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Skeletal Muscle Regeneration: Functional Skeletal Muscle Regeneration with Thermally Drawn Porous Fibers and Reprogrammed Muscle Progenitors for Volumetric Muscle Injury (Adv. Mater. 14/2021)

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Advanced Materials 2021年第14期33卷

作者： Yoonhee Jin Dena Shahriari Eun Je Jeon Seongjun Park Yi Sun Choi Jonghyeok Back Hyungsuk Lee Polina Anikeeva Seung-Woo Cho Department of Biotechnology Yonsei University Seoul 03722 Republic of Korea Research Laboratory of Electronics Massachusetts Institute of Technology Cambridge MA 02139 USA McGovern Institute for Brain Research Cambridge MA 02139 USA Department of Biomaterials Science and Engineering Yonsei University Seoul 03722 Republic of Korea Department of Bio and Brain Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon 34141 Republic of Korea KAIST Institute for Health Science and Technology Daejeon 34141 Republic of Korea School of Mechanical Engineering Yonsei University Seoul 03722 Republic of Korea Department of Materials Science and Engineering Massachusetts Institute of Technology Cambridge MA 02139 USA Department of Brain and Cognitive Sciences Massachusetts Institute of Technology Cambridge MA 02139 USA Center for Nanomedicine Institute for Basic Science (IBS) Seoul 03722 Republic of Korea Graduate Program of Nano Biomedical Engineering (NanoBME) Advanced Science Institute Yonsei University Seoul 03722 Republic of Korea

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Mitigating Intentional Electromagnetic Interferences over the GSM-R System with Adaptive Filters

Mitigating Intentional Electromagnetic Interferences over th...

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International Conference on Applied Electromagnetics and Communications (ICECom)

作者： Artur N. de São José Virginie Deniau Úrsula do C. Resende Ricardo Adriano Graduate Program in Electrical Engineering Federal University of Minas Gerais French Institute of Science and Technology for Transport France Laboratory on Electronics Waves and Signal Processing for Transport French Institute of Science and Technology for Transport Development and Networks Villeneuve d’Ascq France Eletrical Engineering Department Federal Center for Technological Education of Minas Gerais Belo Horizonte Brazil Eletrical Engineering Department Federal University of Minas Gerais Belo Horizonte Brazil

ISBN: (数字)9781728155142

ISBN: (纸本)9781728155159

Intentional electromagnetic interference is a potential issue for railway networks based on ground-to-train communications. Reported mitigation techniques usually rely on electromagnetic compatibility classical procedures, which are not always the best option for such an unpredictable event. In this work, offline adaptive filtering is used to recover global system for mobile communications - railway damaged data.

关键词： Jamming Rail transportation Base stations Time-frequency analysis Downlink Noise measurement Convergence

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JASMINE image simulator for high-precision astrometry and photometry

arXiv

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arXiv 2024年

作者： Kamizuka, Takafumi Kawahara, Hajime Ohsawa, Ryou Kataza, Hirokazu Kawata, Daisuke Yamada, Yoshiyuki Hirano, Teruyuki Miyakawa, Kohei Aizawa, Masataka Omiya, Masashi Yano, Taihei Kano, Ryouhei Wada, Takehiko Löffler, Wolfgang Biermann, Michael Ramos, Pau Isobe, Naoki Usui, Fumihiko Hattori, Kohei Yoshioka, Satoshi Tatekawa, Takayuki Izumiura, Hideyuki Fukui, Akihiko Miyoshi, Makoto Tatsumi, Daisuke Gouda, Naoteru Institute of Astronomy Graduate School of Science The University of Tokyo 2-21-1 Osawa Tokyo Mitaka181-0015 Japan Institute of Space and Astronautical Science Japan Aerospace Exploration Agency 3-1-1 Yoshinodai Chuo-ku Kanagawa Sagamihara252-5210 Japan National Astronomical Observatory of Japan 2-21-1 Osawa Tokyo Mitaka181-8588 Japan Mullard Space Science Laboratory University College London Holmbury St. Mary Surrey DorkingRH5 6NT United Kingdom Department of Physics Kyoto University Kitashirakawa-oiwake-cho Sakyo-ku Kyoto606-8502 Japan Astrobiology Center 2-21-1 Osawa Tokyo Mitaka181-8588 Japan Tsung-Dao Lee Institute Shanghai Jiao Tong University Shengrong Road 520 Shanghai201210 China Astronomisches Rechen-Institut Zentrum für Astronomie Der Universität Heidelberg Mönchhofstr. 12-14 Heidelberg69120 Germany The Institute of Statistical Mathematics 10-3 Midori-cho Tokyo Tachikawa190-8562 Japan Department of Marine Electronics and Mechanical Engineering Tokyo University of Marine Science and Technology 4-5-7 Konan Minato-ku Tokyo108-8477 Japan Kochi College 200-1 Monobe Kochi Nankoku783-8508 Japan Waseda Research Institute for Science and Engineering Waseda University 1-104 Totsukamachi Shinjuku-ku Tokyo169-8050 Japan Subaru Telescope Okayama Branch National Astronomical Observatory of Japan 3037-5 Honjo Kamogata Okayama Asakuchi719-0232 Japan Astronomical Science Program The Graduate University for Advanced Studies SOKENDAI 2-21-1 Osawa Tokyo Mitaka181-8588 Japan

