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Morphing wing real time optimization in wind tunnel tests

Morphing wing real time optimization in wind tunnel tests

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作者： Popov, Andrei V. Grigorie, Lucian T. Botez, Ruxandra Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada Institute for Aerospace Research NRC Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9789898425003

In this paper, wind tunnel results of a real time optimization of a morphing wing in wind tunnel for delaying the transition towards the trailing edge are presented. A morphing rectangular finite aspect ratio wing, having a wind tunnel experimental airfoil reference cross-section, was considered with its upper surface made of a flexible composite material and instrumented with Kulite pressure sensors, and two smart memory alloys actuators. Several wind tunnel tests runs for various Mach numbers, angles of attack and Reynolds numbers were performed in the 6'x9' wind tunnel at the Institute for Aerospace Research at the National Research Council Canada. Unsteady pressure signals were recorded and used as feed back in real time control while the morphing wing was requested to reproduce various optimized airfoils by changing automatically the two actuators strokes. The paper shows the optimization method implemented into the control software code that allows the morphing wing to adjust its shape to an optimum configuration under the wind tunnel airflow conditions.

关键词： Wind tunnels

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A morphing wing used shape memory alloy actuators new control technique with Bi-positional and pi laws optimum combination - Part 1: Design phase

A morphing wing used shape memory alloy actuators new contro...

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作者： Grigorie, Teodor Lucian Popov, Andrei Vladimir Botez, Ruxandra Mihaela Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada National Research Council Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9789898425003

The paper presents the design phase of the actuators control system development for a morphing wing application. Some smart materials, like Shape Memory Alloy (SMA), are used as actuators to modify the upper surface of the wing made of a flexible skin. The actuations lines control is designed and validated using a numerical simulation model developed in Matlab/Simulink. The finally adopted control law is a combination of a bi-positional law and a PI law;the control must behave like a switch between cooling phase and heating phase, situations where the output current is 0 A, or is controlled by a law of PI type. The PI controller, for the heating phase, is optimally tuned using the Ziegler-Nichols criterion and the linear model obtained using the System Identification Toolbox of Matlab. The controlled linearized system for heating phase is numerically tested in terms of time response, stability, controllability and the observability. In the actuation control design final phase, numerical simulations, based on SMA non-linear analytical model, were used for validation.

关键词： Observability

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Bio-robotics using interaction between neuron and muscle for development of living prosthesis

Bio-robotics using interaction between neuron and muscle for...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Kenichiro Kabumoto Takayuki Hoshino Keisuke Morishima Division of Bio-Applications and Systems Engineering Tokyo University of Agriculture슠and슠Technology Japan Division of Mechanical Systems Engineering Tokyo University of Agriculture슠and슠Technology Japan

In this study, we proposed to develop a new type of living prosthesis which has almost the same dynamics as that of the neuromuscular control system. Our prosthesis consisted of tissue engineered skeletal muscle fabricated with living skeletal muscle cells, and a PDMS micro hand. Rat skeletal cells were mixed with collagen gel to construct three-dimensional artificial tissues for the actuator of the living prosthesis. The skeletal muscle gel had similar properties to natural skeletal muscle tissues. The contraction displacement was determined by the frequency of electrical stimulation. This micro hand was successfully controlled by estimated neural signals from surface electromyogram (EMG). We could control the displacement of the PDMS micro hand by using an EMG signal.

关键词： Prosthetics Electromyography Neurons control systems Neuromuscular Robots

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Electro-hydrostatic actuators with Series Dissipative property and their application to power assist devices

Electro-hydrostatic actuators with Series Dissipative proper...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Hiroshi Kaminaga Tomoya Amari Yamato Niwa Yoshihiko Nakamura Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

The actuators used in wearable robots must behave compliant. This, however, is not easy mainly due to two reasons: lack of force measurement capability and lack of backdrivability. Both of above needs to be realized, but the latter issue lies in the actuation principle of conventional robot actuators. We have been investigating in the electro-hydrostatic actuators to realize backdrivability by minimizing friction due to the reduction. Still, the way to design actuator, considering backdrivability, including the one due to the internal leakage, was an open problem. We introduced the actuator model “Series Dissipative Actuator” to explain the actuator behavior. This model enables us to understand the roll of internal leakage in the hydraulic system and it shows the design guideline considering the backdrivability. In this paper, we show the method to apply SDA (Series Dissipative Actuator)concept on EHAs (Electro-Hydrostatic Actuators). Development of the actuator prototype targeted for use in lower limb is also presented and preliminary results in backdrivability evaluation is performed.

关键词： Actuators Friction Torque Petroleum Seals Force Robot sensing systems

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Research of automatic needle locating based on stereo visual servoing

Research of automatic needle locating based on stereo visual...

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Sheng Lv Dongwen Zhang Jia Gu Huazhong University of Science and Technology China Key Laboratory for Biomedical Informatics and Health Engineering Chinese Academy and Sciences Shenzhen China Chinese Academy of Sciences Beijing Beijing CN

Image guided needle operations (biopsy, targeted interventional treatment, etc) are minimally invasive medical treatments which have many prospects in clinical applications. The accuracy of needle insertion can significantly impact the validity of diagnostic procedures or the success rate of therapeutic treatments. For this, a needle driven system was designed to assist needle operations. Based on all the intrinsic and extrinsic parameters of the robot and cameras, a posture measurement method and an eye-to-hand based stereo visual servoing control scheme were put forward. Finally, simulation results demonstrated the effectiveness of the implemented method.

关键词： Needles Cameras Surgery Robot kinematics Visual servoing

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Detection of anatomical structures on ultrasound liver images using Gabor filters

Detection of anatomical structures on ultrasound liver image...

