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Three-dimensional nanoscale manipulation and manufacturing using proximal probes: controlled pulling of polymer micro/nanofibers

Three-dimensional nanoscale manipulation and manufacturing u...

引用

IEEE international conference on robotics and automation (ICRA)

作者： A.S. Nain D.H. Goldman M. Sitti Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Besides imaging and characterization, proximal probes are proposed to be use as a three-dimensional (3D) nanoscale manipulation and manufacturing tool In this work. We propose 3D nanoscale pulling of liquid polymer micro/nanofibers by precise positioning of atomic force microscope (AFM) nanoprobes and control of polymer solidification. An AFM probe is used to pull or extrude thermoset or thermoplastic polymers precisely to fabricate 3D polymer micro/nano-fiber structures. A liquid polymer fiber bridge between the probe tip and a substrate is maintained when pulling the probe from the surface with controlled speed and position. We present results of our pulling experiments in vertical, horizontal and arbitrary 3D pulling directions for PMMA polymer fibers. Implications and future directions are discussed. This micro/nano-fiber pulling technology would have wide applications in nano-circuit interconnects, prototyping novel nano-electronic devices, 3D polymer fiber based nano-actuators, photonic devices, and novel smart sensors and materials.

关键词： Manufacturing Probes Polymers Nanoscale devices Atomic force microscopy Optical fiber devices Optical fiber sensors Force control Nanostructures Bridges

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Neural-based control of a robotic hand: evidence for distinct muscle strategies

Neural-based control of a robotic hand: evidence for distinc...

引用

IEEE international conference on robotics and automation (ICRA)

作者： P. Afshar Y. Matsuoka BioMedical Engineering Carnegie Mellon University Pittsburgh PA USA Center for the Neural Basis of Cognition Carnegie Mellon University Pittsburgh PA USA

The neural-based control of a robotic hand has many clinical and engineering applications. Current approaches to this problem have been limited due to a lack of understanding of the relationship between neural signals and dynamic finger movements. Here, we present a technique to predict index finger joint angles from neural signals recorded from the associated muscles. The neural signals are converted to a torque estimate (EBTE) and then input to artificial neural networks. The networks predict the finger position more closely when the input to the networks are torque estimates rather than neural signals. Furthermore, the networks trained with the EBTE signals could predict the joint angles for different phases of finger movements (i.e. dynamic reaching and positioning task) while networks trained with the neural signals could not. Our results indicate that (1) similar finger movements are executed with different synergistic strategies and (2) different phases of finger movements employ different neural strategies. Through these results, we have demonstrated the first concrete technique to control a hand prosthetic device or dexterous tele-manipulator using natural neural control signals.

关键词： Robot control Muscles Fingers Neurons Cognitive robotics Neural prosthesis Spinal cord Biomedical engineering Concrete Signal processing algorithms

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Constraints and deformations analysis for machining accuracy assessment of closed kinematic chains

Constraints and deformations analysis for machining accuracy...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Y. Nakamura A. Murai Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

This paper discusses the design issue of general closed kinematic chains focusing on analysis of constraints and elastic deformations. Closed kinematic chains are considered more advantageous in rigidity, power-output, and accuracy than open kinematic chains. However, it is not much stressed that closed kinematic chains are so sensitive to machining errors that a tenth of a millimeter of error might result in jamming and immobility. To avoid this critical problem, closed kinematic chains tend to be designed with play that reduces their native advantages. If 3D-CAD systems are equipped with a mathematical tool that evaluates machining accuracy, elasticity, and constraints, it will significantly assist the skill of designers and extend the field of applications of closed kinematic chains. In this paper, we clarify machining errors that are absorbable as errors in unactuated joints. These kind of errors are permissible. Mobility analysis in the presence of unabsorbable machining errors is discussed taking account of elastic deformations and strain energy. The mechanism can move smoothly even with machining errors if the strain energy remains less fluctuate along its motion locus. The established mathematical method of mobility analysis is applied to the design of a closed kinematic chain and used in practice to fabricate a medical robot system.

关键词： Machining Kinematics Medical robotics Jamming Elasticity Capacitive sensors Equations Mobile robots Robot sensing systems Motion analysis

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Improved Artificial Potential Field for Unknown Narrow Environments

Improved Artificial Potential Field for Unknown Narrow Envir...