JASMINE is a Japanese planned space mission that aims to reveal the formation history of our Galaxy and discover habitable exoEarths. For these objectives, the JASMINE satellite performs high-precision astrometric observations of the Galactic bulge and high-precision transit monitoring of M-dwarfs in the near-infrared (1.0—1.6 µm in wavelength). For feasibility studies, we develop an image simulation software named JASMINE-imagesim, which produces realistic observation images. This software takes into account various factors such as the optical point spread function (PSF), telescope jitter caused by the satellite’s attitude control error (ACE), detector flat patterns, exposure timing differences between detector pixels, and various noise factors. As an example, we report a simulation for the feasibility study of astrometric observations using JASMINE-imagesim. The simulation confirms that the required position measurement accuracy of 4 milliarcseconds for a single exposure of 12.5-mag objects is achievable if the telescope pointing jitter uniformly dilutes the PSF across all stars in the field of view. On the other hand, the simulation also demonstrates that the combination of realistic pointing jitter and exposure timing differences in the detector can significantly degrade accuracy and prevent achieving the requirement. This means that certain countermeasures against this issue must be developed. This result implies that this kind of simulation is important for mission planning and advanced developments to realize more realistic simulations help us to identify critical issues and also devise effective solutions. © 2024, CC BY.

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Electronic Snellen Chart with Bluetooth Connection and Smartphone App

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IOP Conference Series: Materials Science and engineering 2020年第1期851卷

作者： H R Fajrin R N Adnan M Irfan I P Sari Department of Medical Electronics Technology Vocational Program Universitas Muhammadiyah Yogyakarta Bantul Yogyakarta Indonesia PKU Muhammadiyah Hospital Gamping Yogyakarta Indonesia Department of Informatics and Computer Engineering Jakarta State Polytechnic Depok Indonesia

Snellen chart is a tool to measure a person's visual acuity consisting of a series of black capitalized letters on a whiteboard arranged in rows. Snellen charts commonly used in many hospitals today are still in the form of posters, which are inefficient because to show the letters on the Snellen board, we still have to input it manually. Therefore, an electronic Snellen chart tool, which is considered to be more efficient and practical is made. The control device is an application on a cellphone connected via Bluetooth by utilizing LED as lighting while showing letters on the Snellen chart. It will facilitate ophthalmologists to perform examinations, and also show the letters by pressing a button on the cellphone so that they can install a trial lens without having to return to the Snellen board to indicate the letters. The testing method used in this study tested the Bluetooth connection and the tool's performance with seven questions on a questionnaire testing method to determine the eligibility of the instrument. The feasibility test results by using a questionnaire show that it has 82.8% feasibility percentage with 0.9 validity rate and 0.87 reliability; moreover, the results of 20 trials of Bluetooth connection testing have a 100% success rate. The questionnaire results showed that the tool is eligible and proper to use because the installation of the application is easy to do.

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The 2021 report of the Lancet Countdown on health and climate change: code red for a healthy future

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The Lancet 2021年第10311期398卷 1619-1662页