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： C. Vicas M. Lupsor R. Badea S. Nedevschi Technical University of Cluj Napoca Romania 3rd Medical Clinic Cluj-Napoca Romania

ISBN: (纸本)9781424467242;9781424467228

In this paper we present a novel method of detecting anatomical structures from liver ultrasound images. Local texture anisotropy is evaluated using a specially designed bank of Gabor filters. We show that the proposed method is well suited for processing liver ultrasound images and it is robust with respect to its parameters. A practical application of this method is then presented. Image features are computed on detected structures. These features are then used in conjunction with a classifier (Support Vector Machines) to discriminate between left and right lobe liver images. This classifier is used to label ultrasound images. The labeling algorithm obtained a very low error rate (

关键词： Anatomical structure Ultrasonic imaging Liver Gabor filters Labeling Anisotropic magnetoresistance Robustness Support vector machines Support vector machine classification Error analysis

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3D MRI-based predictive control of a ferromagnetic microrobot navigating in blood vessels

3D MRI-based predictive control of a ferromagnetic microrobo...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Karim Belharet David Folio Antoine Ferreira Institute PRISME EA 4229 ENSI de Bourges Bourges France

This paper presents an endovascular navigation of a ferromagnetic microdevice using a MRI-based predictive control. The concept was studied for future development of microrobot designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow 3D navigation of a microdevice in blood vessels, namely: (i) vessel path extraction, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the navigation path of the microrobot into the blood vessel is extracted using Fast Marching Method (FMM) from the pre-operation images (3D MRI imaging) to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Model Predictive controller (MPC) is proposed for robust navigation along a 3D path. The simulation results suggest the validation of the proposed image processing and control algorithms.

关键词： Navigation Magnetic resonance imaging Three dimensional displays Biomedical imaging Propulsion Trajectory Blood vessels

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Fast-speed Precise C-start of a Robotic Fish:Design and Implementation

Fast-speed Precise C-start of a Robotic Fish:Design and Impl...

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The 3rd international conference of Bionic Engineering(ICBE’10)

作者： Zongshuai Su1, Junzhi Yu1, Min Tan1 and Jianwei Zhang2 1 Lab of Complex Systems and Intelligence Science, Institute of automation Chinese Academy of Sciences, Beijing 100190, China 2 Department of informatics, University of Hamburg, D-22527 Hamburg, Germany

This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed preparatory stage, and the turning precision is achieved by the feedback of the turning angle from a gyroscope and a new design of the propulsive stage. Different types of C-starts are studied based on the different sizes of caudal fins, in order to achieve the highest turning angular velocity. All the proposed types of C-starts are experimented and compared using a 4-joint robotic fish. The experimental results show the fastest angular velocity up to 200°/s and the distinctions between all these different types.

关键词： Bio-inspired robotics, robotic fish, turning control, C-start, Closed-loop maneuvering control.

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A morphing wing used shape memory alloy actuators new control technique with Bi-positional and PI laws optimum combination - Part 2: Experimental validation

A morphing wing used shape memory alloy actuators new contro...

引用

ISBN: (纸本)9789898425003

The paper represents the second part of a study related to the development of an actuators control system for a morphing wing application, and describes the experimental validation of the control designed in the first part. After a short presentation of the finally adopted control architecture, the physical implementation of the control is done. To implement the controller on the physical model two Programmable Switching Power Supplies AMREL SPS 100-33 and a Quanser Q8 data acquisition card, were used. The inputs of the data acquisition were two signals from Linear Variable Differential Transformer potentiometers, indicating the positions of the actuators, and six signals from thermocouples installed on the SMA wires. The acquisition board outputs channels were used to control power supplies in order to obtain the desired skin deflections. The control validation was made in two experimental ways: bench test and wind tunnel test. All 35 optimized airfoil cases, used in the design phase, were converted into actuators vertical displacements which were used as inputs reference for the controller. In the wind tunnel tests a comparative study was realized around of the transition point position for the reference airfoil and for each optimized airfoil.

关键词： controllers

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Imitating the Saxophone playing by the anthropomorphic saxophonist robot

Imitating the Saxophone playing by the anthropomorphic saxop...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Jorge Solis Klaus Petersen Tetsuro Yamamoto Masaki Takeuchi Shimpei Ishikawa Atsuo Takanishi Kunimatsu Hashimoto Faculty of Science and Engineering Humanoid Robotics Institute (HRI) Waseda University Japan Graduate School of Advanced Science and Engineering Waseda University Japan Partner Robot Division Toyota Motor Corporation Japan

Our research aims in developing an anthropomorphic saxophonist robot designed to mechanically reproduce the human organs involved during the saxophone playing. In this paper, the Waseda Saxophone Robot No. 2 (WAS-2) which is composed by 22-DOFs is detailed. The lip mechanism of WAS-2 has been designed with 3-DOFs to control the motion of the lower, upper and sideway lips. In addition, a human-like hand (16 DOF-s) has been designed to enable to play all the keys of the instrument. Regarding the improvement of the control system, a feed-forward control system with dead-time compensation has been implemented to assure the accurate control of the air pressure. In addition, the implementation of an auditory feedback control system has been proposed and implemented in order to adjust the positioning of the physical parameters of the components of the robot by providing a pitch feedback and defining a recovery position (off-line). A set of experiments were carried out to verify the mechanical design improvements and the dynamic response of the air pressure. As a result, the range of sound pressure has been increased and the proposed control system improved the dynamic response of the air pressure control.

关键词： Robots control systems Instruments Fingers Lips DC motors Feedback control

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