] Open
Abstract
In this paper, we propose a novel method for emulating rat-like behavioral interactions in robots using reinforcement learning. Specifically, we develop a state decision method to optimize the interaction process among 6 known behavior types that have been identified in previous research on rat interactions. The novelty of our method lies in using the temporal difference (TD) algorithm to optimize the state decision process, which enables the robots to make informed decisions about their behavior choices. To assess the similarity between robot and rat behavior, we use Pearson correlation. We then use TD-λ to update the state value function and make state decisions based on probability. The robots execute these decisions using our dynamics-based controller. Our results demonstrate that our method can generate rat-like behaviors on both short- and long-term timescales, with interaction information entropy comparable to that between real rats. Overall, our approach shows promise for controlling robots in robot-rat interactions and highlights the potential of using reinforcement learning to develop more sophisticated robotic systems.
Collapse
Affiliation(s)
- Hongzhao Xie
- Intelligent Robotics Institute, School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Zihang Gao
- Intelligent Robotics Institute, School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Guanglu Jia
- Intelligent Robotics Institute, School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Shingo Shimoda
- Nagoya University Graduate School of Medicine, Nagoya, Japan
| | - Qing Shi
- Intelligent Robotics Institute, School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| |
Collapse
|
5
|
Vasdev N, Pawar B, Gupta T, Mhatre M, Tekade RK. A Bird’s Eye View of Various Cell-Based Biomimetic Nanomedicines for the Treatment of Arthritis. Pharmaceutics 2023; 15:pharmaceutics15041150. [PMID: 37111636 PMCID: PMC10146206 DOI: 10.3390/pharmaceutics15041150] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/12/2022] [Revised: 03/26/2023] [Accepted: 04/02/2023] [Indexed: 04/08/2023] Open
Abstract
Arthritis is the inflammation and tenderness of the joints because of some metabolic, infectious, or constitutional reasons. Existing arthritis treatments help in controlling the arthritic flares, but more advancement is required to cure arthritis meticulously. Biomimetic nanomedicine represents an exceptional biocompatible treatment to cure arthritis by minimizing the toxic effect and eliminating the boundaries of current therapeutics. Various intracellular and extracellular pathways can be targeted by mimicking the surface, shape, or movement of the biological system to form a bioinspired or biomimetic drug delivery system. Different cell-membrane-coated biomimetic systems, and extracellular-vesicle-based and platelets-based biomimetic systems represent an emerging and efficient class of therapeutics to treat arthritis. The cell membrane from various cells such as RBC, platelets, macrophage cells, and NK cells is isolated and utilized to mimic the biological environment. Extracellular vesicles isolated from arthritis patients can be used as diagnostic tools, and plasma or MSCs-derived extracellular vesicles can be used as a therapeutic target for arthritis. Biomimetic systems guide the nanomedicines to the targeted site by hiding them from the surveillance of the immune system. Nanomedicines can be functionalized using targeted ligand and stimuli-responsive systems to reinforce their efficacy and minimize off-target effects. This review expounds on various biomimetic systems and their functionalization for the therapeutic targets of arthritis treatment, and discusses the challenges for the clinical translation of the biomimetic system.
Collapse
Affiliation(s)
- Nupur Vasdev
- National Institute of Pharmaceutical Education and Research (NIPER), Ahmedabad, Department of Pharmaceuticals, Ministry of Chemicals and Fertilizers, Opposite Air Force Station, Palaj, Gandhinagar 382355, Gujarat, India
| | - Bhakti Pawar
- National Institute of Pharmaceutical Education and Research (NIPER), Ahmedabad, Department of Pharmaceuticals, Ministry of Chemicals and Fertilizers, Opposite Air Force Station, Palaj, Gandhinagar 382355, Gujarat, India
| | - Tanisha Gupta
- National Institute of Pharmaceutical Education and Research (NIPER), Ahmedabad, Department of Pharmaceuticals, Ministry of Chemicals and Fertilizers, Opposite Air Force Station, Palaj, Gandhinagar 382355, Gujarat, India
| | - Mahi Mhatre
- National Institute of Pharmaceutical Education and Research (NIPER), Ahmedabad, Department of Pharmaceuticals, Ministry of Chemicals and Fertilizers, Opposite Air Force Station, Palaj, Gandhinagar 382355, Gujarat, India
| | - Rakesh Kumar Tekade
- National Institute of Pharmaceutical Education and Research (NIPER), Ahmedabad, Department of Pharmaceuticals, Ministry of Chemicals and Fertilizers, Opposite Air Force Station, Palaj, Gandhinagar 382355, Gujarat, India
