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6th International Conference on Tribology in manufacturing Processes and Joining by Plastic Deformation, ICTMP 2014

作者： Kadivar, Mohammadali Akbari, Javad Vakili Azghandi, Bijan Department of Mechanical Engineering Industries and Mines University Tehran Iran Tehran Iran Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Advanced Manufacturing and Material Processing Micro Mechanism Research Group Department of Engineering Design and Manufacture University of Malaya Malaysia School of Mechanical Engineering Amirkabir University of Technology Hafez street Tehran Iran

ISBN: (纸本)9783038351276

Generally in the drilling of new engineering materials such as metal matrix composites, problems frequently occur in terms of poor finished surface, tool stress, tool wear, high drilling forces as well as low process reliability. A useful and promising method to overcome these problems is the use of ultrasonic vibration as an assistance, where high-frequency and low amplitude vibration are added to the conventional movement of cutting tools or workpieces. This research presents the new design of an ultrasonic assisted system and the experimental investigation of ultrasonically assisted drilling of Al/SiC metal matrix composites under different cutting conditions. The effect of cutting conditions and ultrasonic amplitude on the circularity, cylindericity, and hole oversize of the ultrasonically and conventionally drilled workpieces were investigated. The obtained results show that the ultrasonic vibration can improve the hole quality. © (2014) Trans Tech Publications, Switzerland.

关键词： Cutting tools

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Corrigendum to a Low-Cost, Light-Weight Climbing Robot for Inspection of Glass Curtains

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International Journal of advanced Robotic Systems 2015年第3期12卷 20-20页

作者： Ran Liang Meteb Altaf Eball Ahmad Rong Liu Ke Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China National Robotics & Intelligent Systems center King AbdulAziz City for Science and Technology Saudi Arabia Riyadh Saudi Arabia Arts et Métiers ParisTech Design Manufacturing and Control Laboratory (LCFC) Paris France

Corrigendum, corrigendum

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Robot Task Commander: A Framework and IDE for Robot Application Development

Robot Task Commander: A Framework and IDE for Robot Applicat...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Stephen Hart Paul Dinh John D. Yamokoski Brian Wightman Nicolaus Radford Manufacturing Systems Research group at General Motors Warren Michigan 48090 USA Robotics & Automation group at Oceaneering Space Systems Houston TX 77058 USA Institute of Human and Machine Cognition Pensacola FL 32502 USA Robotic Systems Technology Branch NASA/Johnson Space Center Houston TX 77058 USA

ISBN: (纸本)9781479969357

This paper introduces the Robot Task Commander (RTC) framework for defining, developing, and deploying robot application software for use in different run-time contexts. RTC was created by NASA-JSC in conjunction with General Motors for use with the Robonaut-2 and Valkyrie humanoid robot platforms. RTC provides a robot programming syntax and an IDE appropriate for use by experts and non-experts for implementation and execution. An expert developer can implement a new application with a combination of scripts, called process nodes, and state machines that set the control mode of the robot. A non-expert developer can assemble process nodes and controller state machines into novel hierarchical applications using a visual programming language (VPL). This VPL also allows developers to interface with other RTC applications or with third-party software packages using a variety of network transport mechanisms (ROS, TCP, shared memory, etc.). RTC represents an advantage over other robot programming frameworks by providing multiple levels of flexibility for development. The efficacy of RTC is demonstrated through examples of sophisticated behaviors, such as programming the Valkyrie robot to grab objects and turn a valve.

关键词： Engines Syntactics Process control Libraries Visualization Robot sensing systems

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Ultrasonic-assisted cylindrical grinding of Alumina-zirconia ceramics

Ultrasonic-assisted cylindrical grinding of Alumina-zirconia...

