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Iranian Conference on Electrical engineering (ICEE)

作者： Mehdi Tale Masouleh Clément Gosselin Mohammad Hossein Saadatzi Hamid D. Taghirad Department of Mechanical Engineering Laval University Quebec QUE Canada Advanced Robotics & Automated Systems (ARAS) Faculty of Electrical & Computer Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781424467600

This paper investigates some kinematic properties of a five-degree-of-freedom parallel mechanism generating the 3T2R motion and comprising five identical limbs of the RPUR type. In this study, two classes of simplified designs are proposed whose forward kinematic problems have either a univariate or a closed-form solution. The principal contributions of this study are the solution of the forward kinematic problem for some simplified designs - which may have more solutions than the FKP of the general 6-DOF Stewart platform with 40 solutions - and the determination of the constant orientation workspace based on algebraic geometry (Bohemian domes).

关键词： Kinematics Forward contracts Parallel robots mechanical factors Geometry Machine tools Manipulators mechanical engineering Robotics and automation Concurrent computing

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Research on Data Exchange Platform for Power Enterprise Based on ESB

Research on Data Exchange Platform for Power Enterprise Base...

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International Conference on Computational Intelligence and Software engineering (CiSE)

作者： Yaling Wang Pishi Sun Wenbin Zhang Zhanfeng Cao Applied Science Private University Beijing China Electromobility Sub-systems Volvo GTT Advanced Technology & Research Göteborg Sweden Electric Power Research Institute Puhua Information Technology Company Limited Beijing China School of Control and Computer Engineering North China Electric Power University Beijing China Faculty of Mechanical Engineering University of Ljubljana Ljubljana Slovenia

Since data sharing mechanism between the various business systems lacks of specification and standardization, information shares hardly and data exchange are inefficient, the paper proposes a data exchange platform for power enterprise based on ESB, which is based on SOA architecture, unified data exchange standards by using XML, used SOAP/HTTP(S) as the data transfer protocol between business systems and services bus and used Web Services as the business system data exchange standard interface. BEA ALSB service bus provides data exchange services for registration, release, information, routing and other functions. Practice has proved that the platform has good flexibility and scalability and can meet the business enterprise system between all kinds of complex data exchange requirements.

关键词： Business Service oriented architecture Marketing and sales Security Routing Databases

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Proposal for artificial bone formation using powder-layered manufacturing: Surface and internal chemical composition of formed artificial bone

Transactions of Japanese Society for Medical and Biological ...

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Transactions of Japanese Society for Medical and Biological engineering 2009年第4期47卷 359-365页

作者： Yamazawa, Kenji Hashizume, Daisuke Nakao, Aiko Anzai, Masahiro Narahara, Hiroyuki Suzuki, Hiroshi Rapid Engineering Team Advanced Technology Support Division Riken Japan Cooperative Support Team Advanced Technology Support Division Riken Japan Advanced Engineering Team Advanced Technology Support Division Riken Japan Department of Mechanical Information Science and Technology Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Japan

In this study, we proposed a powder-layered manufacturing process, a type of rapid prototyping technique, to produce desired bone shapes for transplants using biomaterial powder. In the experiments, we used conventional inkjet-type equipment and orthopedic filling-paste powder (BIOPEX), mainly containing alphatribasic calcium phosphate as the forming material. To solidify the powder, we used a sodium chondroitin sulfate? dibasic sodium succinate anhydride aqueous solution as the binder liquid. This paper discusses the results of investigations on the internal and surface chemical characteristics of formed artificial bones, formed artificial bones hardened by immersion process, and paste type artificial bones used in clinical applications, to determine the suitability of the immersion conditions. The bones were immersed for five hours in immersion fluid made of water and binder liquid at 90 °C?To analyze the chemical constituent, X-ray diffraction and X-ray photoelectron spectroscopy were used. The results showed that the hydrate reaction caused by the application of the binder fluid during forming enhances hydroxyapatite (HA) concentration by about 6.5 times. With samples immersed in water, HA was found internally as well as from the surface, the quantity of which was about 80?, 11 times more than conventional paste type artificial bone. On the other hand, with the samples immersed in the binder fluid, no HA crystals were detected internally. The percentages of P and Ca present on the surface were minute. Given the high quantities of C, O, and Na present, the immersion process is thought to have formed a thin layer of binder fluid. These results from the experimental samples indicate that immersion in binder fluid which showed no problems in terms of chemistry and strength is most appropriate for clinical applications.