| |
Collapse
|
6
|
Xie H, Jia G, Al-Khulaqui M, Gao Z, Guo X, Fukuda T, Shi Q. A Motion Generation Strategy of Robotic Rat Using Imitation Learning for Behavioral Interaction. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3182472] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Hongzhao Xie
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
| | - Guanglu Jia
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
| | - Mohamed Al-Khulaqui
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
| | - Zihang Gao
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
| | - Xiaowen Guo
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
| | - Toshio Fukuda
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
| | - Qing Shi
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, China
| |
Collapse
|
7
|
Giannetti D, Schifani E, Reggiani R, Mazzoni E, Reguzzi MC, Castracani C, Spotti FA, Giardina B, Mori A, Grasso DA. Do It by Yourself: Larval Locomotion in the Black Soldier Fly Hermetia illucens, with a Novel “Self-Harvesting” Method to Separate Prepupae. INSECTS 2022; 13:insects13020127. [PMID: 35206701 PMCID: PMC8879302 DOI: 10.3390/insects13020127] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/17/2021] [Revised: 01/20/2022] [Accepted: 01/22/2022] [Indexed: 11/17/2022]
Abstract
Simple Summary The black soldier fly Hermetia illucens is a widespread species of fly of American origins, which is increasingly used to develop sustainable waste recycling processes as it is able to develop by consuming a wide variety of wastes as food, while both its body and the residuals of its feeding activity can be re-used in a variety of processes. However, many aspects of its larval biology remain unknown. Among these, there is larval movement and its variation in response to external stimuli and environmental conditions. Larvae of the black soldier fly eventually reach the prepupal stage, during which they stop feeding and seek a shelter to pupate. Sorting prepupae from the younger larvae and feeding substratum can be important in rearing processes, since they are used to obtain adults but are also particularly rich in protein and lipids. We focused our study on behavioural differences between prepupae and younger larvae, describing tonic immobility as an anti-predatory response of both, but also their very different ways of locomotion and reactions to stress. Finally, we developed a practical system to exploit these differences, inducing prepupae to move away from the substratum and other larvae to be efficiently collected. Abstract The neotropical insect Hermetia illucens has become a cosmopolite species, and it is considered a highly promising insect in circular and sustainable economic processes. Being able to feed on a wide variety of organic substrates, it represents a source of lipids and proteins for many uses and produces recyclable waste. We investigated the characteristics and differences in the poorly-known locomotory behaviour of larvae of different instars, paying particular attention to the unique characteristics of the prepupal stage, key to farming and industrial processes. Moreover, we attempted to develop a “self-harvesting” system relying on the behavioural traits of prepupae to obtain their separation from younger larvae under rearing condition with minimum effort. Prepupae differ from younger larvae in their response to physical disturbance in the form of tonic immobility and significantly differ in their locomotory movements. Both prepupae and younger larvae reacted similarly to heat or light-induced stress, but low light and high moisture induced only prepupae to migrate away, which resulted in the development of a highly efficient separation methodology. The new data on the behaviour of H. illucens not only shed new light on some unexplored aspects of its biology, but also led to develop an inexpensive self-harvesting system that can be implemented in small-scale and industrial farming.
Collapse
Affiliation(s)
- Daniele Giannetti
- Department of Chemistry, Life Sciences & Environmental Sustainability, University of Parma, Parco Area delle Scienze, 11/a, 43124 Parma, Italy; (E.S.); (C.C.); (F.A.S.); (B.G.); (A.M.); (D.A.G.)
- Correspondence:
| | - Enrico Schifani
- Department of Chemistry, Life Sciences & Environmental Sustainability, University of Parma, Parco Area delle Scienze, 11/a, 43124 Parma, Italy; (E.S.); (C.C.); (F.A.S.); (B.G.); (A.M.); (D.A.G.)
| | - Roberto Reggiani
- Azienda Agraria Sperimentale Stuard, Strada Madonna dell’Aiuto, 7/a, San Pancrazio, 43126 Parma, Italy;
| | - Emanuele Mazzoni
- Department of Sustainable Crop Production, Section Sustainable Crop and Food Protection, Università Cattolica del Sacro Cuore, 29122 Piacenza, Italy; (E.M.); (M.C.R.)
| | - Maria Cristina Reguzzi
- Department of Sustainable Crop Production, Section Sustainable Crop and Food Protection, Università Cattolica del Sacro Cuore, 29122 Piacenza, Italy; (E.M.); (M.C.R.)