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ASME 2013 International Mechanical Engineering Congress and Exposition, IMECE 2013

作者： Tawakoli, Taghi Akbari, Javad Zahedi, A.M. Furtwangen University Schwenningen Baden-Württemberg Germany Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Azadi Ave. 14588-89694 Tehran Iran Center of Advanced Manufacturing and Material Processing Department of Engineering Design and Manufacture University of Malaya 50603 Kuala Lumpur Malaysia

ISBN: (纸本)9780791856185

Due to its vast applications and stochastic nature, grinding has been the subject of investigations and modifications for decades. Applying ultrasonic vibration in grinding has been a successful innovation introducing benefits such as reduced forces and temperature, improved surface quality, and making higher removal rates possible. In this work a set-up is developed for utilizing ultrasonic vibrations in cylindrical grinding. This is done by rotating and simultaneously vibrating the workpiece material. The set-up is used for cylindrical grinding of Alumina-zirconia ceramic as a difficult-to-grind and widely used industrial ceramic. Optimized parameters for efficient grinding and surface characteristics of the ground ceramic are investigated and the effects of ultrasonic vibration are declared. Copyright © 2013 by ASME.

关键词： Surface roughness

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Applying Ultrasonic Vibration to Decrease Drilling-Induced Delamination in GFRP Laminates

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Procedia CIRP 2013年 6卷 577-582页

作者： P. Mehbudi V. Baghlani J. Akbari A.R. Bushroa N.A. Mardi Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology AzadiAve. 14588-89694 Tehran Iran Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group Department of Engineering Design and Manufacture Faculty of Engineering University of Malaya 50603 Kuala Lumpur Malaysia

Delamination is a major problem in drilling of fiber-reinforced composite materials. Thrust force is an important factor leading to propagation of delamination during drilling process. One of effective methods to reduce machining forces is application of ultrasonic vibrations. In this study ultrasonic assisted drilling is applied to reduce thrust force in drilling of GFRP laminates. In order to conduct experiments a setup is designed and fabricated to apply both vibrations and rotation to drill bits. Using Taguchi method, a set of experiments is conducted with feed rate, spindle speed, and ultrasonic vibration amplitude as control factors. The results show that applying ultrasonic vibration reduces the thrust force and therefore the drilling induced delamination dramatically.

关键词： Ultrasonic assisted drilling GFRP laminates Drilling induced delamination Taguchi method

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Al-SiC nanocomposites produced by ball milling and spark plasma sintering

Al-SiC nanocomposites produced by ball milling and spark pla...

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2012 MRS Fall Meeting

作者： Picu, R.C. Gracio, J.J. Vincze, G.T. Mathew, N. Schubert, T. Lopez, A.B. Buchheim, C. Department of Mechanical Aerospace and Nuclear Engineering Rensselaer Polytechnic Institute Troy NY 12180 United States Center for Mechanical Technology and Automation Department of Mechanical Engineering University of Aveiro 3810-193 Portugal Fraunhofer Institute for Manufacturing Technologies and Advanced Materials IFAM Dresden Germany CICECO Department of Ceramic and Glass University of Aveiro 3810-193 Portugal

ISBN: (纸本)9781632661067

In this work Al-SiC nanocomposites were prepared by high energy ball milling followed by spark plasma sintering of the powder. For this purpose Al micro-powder was mixed with 50 nm diameter SiC nanoparticles. The final composites had grains of approximately 100 nm dimensions, with SiC particles located mostly at grain boundaries. To characterize their mechanical behavior, uniaxial compression, micro- and nano-indentation were performed. Materials with 1vol% SiC as well as nanocrystalline Al produced by the same means with the composite were processed, tested and compared. AA1050 was also considered for reference. It was concluded that the yield stress of the nanocomposite with 1 vol% SiC is 10 times larger than that of regular pure A1 (AA1050). Nanocrystalline Al without SiC and processed by the same method has a yield stress 7 times larger than AA1050. Therefore, the largest increase is due to the formation of nanograins, with the SiC particles' role being primarily that of stabilizing the grains. This was demonstrated by performing annealing experiments at 150°C and 250°C for 2h, in separate experiments. © 2013 Materials Research Society.

关键词： Silicon carbide

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An image-based three-camera real-time synchronous skylight polarization pattern measurement system

An image-based three-camera real-time synchronous skylight p...