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IEEE international conference on robotics and Biomimetics

作者： Ke Liang Zhiye Li Dongyue Chen Xiong Chen Department of Electronic Engineering University of Fudan China

Path planning in unknown environments is very different from that in known environments, because the robot doesn't know the whole map. So it can only navigate according to the local information from sensors, and can explore the environment step by step. When the robot searches an unknown environment, it need plan its path in order to search all the space rapidly and completely. So it must avoid the obstacles with intentions. We adopt APF (artificial potential field) to achieve it. But APF has many shortcomings, especially in unknown environments. In this paper, we develop a geometry method to judge the situation of obstacles. We also develop a strategy that can make the robot plan the path as human's behavior. And combining the geometry method with APF, the path is optimized and suitable to applications. We also develop some new ways to overcome other disadvantages of APF

关键词： Robot sensing systems Computational geometry robotics and automation Path planning Orbital robotics Navigation Optimization methods Mobile robots Road accidents Computer bugs

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Towards Multirobot Communication

Towards Multirobot Communication

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IEEE international conference on robotics and Biomimetics

作者： Xiao-Lin Long Jing-Ping Jiang Kui Xiang College of Automation Engineering Wuhan University of Technology China College of Electrical Engineering University of Zhejiang China

Communications play an important role in multirobot systems. Since the advent of high-performance wireless local area network (WLAN) at relatively low cost, its use for wireless communication among multirobot has become a practical proposition. However, in a large system with many robots, it becomes difficult for all of robots to exchange information at a time because of their limited communication capacities. In this case, an efficient and reliable communication network is wanted. This paper presents some wireless communication schemes and their applications. Broad samplings of the research that is currently ongoing in the field of multirobot communication system are provided. Finally, a conclusion is given by identifying several additional open research issues in this field

关键词： Robot kinematics Communication system control Spread spectrum communication Wireless LAN Costs Telecommunication network reliability Multirobot systems Wireless communication Communication networks Communication switching

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automation of a robotic arm by analysing the CAN protocol

Automation of a robotic arm by analysing the CAN protocol

引用

international conference on Electronics, Communications and Computers (CONIELECOMP)

作者： H.I.H. Martinez C.A.C. Morales O.A. Martinez Electronic and Computer Institute Mixteca University of Technology Oaxaca Mexico

The CAN bus has had great acceptance in several areas such as industrial automation processes. Different solutions and profiles for standardising the communication between devices and systems have been well accepted. This paper presents a general introduction based on different areas in which the CAN protocol has been applied. In addition, a definition of the protocol's architecture and a description of the tools and devices of the system are presented. Finally, a development of methodology in the application to the automation and the results obtained in this work are shown. Thus, based on earlier experiences in the development of applications using the CAN protocol, principally with academic purposes, the authors present a study of the analysis of the CAN protocol applied to a real application like robotic arm automation. The importance of this work increases due to the limited knowledge of the protocol implemented and the difficulty that the analysis carried out has into this real application.

关键词： robotics and automation Protocols Manufacturing automation Communication industry Automobiles Automotive engineering ISO standards Industrial relations Actuators Wiring

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Military robots - a glimpse from today and tomorrow

Military robots - a glimpse from today and tomorrow

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： J. Khurshid Hong Bing-rong Multi-Agent Lab School of Computer Science and Technology Harbin Institute of Technology Harbin China

The military forces always tried to use new gadgets and weapons for reducing the risk of their casualties and to defeat their enemies. With the development of sophisticated technology, it mostly relies on the high tech weapons or machinery being used. robotics is one of the hot fields of modern age in which the nations are concentrating upon for military purposes in the state of war and peace. They have been in use for some time for demining and rescue operations but now they are under research for combat or spy missions. Today's modern military forces are using different kinds of robots for different applications ranging from mine detection, surveillance, logistics and rescue operations. In the future they will be used for reconnaissance and surveillance, logistics and support, communications infrastructure, forward-deployed offensive operations, and as tactical decoys to conceal maneuver by manned assets. In order to make robots for the unpredicted cluttered environment of the battlefield, research on different aspects of robots is under investigation in laboratories to be able to do its job autonomously, as efficiently as a human operated machine can do. Latest techniques are being investigated to have advanced and intelligent robots for different operations. This paper presents different kinds of robotic technologies being used in all the three main forces, Navy, Army and Air. Some of the robots discussed are also being used in the wars of Afghanistan and Iraq, also, the robots that are under investigation in laboratories for future military operations. These robots are under investigation for autonomous and cooperative environment. We focus our attention on the uses of robots in war and peace as well as their impact on society.