| | - Cristina Castracani
- Department of Chemistry, Life Sciences & Environmental Sustainability, University of Parma, Parco Area delle Scienze, 11/a, 43124 Parma, Italy; (E.S.); (C.C.); (F.A.S.); (B.G.); (A.M.); (D.A.G.)
| | - Fiorenza A. Spotti
- Department of Chemistry, Life Sciences & Environmental Sustainability, University of Parma, Parco Area delle Scienze, 11/a, 43124 Parma, Italy; (E.S.); (C.C.); (F.A.S.); (B.G.); (A.M.); (D.A.G.)
| | - Beatrice Giardina
- Department of Chemistry, Life Sciences & Environmental Sustainability, University of Parma, Parco Area delle Scienze, 11/a, 43124 Parma, Italy; (E.S.); (C.C.); (F.A.S.); (B.G.); (A.M.); (D.A.G.)
| | - Alessandra Mori
- Department of Chemistry, Life Sciences & Environmental Sustainability, University of Parma, Parco Area delle Scienze, 11/a, 43124 Parma, Italy; (E.S.); (C.C.); (F.A.S.); (B.G.); (A.M.); (D.A.G.)
| | - Donato A. Grasso
- Department of Chemistry, Life Sciences & Environmental Sustainability, University of Parma, Parco Area delle Scienze, 11/a, 43124 Parma, Italy; (E.S.); (C.C.); (F.A.S.); (B.G.); (A.M.); (D.A.G.)
| |
Collapse
|
8
|
Abstract
Abstract
In this study we evaluate the design and efficacy of Wombot, an exploratory robot used to study environmental conditions within wombat burrows. Our purpose-built robot traverses through the difficult terrain present in wombat burrows whilst facilitating placement and retrieval of environmental data loggers. Our preliminary results suggest that the environmental conditions present within the burrows would result in a long mite survival time which shows significant risk for spreading infestations throughout a wombat population.
Article Highlights
Wombats live in difficult to observe burrows and suffer from mange cased by Sarcoptes scabiei.
A teleoperated robot was designed to traverse the difficult terrain within burrows whilst placing and retrieving environmental loggers.
Cool and humid environmental conditions within burrows suggest a relatively long mite survival time of 16–18 days
Collapse
|
9
|
Pun P, Brown J, Cobb T, Wessells RJ, Kim DH. Navigation of a Freely Walking Fruit Fly in Infinite Space Using a Transparent Omnidirectional Locomotion Compensator (TOLC). SENSORS 2021; 21:s21051651. [PMID: 33673520 PMCID: PMC7956841 DOI: 10.3390/s21051651] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/31/2020] [Revised: 02/04/2021] [Accepted: 02/22/2021] [Indexed: 01/22/2023]
Abstract
Animal behavior is an essential element in behavioral neuroscience study. However, most behavior studies in small animals such as fruit flies (Drosophilamelanogaster) have been performed in a limited spatial chamber or by tethering the fly's body on a fixture, which restricts its natural behavior. In this paper, we developed the Transparent Omnidirectional Locomotion Compensator (TOLC) for a freely walking fruit fly without tethering, which enables its navigation in infinite space. The TOLC maintains a position of a fruit fly by compensating its motion using the transparent sphere. The TOLC is capable of maintaining the position error < 1 mm for 90.3% of the time and the heading error < 5° for 80.2% of the time. The inverted imaging system with a transparent sphere secures the space for an additional experimental apparatus. Because the proposed TOLC allows us to observe a freely walking fly without physical tethering, there is no potential injury during the experiment. Thus, the TOLC will offer a unique opportunity to investigate longitudinal studies of a wide range of behavior in an unrestricted walking Drosophila.
Collapse
Affiliation(s)
- Pikam Pun
- Department of Mechanical Engineering and Energy Processes, Southern Illinois University Carbondale, Carbondale, IL 62901, USA;
| | - Jacobs Brown
- Department of Mechanical Engineering, Kennesaw State University, Marietta, GA 30060, USA;
| | - Tyler Cobb
- Department of Physiology, Wayne State University, Detroit, MI 48201, USA; (T.C.); (R.J.W.)
| | - Robert J. Wessells
- Department of Physiology, Wayne State University, Detroit, MI 48201, USA; (T.C.); (R.J.W.)
| | - Dal Hyung Kim
- Department of Mechanical Engineering, Kennesaw State University, Marietta, GA 30060, USA;
- Correspondence:
| |
Collapse
|