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

作者： Arash Taheri Sakineh Orangi Department of Science and Mathematics Rajaei Teacher Training University Faculty of Mechanical Engineering University of Tehran

This paper proposes a novel concept of virus-like swimming robot in the range of nano to micro scales for biomedical applications. Viruses are submicroscopic, intracellular parasites that consist of nucleic acid genome and protein capsid. Their shapes help them to move within the infected host organisms and attach to host cells. In this paper, main geometrical features of the viral structure are utilized for conceptual design of the virus-inspired swimming robot and resultant thorny spherical shaped body is equipped with a new inclined and concentric multi-flagella propulsion system for operation in low Reynolds number fluid flow environment. In off-propulsion situation a theoretical formula is derived for thrust value estimation. On the other hand, to investigate the robot behavior in the fluid media in on-propulsion condition, flow field around the robot is simulated using a numerical strategy consists of surface methods of regularized Stokeslet and Rotlet theory. For propulsion control of the robot a multilayer artificial neural network is designed and employed then flow field of the robot wake is analyzed using Lagrangian Coherent Structure (LCS) concept. Furthermore, potential characteristics and specific features of this kind of miniature robots are discussed as well as its application. The results indicate the capability of the miniature robot to perform complex missions in low Reynolds fluid flow environment especially bodily fluid systems including lymphatic, urinary and cerebrospinal fluid (CSF) system.

关键词： Biomimetic robotics, Virus-Inspired Swimming Miniature Robot, Inclined Multi-Flagella Propulsion, LCS, ANN, Biofluid Flow Simulati

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3rd international conference on Mechatronic Systems and Materials, MSM 2007

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3rd international conference on Mechatronic Systems and Materials, MSM 2007

ISBN: (纸本)9783908451600

The proceedings contain 49 papers. The special focus in this conference is on Mechatronic Systems and Materials. The topics include: Multi-fingered haptic interface robot and its application systems;rotor crack detection using active magnetic bearings;analysis of robustness of vibration control system for a magnetically supported shaft;uncertainty modeling in robust control of active magnetic suspension;fluoride release from composite materials for dental fillings;the influence of selected powder fillers on the tribological properties of composite materials for dental fillings;analytic description of impulse response signals;the method of complex worthiness assessment of an engineering object in the process of its use and service;modeling of beam as control plane for a vibration control system;control of slewing motion of a crane model taking into account non-linearities in drive system;control of operational motions of a mobile crane under a threat of loss of stability;weak interactions between objects used as new diagnostic signals in the detection of pipeline leakages;test stand for analysis of fatigue crack propagation under bending with torsion;analysis of timings in networks that use TCP/IP or UDP/IP protocols for communication with industrial controllers in mechatronic systems;constitutive models of vascular tissue;application of modern e-learning techniques in the vocational training in automation and robotics;wavelet analysis of barkhausen noise in reconstructing distributions of residual stress;diagnostics of scoring in gears and modeling of magnetoelastic materials for force and torque sensors.

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An alternative laboratory package for teaching control engineering

An alternative laboratory package for teaching control engin...

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IEEE international conference on E-Learning in Industrial Electronics, ICELIE

作者： Rubiyah Yusof Marzuki Khalid Center of Artificial Intelligence and Robotics Universiti Teknologi Malaysia Kuala Lumpur Malaysia

ISBN: (纸本)9780769546537;9781424446544;9781424446537

One of the ways to enlighten the students understanding on control theory is through practical laboratory experiments. Numerous diverse practical demonstrations and laboratory sessions exist for supplementing control theory. However, to fully understand these control theories through laboratory experiments would be impossible as the time needed would be too long and would not fit in the course curriculum. Using the technology of virtual instrumentation, we have developed a laboratory package to be used in the teaching of control engineering subject. The package covers topics for undergraduate students as well as post graduate students. The laboratory package features both simulated experiments and real time experiments. Results on the study of the effectiveness of the laboratory package has shown that students using this package are able to complete their laboratory experiments faster than those who do not use the package. In addition to that the students using the package obtained higher grades, demonstrating their deep understanding of the subject.

关键词： Laboratories Packaging Education control engineering Instruments control theory Internet control systems Communication system control Artificial intelligence

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Study on a New Type of Rotated Insertion Colonovideoscope Robot

Study on a New Type of Rotated Insertion Colonovideoscope Ro...

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international conference on Bioinformatics and Biomedical engineering (ICBBE)

作者： Qingkai Liu Tianyu Xie Dept. of Biomed. Eng. Peking Univ. Beijing China

Conventional colonoscopy frequently causes pains to patients and sometimes even leads to enterobrosis and other medical accidents. This occurs mainly because the operation technique of colonoscopy is so complicated that there are only a small amount of professional doctors can complete the insertion procedure in a short time. Therefore, a new type of rotated insertion Colonovideoscope robot is developed. The robot with an adopting self-propelled motivating device and direction control system can creep into large intestine just like a snake. Having designed the insertion tube and spiral structure, we chose multiple sorts of materials to manufacture them. Moreover, insertion test using human large intestine model was finished and the questions in test were analyzed to improve the original structure. The test result shows that some certain propulsion in large intestine model can be realized. This study founds the basis to develop this new robot for colonoscopy in the future.