关键词： X ray photoelectron spectroscopy

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A novel accelerometer based on microring resonator

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Chinese Optics Letters 2009年第9期7卷 798-801页

作者：莫文琴吴华明郜定山周治平 Wuhan National Laboratory for Optoelectronics College of Optoelectronie Science and Engineering Huazhong University of Science and Technology Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan National Laboratory for Optoelectronics College of Optoelectronic Science and EngineeringHuazhong University of Science and Technology State Key Laboratory on Advanced Optical Communication Systems and Networks Peking University School of Electrical and Computer Engineering Georgia Institute of Technology

A novel microring resonator accelerometer is proposed. It is realized by a suspended straight waveguide coupled with a microring resonator. Under the external acceleration, the coupling coefficient is a function of gap spacing between the two waveguides. The mathematical model of the sensing element is established. Both the finite element method and coupled mode theory are adopted to analyze and optimize the proposed structure. Simulation results show that the mechanical sensitivity is 0.015 μm/g with the working frequency below 500 Hz and cross-axis sensitivity less than 0.001%, which is promising in seismic related applications.

关键词： Accelerometers Mathematical models Waveguides

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Nanofabrication of three-dimensional imprint diamond molds by ECR oxygen ion beams using polysiloxane

Nanofabrication of three-dimensional imprint diamond molds b...

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作者： Shuji, Kiyohara Tomoyuki, Kashiwagi Hirofumi, Takikawa Yuichi, Kurashima Yoshio, Taguchi Yoshinari, Sugiyama Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Aza Shiroya Maizuru Kyoto 625-8511 Japan Department of Electrical and Electronic Engineering Toyohashi University of Technology Toyohashi Aichi 441-8580 Japan Department of Mechanical Systems Engineering University of Yamanashi 4-3-11 Takeda Kofu Yamanashi 400-8511 Japan Application and Technical Section ELIONIX INC 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan

We have investigated the nanofabrication of three-dimensional (3D) chemical vapor deposited (CVD) diamond molds in Electron Cyclotron Resonance (ECR) oxygen ion beam etching technologies using polysiloxane [-R2SiO-]n as an electron beam (EB) mask and a room-temperature (RT)-imprint resist material. The polysiloxane exhibited a negative-exposure characteristic and its sensitivity was 5:5 × 10 -5 C/cm2. The maximum etching selectivity of polysiloxane film against diamond film was 4.7, which was obtained under the following ECR oxygen ion etching conditions: ion energy of 400 eV, ion incidence angle of 0 ° , microwave power of 100 W, gas pressure of 1:4 × 10 -2 Pa and stage temperature of 24 ° C. The diamond molds of cone and tetragonal pyramid dots were fabricated with polysiloxane mask in EB lithography technology using the RT-nanoimprint lithography (NIL) process. The dots are 500, 600, 700, 800, 900 nm in diameter and width respectively. The pitch between the dots is 2 μm, and each dot has a height of about 1 μm. It was found that the optimum imprinting pressure and its depth obtained after the press for 5 min were 0.5 MPa and 0.5 μm respectively. The resulting diameter of each imprinted polysiloxane pattern was in good agreement with that of the 3D-diamond mold. We carried out the RT-NIL process for the fabrication of diamond nanopatterns, using the 3D-diamond molds that we developed. © 2009 The Surface Science Society of Japan.

关键词： Room temperature

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Development of simplified PAM chlorophyll fluorometer for vegetation condition monitoring

Development of simplified PAM chlorophyll fluorometer for ve...

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IEEE International Symposium on Consumer Electronics (ISCE)

作者： Akiko Takeuchi Hidetoshi Yoshida Masaru Shibata Department of Electrical and Electronic Systems Engineering Nagaoka National College of Technology Nagaoka Japan Electrical & Mechanical System Engineering Advanced Course Nagaoka National College of Technology Nagaoka Japan Department of Materials Engineering Nagaoka National College of Technology Nagaoka Japan

Environmental issues are getting widespread international attention. The damage to the plant is immeasurable, too. For monitoring the vegetation conditions, a non-destructive, simplified and low-cost chlorophyll fluorometer was developed. Pulse amplification modulation method and control using programmable logic controller has been employed for that purpose. By measuring the fluorescence from spinach leaf, the performance of the system was checked. It was found that the system was provided empirical data to support theory.

关键词： Vegetation Condition monitoring Fluorescence Pulse modulation Programmable control Light emitting diodes Educational institutions Pulse amplifiers LED lamps Pigments

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A fixed-order D-stability controller design with an output feedback using a modified exterior-point approach

A fixed-order D-stability controller design with an output f...

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Asian Control Conference

作者： Takeshi Terada Yasushi Kami Eitaku Nobuyama Department of the Mechanical and Electronic System Engineering Advanced Courses of Akashi National College of Technology Hyogo Japan Department of the Electrical and Computer Engineering Akashi National College of Technology Hyogo Japan Department of Systems Design and Informatics Kyushu Institute of Technology Fukuoka Japan

ISBN: (纸本)9781424454402

This paper is concerned with a D-stability controller design problem with a static or a reduced-order output feedback controller. This problem is difficult to be solved theoretically, because it consists of some bilinear matrix inequality's (BMI's). In this paper, an exterior-point approach to this problem, which produces a controller sequence approaching a feasible region from an infeasible one is proposed. The feature of our approach is to be able to use a non-stabilizing controller as an initial point of the sequence. A numerical example shows the efficiency of our approach.