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IEEE International Conference on robotics and Biomimetics

作者： Chen Sun Huawei Liang Tao Mei Daobin Wang Hui Zhu Department of Automation University of Science and Technology of China Hefei China Intelligent Vehicle Center Chinese Academy of Sciences Hefei China Institute of Advanced Manufacturing Technology Chinese Academy of Sciences Hefei China

ISBN: (纸本)9781479927456

As a new pattern of navigation approach with the characteristics of high robustness, autonomous characteristics and anti-interference ability, polarization navigation attracts the attention of the experts to perform further researches. A relatively stable skylight polarization pattern exists in a certain time period at a specific place, which acts as the precondition for the completion of the polarization navigation. Therefore, the measurement of skylight polarization is of great importance to the polarization navigation. Various skylight polarization pattern measurement approaches have been performed in the past. However, disadvantages exist in the current measurement instruments, including time delay and non-synchronization. In this paper, a new image-based three-camera skylight polarization pattern measurement system is presented with its real-time and synchronous advantages. The main designing idea of the system is to equip the three cameras with three linear polarizers of different polarization directions, which could perform skylight image acquisition synchronously at the same time. Experiment with this system shows that it is able to obtain the stable skylight polarization pattern with the average time for measurement cycle 1.25s, significantly improving the acquisition time. Validation of the experimental results with theoretical result is also performed, proving the authenticity of measured data.

关键词： Cameras Calibration Scattering Navigation Current measurement Atmospheric measurements Time measurement

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A robotic holder of transcranial doppler probe for CBFV auto-searching

A robotic holder of transcranial doppler probe for CBFV auto...

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International Conference on Information and automation (ICIA)

作者： Quanli Qiu Xiaoping Yang Jia Liu Pandeng Zhang Xinyu Wu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Guangdong China Key Lab of Advanced Manufacturing Technology Harbin Institute of Technology China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR China

ISBN: (纸本)9781479913329

The operational difficulty of Transcranial Doppler (TCD) limits its use in normal clinical settings. We therefore present a robotic arm consists of five degrees of freedom which are achieved by four motors and one extra flexible spring, to assure appropriate pressure on temporal window. With proper control strategies, the robotic arm can move the TCD probe to automatically search temporal window positions. In this paper, we have developed the first full-automatic ambulatory TCD system, evaluated its reliability and efficiency after many experiments. In view of the validation of the instrument in successful experiments, this probe holder is likely to have great impact on future TCD examination.

关键词： Probes DC motors Robots Equations Mathematical model Force Arteries

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Multiresolution Wavenet PID Control for Global Regulation of Robots

Multiresolution Wavenet PID Control for Global Regulation of...

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Asian Control Conference

作者： F.A. Diaz-López L.E. Ramos Velasco O.A. Dominguez Ramirez V. Parra-Vega Higher Technological Institute of Huichapan Hidalgo Mexico Polytechnic University of Pachuca Hidalgo Mexico Center on Information Technology and Systems Hidalgo State University Hidalgo Mexico Robotics and Avanced Manufacturing Division Research Center for Advanced Studies (Cinvestav) Mexico

ISBN: (纸本)9781467357661

A novel global PID control scheme for nonlinear MIMO systems is proposed and synthesized for a robot manipulator. Identification process is used for online tuning of the discrete linear PID feedback gains. Inverse dynamics identification is based on radial basis neural network with daughter RASP1 wavelets activation functions in cascaded with an infinite impulse response (IIR) filter in the output to prune irrelevant signals and nodes. The closed-loop system guarantees global regulation for a class of nonlinear dynamical systems, convenient for instance in plants whose dynamics are rather uncertain or unknown, such as in commercial robots. Real-time experimental study is carried out on a three degrees of freedom robotic haptic interface, the PHANToM Premium 1.0A. Results highlight the performance in global regulation with smooth control effort, without using the mathematical model of the robot, nor cumbersome tuning procedures typical of PID for robots.

关键词： IIR proposed synthesized

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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