关键词： Animals Weapons robotics and automation Robot sensing systems Service robots Military computing Java Modems Surveillance Logistics

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Deadlock-free scheduling in automated manufacturing systems with multiple resource requests

Deadlock-free scheduling in automated manufacturing systems ...

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IEEE conference on Control Technology and applications (CCTA)

作者： Zhonghua Huang Zhiming Wu Department of Automation Shanghai Jiaotong University Shanghai China

ISBN: (纸本)0780386337

This paper addresses the scheduling problem of a class of automated manufacturing systems with multiple resource requests. Each operation may need more than one resource type and multiple identical units with the same resource type. The scheduling problem is formulated by timed Petri nets model under which the scheduling goal consists in sequencing the transition firing sequence in order to avoid the deadlock situation and to minimize the makespan. In the proposed genetic algorithm with deadlock-free constraint, a deadlock detection method based on D-siphon technology is addressed to reschedule the sequence of transitions. The enabled transitions should be fired as early as possible and thus the quality of solutions can be improved. In the fitness computation procedure, a penalty item for the infeasible solution is involved to prevent the search process from converging to the infeasible solutions. The method proposed in this paper can get a feasible scheduling strategy as well as enable the system to achieve good performance. Numerical results presented in the paper show the efficiency of the proposed algorithm.

关键词： System recovery Job shop scheduling Manufacturing systems Manufacturing automation Petri nets robotics and automation Mathematical model Milling machines Genetic algorithms Processor scheduling

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Adaptive sampling for environmental robotics

Adaptive sampling for environmental robotics

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IEEE international conference on robotics and automation (ICRA)

作者： M. Rahimi R. Pon W.J. Kaiser G.S. Sukhatme D. Estrin M. Srivastava UCLA Center for Embedded Networked Sensing Los Angeles CA Department of Computer Science USC Los Angeles CA Department of Computer Science UCLA Los Angeles CA USA Department of Computer Science UCLA Los Angeles CA

The capabilities and distributed nature of networked sensors are uniquely suited to the characterization of distributed phenomena in the natural environment. However, environmental characterization by fixed distributed sensors encounters challenges in complex environments. In this paper we describe Networked Infomechanical Systems (NIMS), a new distributed, robotic sensor methodology developed for applications including characterization of environmental structure and phenomena. NIMS exploits deployed infrastructure that provides the benefits of precise motion, aerial suspension, and low energy sustainable operations in complex environments. NIMS nodes may explore a three-dimensional environment and enable the deployment of sensor nodes at diverse locations and viewing perspectives. NIMS characterization of phenomena in a three dimensional space must now consider the selection of sensor sampling points in both time and space. Thus, we introduce a new approach of mobile node adaptive sampling with the objective of minimizing error between the actual and reconstructed spatiotemporal behavior of environmental variables while minimizing required motion. In this approach, the NIMS node first explores as an agent, gathering a statistical description of phenomena using a nested stratified random sampling approach. By iteratively increasing sampling resolution, guided adaptively by the measurement results themselves, this NIMS sampling enables reconstruction of phenomena with a systematic method for balancing accuracy with sampling resource cost in time and motion. This adaptive sampling method is described analytically and also tested with simulated environmental data. Experimental evaluations of adaptive sampling algorithms have also been completed. Specifically, NIMS experimental systems have been developed for monitoring of spatiotemporal variation of atmospheric climate phenomena. A NIMS system has been deployed at a field biology station to map phenomena in a 50m width

关键词： Sampling methods Sensor phenomena and characterization Robot sensing systems Extraterrestrial phenomena Spatiotemporal phenomena Testing Sensor systems and applications Motion measurement Time measurement Costs

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Adjustable speed drives - future challenges and applications

Adjustable speed drives - future challenges and applications

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international conference on Power Electronics and Motion Control (IPEMC)

作者： F. Blaabjerg P. Thoegersen Institute of Energy Technology University of Aalborg Aalborg Denmark Danfoss Drives AS Graasten Denmark

The main trends within adjustable drives in industrial and appliance applications for the next decade are discussed based on the newest developments seen on the market and a few historical trends. Different drive configurations are presented and the general demands to adjustable speed drives are specified. Further on power architectures and motor types are discussed in a short term and long-term view. Possible drivers of the future development are identified, and the concept of an 'electronic motor' is discussed. A number of applications are presented where variable speed is attractive

关键词： Variable speed drives Home appliances robotics and automation Costs Driver circuits Power electronics Materials handling Electric vehicles Resistance heating Ventilation

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