Design of Innovative Machines Lab
The primary goal of the team is to create, design, build, and test novel machines and mechanisms for a variety of applications while generating the theory that supports these innovations.
The DIMLab is in Kettering Labs, room 143, on the University of Dayton campus.
What's Happening in the DIMLab?
October 18-20: A prototype of a modular telescopic gripper has been developed in collaboration with the HumanLab to overcome the difficulties in gripping from a seated position (wheelchair-type station).
October: This mechanism is for actuating the horizontal stabilizers of an aircraft using a rotating empennage without a vertical stabilizer. Birds do not have vertical stabilizers and rotate their tail feathers to control agile maneuvers. A rotating empennage concept will mimic this motion and enable the bio-inspired flight of a fixed-wing aircraft. [link to research paper] [Linkedin ASME announcement]
September 21: Clement Trotobas, Christine Azevedo and Drew Murray authored an article posted on LinkedIn about contributions to the field of orthotics and prosthetics featured in the ASME's Journal of Mechanism and Robotics.
May & September
April 22: Ten DIMLab members presented their research at the Stander Symposium:
Nicholas Andrew Lanese - Six-Bar Linkage Models of a Recumbent Tricycle Mechanism to Increase Power Throughput in FES Cycling
John (Jack) M Wischmeyer - Design of a Soft Robot Pneumatic Cushion for Bedsore Prevention in Persons with Paraplegia or Tetraplegia
Mohammad Zainullah Khan ('Zain') - Multi-Robot Path Planning with Collision Avoidance
Tianze Xu - Approximate Motion Synthesis by Using the Poles of Planar Displacements
Yucheng Li - Kinematic Synthesis in the Design of Continuum Robots
Mohamed Ali Alsadig Mohamed- Evaluating Solar Array Positioning Designs for Small Satellites
Bailey A Reid, Kyle Naumann & Patrick B Hudak - Establishing Soft Robot Modeling and Simulation Fundamentals to Drive Smart Hose Design
Camden Lee Ives - Topology Optimization Results Spaceframe Interpreter (TORSI)
April 19th: Congratulations to DIMLab member Jack Wischmeyer. Jack received $1500 in support of his Honors Thesis project for his proposal "Design of a Soft Robotic Pneumatic Cushion for Bedsore Prevention in Persons with Paraplegia or Tetraplegia."
April 10th: Yucheng (Chen) Li's 2022 Graduate Student Summer Fellowship proposal was selected for funding. His proposal was selected for its "quality, scholarly excellence, and publication potential from among a very large number of submissions." His work will focus on the kinematic synthesis of continuum robots utilizing efficient inverse kinematics algorithms.
May 1st: Tianze (Caesar) Xu was awarded a Graduate Student Summer Fellowship. He was funded for his project "Designing Energy Efficient & High-Speed Mechanical Presses for Improved Ram Motions using Advanced Algebraic Techniques." These awards are from the Graduate School at the University of Dayton and provide a stipend for the summer!
February 3: The images and video below are from Noel Michel's undergraduate honors thesis project "Designing Fictional Spaces: Questionable Architecture that Supports Sustainable Design." Noel constructed weird and paradoxical spaces described in three pieces of short fiction using the Rhinoceros 3D modeling package. This video and the printed models are from Donald Barthelme's "The Balloon" about a massive balloon that appears over New York City.
June 1: We launched our DIMLab My Mini Factory site featuring printable DIMLabyrinths like the one seen to the left. A DIMLabyrinth is a 3-dimensional maze that fills the space in a cube. To download and print your own, please visit our My Mini Factory site! Watch the videos below to see what game play looks like. In the case of the 3-by-3-by-3, our S3RP3NTIN3 DIMLabyrinth puzzle, you can see it smoothly solved in the video on the left. In the case of the 5-by-5-by-5, our Cube-asaurus Rex DIMLabyrinth puzzle, you can see the frustration caused by this challenging puzzle in the video on the right!
The videos below show DIMLabyrinth mazes generated by our MATLAB code. The code guarantees all spots in the cube are visited and that a path connects the input location to the output location.
The video shows a very challenging 10-by-10-by-10 maze.
This video shows a far less challenging 3-by-3-by-3 maze.
May 15: The mannequin in this video shows off the statically equivalent serial chain (SESC). He teaches us about the SESC using some sweet dance moves, so be sure to crank up your sound! The SESC is a way of visualizing and tracking the center of mass. Once the SESC is constructed through some initial experiments, the center of mass is located from the kinematics alone. No force plates or sensing of other data is needed! In the video, the SESC is the set of links that begins at hip center. Note how the SESC moves as the mannequin moves.
The virtual mannequin stars in the video. The actual mannequin exists too! Recent testing was performed in the Motion Analysis Lab in Fitz Hall (room 220F) with Allison Kinney's biomechanics team. We're hoping to compare the actual data to the virtual data from the model!
May 1: The images and videos below are from Noel Michel's undergraduate honors thesis project "Designing Fictional Spaces: Questionable Architecture that Supports Sustainable Design." Noel constructed weird and paradoxical spaces described in three pieces of short fiction using the Rhinoceros 3D modeling package. The first video and the three images below it are from Jorge Luis Borges's "The Library of Babel." The author details a library that is seemingly infinite in scale (it has more books than there are atoms in the universe!) yet is actually finite.
This video is from Donald Barthelme's "The Balloon" about a massive balloon that appears over New York City.
Frank Kafka wrote a short(-ish!) story called "The Burrow." The narrator describes an underground lair that he has fashioned himself. The two images below are inspired by the story.
April 22: Thirteen DIMLab members presented their research at the Stander Symposium:
Dillon Balk - Soft Robot Actuator Design for Digital Light Processing
Anthony Bazler & Nick Lanese - Design of a Trike for Paraplegics Powered By Functional Electrical Stimulation of Leg Muscles
Yizhen Cai - A Novel Approach to Design Planar Four-Bar Linkages for Approximation Motion Synthesis
Tiangang Chen - A Fast Algorithm for Solving the Kinematics of Hyper Redundant Robots
Robert McCarren - Automated Design of Truss-Based Mechanical Components Using Topology Optimization
Noel Michel - Designing Fictional Spaces: Questionable Architecture that Supports Sustainable Design
Austin Mills - Assessment of the Structural Suitability of Tensegrity Aircraft Wings
Mohamed Mohamed - Optimization of Solar Array Positioning Actuators for Small Satellites
Chengwei Shi - Design Modeling of Spatial Shape-Change Linkages
Adam Wicks - DIMLabyrinths: Printable 3D Cube Mazes
Tianze Xu - Dimensioning Mechanical Press Architecture for Improved Dwell using Advanced Algebraic Techniques
Xingyu Zhu - Dimensioning Mechanical Presses Driven by a Geared Five-Bar for Desired Dwell using Advanced Algebraic Techniques
April 15: The DIMLab is currently working with a team at the Labatoire d'Informatique, de Robotique et de Microelectronique de Montpellier (LIRMM) in France. The goal is to develop tricycles powered by FES stimulated leg muscles in drivers with para- or tetraplegia. The official site for the project is freewheels.inria.fr. The video above shows one of the concepts for modifying the pedaling mechanism.
April 1: The DIMLab has a long standing interest in shape-changing mechanisms. A concept for a morphing wing using tensegrity is shown in the video above.