关键词： Robots Medical robotics Colonoscopy Intestines Testing Pain Accidents control systems Creep Spirals

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A robotic arm design for stroke patients

A robotic arm design for stroke patients

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international conference on Power Electronics Systems and Applications (ICPESA)

作者： Shuxiao Wang K.W.E. Cheng K. Ding Jiongkang Lin C.D. Xu Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong China

This paper presents a robotic arm for stroke patients. Two SEMG (Surface Electromyography) signals collected from bicipital muscle and triceps muscle of arm, which are used to control robotic arm. When patients want to flexile arm, the SEMG signal of bicipital muscle is larger than that of triceps muscle. On the other hand, when patient want to extend arm, the SEMG signal of triceps muscle is larger than that of bicipital muscle. The robotic arm's rotation direction is decided by the difference of two SEMG signals. The torque and speed of the robotic arm are controlled by the amplitudes of SEMG signals. The system is based DSP (Digital Signal Processor). H-bridge is used to drive DC motor. The experimental results show that the robotic arm can act correctly according to SEMG signals of human arm.

关键词： DC motors Muscles Pulse width modulation converters Voltage Pulse width modulation inverters Power electronics Robot control Torque control Pulse width modulation Rehabilitation robotics

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Image Base Visual Servoing: Estimation of the image Jacobian by using lines in a stereo vision system

Image Base Visual Servoing: Estimation of the image Jacobian...

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IEEE international conference on E-Learning in Industrial Electronics, ICELIE

作者： L. Parí J.M. Sebastián L. Ángel J. D. Rueda Escuela Técnica Superior de Ingenieros Industriales Universidad Politécnica de Madrid Madrid Spain Robotics and Vision Group (RoVi) Electronics Engineering Faculty Universidad Pontificia Bolivariana Bucaramanga Colombia

This paper describes an Image Based Visual Servoing scheme for controlling a 3 DOF robot, using a system with two cameras in eye to hand configuration. Two methods of estimating image Jacobian on line by using lines as image features are proposed. The first one takes into account both the advantages of Plu¿cker representation and properties of the stereo vision system to obtain depth sensitivity of the observed 3D lines. The second one considers direct measurements of line features in the image of an uncalibrated system. A proportional control law based on the pseudoinverse of the image Jacobian is utilized to control the task. Experimental tests have been carried out to validate the proposed methods, and extended to the analytic image Jacobian from the literature.

关键词： Visual servoing Jacobian matrices Stereo vision Proportional control control systems Robot sensing systems Robot vision systems Cameras Testing Image analysis

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Autonomy in production logistics:: Identification, characterisation and application

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2008年第4期24卷 572-578页

作者： Windt, Katja Boese, Felix Philipp, Thorsten Univ Bremen Bremen Inst Ind Technol & Appl Work Sci Bremen Germany

Competitive enterprises have to react fast and flexible to an increasing dynamic environment. To achieve the ability to adapt on these new requirements autonomous cooperating logistic processes seem to be an appropriate method. In order to prove in which case autonomously controlled processes are more advantageous than conventionally managed processes, it is essential to specify what is exactly meant with autonomous control, how autonomous control does differ from conventional control and how the achievement of logistic objectives in autonomously controlled systems cart be estimated and compared to the achievement of objectives in conventionally controlled systems. This paper introduces a general definition of autonomous control as well as a definition in the context of engineering science and its meaning in a logistics context. Based on this, a catalogue of criteria is developed to ensure the identification of autonomous cooperating processes in logistic systems and its distinction to conventionally controlled processes. To demonstrate this catalogue, its criteria and the concerning properties are explained by means of an exemplary shop-floor scenario. (C) 2007 Elsevier Ltd. All rights reserved.

关键词： autonomous control logistics production systems production planning and control

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Adaptive observer based actuator fault diagnosis for ASV

Adaptive observer based actuator fault diagnosis for ASV

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3rd international conference on Innovative Computing Information and control, ICICIC'08

作者： Wang, Jianfei Jiang, Bin Shi, Peng Wang, Hankang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Computer Science VII: Robotics and Telematics Universtity of Würzburg 97074 Würzburg Germany

ISBN: (纸本)9780769531618

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods. © 2008 IEEE.

关键词： Fault detection

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control of many agents using few instructions 3rd

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3rd international conference on robotics Science and Systems, RSS 2007

作者： Bretl, Timothy Department of Aerospace Engineering University of Illinois at Urbana-Champaign United States

ISBN: (纸本)9780262524841

This paper considers the problem of controlling a group of agents under the constraint that every agent must be given the same control input. This problem is relevant for the control of mobile micro-robots that all receive the same power and control signals through an underlying substrate. Despite this restriction, several examples in simulation demonstrate that it is possible to get a group of micro-robots to perform useful tasks. All of these tasks are derived by thinking about the relationships between robots, rather than about their individual states.

关键词： Robots

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A model for integrating process planning and production planning and control in machining processes

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2008年第4期24卷 532-544页

作者： Ciurana, J. Garcia-Romeu, M. L. Ferrer, I. Casadesus, M. Univ Girona Dept Mech Engn & Ind Construct Girona 17071 Spain Univ Girona Dept Business Adm Management & Prod Design Girona Spain

The goal of process planning is to propose the routing of a previously designed part and results in a sequence of operations and their parameters. It concerns and requires detailed information about the process. The goal of production planning, on the other hand, is to schedule, sequence and launch the orders introduced on the routing sheet into the job-shop according to the enterprise's strategic goal and the actual conditions of the production plant. The goals, information and decisions taken in process planning and production planning and control are often very different and, because of that, it is very difficult to integrate them. The objective of this work is to develop a model that can be applied in the future to the development of an integrated process planning and scheduling tool using an integrated definition (IDEF) methodology to design an activity model, which integrates process and production planning in metal removal processes. An activity model will be used to develop a system that allows the user to plan the process and the production at the same time in collaborative engineering work. To design the activity model, a wide range of parts were evaluated and processed in an actual job-shop factory. Several activities were developed in detail to be tested in real cases, and an example of one of them is introduced in this article. (C) 2007 Elsevier Ltd. All rights reserved.

关键词： machining processes computer aided process planning (CAPP) production and planning control (PPC) activity model sequencing in machining processes

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