关键词： Output feedback Control systems Electric variables control Linear matrix inequalities Iterative methods Educational institutions Time factors Optimization methods State feedback systems engineering and theory

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High stiffness pneumatic actuating scheme and improved position control strategy realization of a pneumatic climbing robot

High stiffness pneumatic actuating scheme and improved posit...

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IEEE International Conference on Robotics and Biomimetics

作者： H. X. Zhang W. Wang J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Shenzhen Institute of Advanced Technology Shenzhen China

The improved full pneumatic climbing robot Sky Cleaner IV has recently been developed as an intelligent demonstrator and test bed for the implementation of nonlinear locomotion control. Pneumatic actuators control the robot's movement, reducing its weight and increasing its dexterity. The pneumatic system of the robot includes X, Y and Z cylinders, a waist cylinder, brush cylinders and vacuum suckers. The major challenge of the pneumatic system is to achieve precise position control of the two rodless linear X and Y cylinders since the system is nonlinear. Two novel ideas are introduced to the pneumatic actuating system. Firstly, the X and Y cylinders feature an improved pneumatic scheme that drives two groups of four 2-position-2-port high speed on-off valves to adjust the pressure in the two chambers of each cylinder. This improves the pneumatic stiffness of the cylinders remarkably. Secondly, considering the effects of friction and movement acceleration of the cylinder, a compensating variable bang-bang controller is presented to control the cylinders' movement and keep the merits while eliminating the oscillation. The experimental results prove that the two approaches can effectively improve the system's stiffness and control its quality.

关键词： Position control Climbing robots Pneumatic systems Intelligent robots Intelligent actuators Testing Pneumatic actuators Robot control Brushes Vacuum systems

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Impedance model force control using neural networks for a desktop NC machine tool

Impedance model force control using neural networks for a de...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Fusaomi Nagata Takanori Mizobuchi Shintaro Tani Keigo Watanabe Tetsuo Hase Zenku Haga Maki K. Habib Department of Electronics and Computer Science Tokyo University of Science Sanyo-Onoda Yamaguchi Japan Research and Development Center Meiho Company Limited Nogata Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Mechanical Engineering Department School of Sciences and Engineering American University Cairo Cairo Egypt

In manufacturing industries of metallics molds, various NC machine tools are used. We have already proposed a desktop NC machine tool with compliance control capability to automatically cope with the finishing process of LED lens molds. The NC machine tool has an ability to control the polishing force acting between an abrasive tool and workpiece. The force control method is called impedance model force control. The most important gain is the desired damping of the impedance model. Ideally, the desired damping is calculated from the critical damping condition in consideration of the effective stiffness in force control system. However, one of the serious problems is that the effective stiffness of the NC machine tool has undesirable nonlinearity. The nonlinearity gives bad influences to the force control stability. In this paper, a fine tuning method of the desired damping is considered by using neural networks. The neural networks acquire the nonlinearity of effective stiffness. It has been observed that the desired damping generated from the learned neural networks allows the NC machine tool to achieve a stable finishing result.

关键词： Impedance Force control Neural networks computer numerical control Damping Automatic control Finishing Manufacturing industries Light emitting diodes Lenses

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State Space Modeling of Ionic Polymer-Metal Composite Actuators based on Electrostress Diffusion Coupling Theory

State Space Modeling of Ionic Polymer-Metal Composite Actuat...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2008), vol.1

作者： Takaaki Osada Kentaro Takagi Yoshikazu Hayakawa Zhi-Wei Luo Kinji Asaka Department of Mechanical Science and Engineering Graduate School of Engineering University of Nagoya Nagoya Japan Department of Mechanical Science and Engineering BMC RIKEN University of Nagoya Japan Department of Computer Sciencs and Systems Engineering BMC RIKEN Kobe University Japan BMC RIKEN National Institute for Advanced Industrial Science and Technology Japan

Ionic polymer-metal composite (IPMC) actuators are expected as artificial muscles for bio-mimetic soft robots. The IPMC gel first bends quickly and then bends back slowly when a constant voltage is applied to the sample. The latter phenomenon, referred to as the stress relaxation, can be modeled by electrostress diffusion coupling theory. The theory can predict the behavior of the actuator for the different species of counterions. In order to describe the actuator dynamics as a system with inputs and outputs, this paper proposes a linear state space model based on the electrostress diffusion coupling theory. The model consists of the three systems, the electrical, the electro-mechanical, and the mechanical systems. The results of the simulation and the experiment demonstrate the validity of the model.

关键词： Polymers Mathematical model Stress Actuators Equations Biomembranes Biological system modeling

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