作者： Romanello, Marina McGushin, Alice Di Napoli, Claudia Drummond, Paul Hughes, Nick Jamart, Louis Kennard, Harry Lampard, Pete Solano Rodriguez, Baltazar Arnell, Nigel Ayeb-Karlsson, Sonja Belesova, Kristine Cai, Wenjia Campbell-Lendrum, Diarmid Capstick, Stuart Chambers, Jonathan Chu, Lingzhi Ciampi, Luisa Dalin, Carole Dasandi, Niheer Dasgupta, Shouro Davies, Michael Dominguez-Salas, Paula Dubrow, Robert Ebi, Kristie L Eckelman, Matthew Ekins, Paul Escobar, Luis E Georgeson, Lucien Grace, Delia Graham, Hilary Gunther, Samuel H Hartinger, Stella He, Kehan Heaviside, Clare Hess, Jeremy Hsu, Shih-Che Jankin, Slava Jimenez, Marcia P Kelman, Ilan Kiesewetter, Gregor Kinney, Patrick L Kjellstrom, Tord Kniveton, Dominic Lee, Jason K W Lemke, Bruno Liu, Yang Liu, Zhao Lott, Melissa Lowe, Rachel Martinez-Urtaza, Jaime Maslin, Mark McAllister, Lucy McMichael, Celia Mi, Zhifu Milner, James Minor, Kelton Mohajeri, Nahid Moradi-Lakeh, Maziar Morrissey, Karyn Munzert, Simon Murray, Kris A Neville, Tara Nilsson, Maria Obradovich, Nick Sewe, Maquins Odhiambo Oreszczyn, Tadj Otto, Matthias Owfi, Fereidoon Pearman, Olivia Pencheon, David Rabbaniha, Mahnaz Robinson, Elizabeth Rocklöv, Joacim Salas, Renee N Semenza, Jan C Sherman, Jodi Shi, Liuhua Springmann, Marco Tabatabaei, Meisam Taylor, Jonathon Trinanes, Joaquin Shumake-Guillemot, Joy Vu, Bryan Wagner, Fabian Wilkinson, Paul Winning, Matthew Yglesias, Marisol Zhang, Shihui Gong, Peng Montgomery, Hugh Costello, Anthony Hamilton, Ian Institute for Global Health University College London London UK United Kingdom Institute for Sustainable Resources University College London London UK United Kingdom UCL Energy Institute University College London London UK United Kingdom Institute for Environmental Design and Engineering University College London London UK United Kingdom Department of Geography University College London London UK United Kingdom The Bartlett School of Sustainable Construction University College London London UK United Kingdom Centre for Human Health and Performance University College London London UK United Kingdom School of Agriculture Policy and Development University of Reading Reading United Kingdom Department of Meteorology University of Reading Reading United Kingdom The Walker Institute University of Reading Reading United Kingdom Department of Health Sciences University of York York United Kingdom Institute for Environment and Human Security United Nations University Bonn Germany Centre on Climate Change and Planetary Health London School of Hygiene & Tropical Medicine London UK United Kingdom Centre for Mathematical Modelling of Infectious Diseases London School of Hygiene & Tropical Medicine London UK United Kingdom Department of Public Health Environments and Society London School of Hygiene & Tropical Medicine London UK United Kingdom Department of Earth System Science Tsinghua University Beijing China Department of Environment Climate Change and Health World Health Organization Geneva Switzerland Institute for Environmental Sciences World Health Organization Geneva Switzerland Centre for Climate Change and Social Transformations School of Psychology Cardiff University Cardiff United Kingdom Yale Center on Climate Change and Health Yale University New Haven CT United States School of Government University of Birmingham Birmingham United Kingdom Economic analysis of Climate Impacts and Policy Centro Euro-Mediterraneo sui Cambiamenti Climatic

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Day-To-Day Quantification of Changes in Global Lightning Activity Based on Schumann Resonances

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Journal of Geophysical Research: Atmospheres 2023年第11期128卷 e2023JD038557-e2023JD038557页

作者： T. Bozóki G. Sátori E. Williams A. Guha Y. Liu P. Steinbach A. Leal M. Herein M. Atkinson C. D. Beggan E. DiGangi A. Koloskov A. Kulak J. LaPierre D. K. Milling J. Mlynarczyk A. Neska A. Potapov T. Raita R. Rawat R. Said A. K. Sinha Y. Yampolski Institute of Earth Physics and Space Science (EPSS) Sopron Hungary Department of Optics and Quantum Electronics University of Szeged Szeged Hungary Department of Geophysics and Space Science Eötvös Loránd University Budapest Hungary Parsons Laboratory Massachusetts Institute of Technology Cambridge MA USA Department of Physics Tripura University Agartala India ELKH-ELTE Space Research Group Budapest Hungary Department of Physics and Langmuir Laboratory New Mexico Institute of Mining and Technology Socorro NM USA Graduate Program in Electrical Engineering Federal University of Pará Belem Brazil ELKH-ELTE Theoretical Physics Research Group Budapest Hungary Department of Theoretical Physics Institute of Physics and Astronomy Eötvös Loránd University Budapest Hungary HeartMath Institute Boulder Creek CA USA British Geological Survey Edinburgh UK Advanced Environmental Monitoring (AEM) Germantown MD USA Department of Physics University of New Brunswick Fredericton NB Canada State Institution National Antarctic Scientific Center of Ukraine Kyiv Ukraine Institute of Electronics AGH University of Science and Technology Krakow Poland Department of Physics University of Alberta Edmonton AB Canada Institute of Geophysics Polish Academy of Sciences Warsaw Poland Institute of Solar-Terrestrial Physics SB RAS Irkutsk Russia Sodankylä Geophysical Observatory University of Oulu Sodankylä Finland Indian Institute of Geomagnetism Navi Mumbai India Vaisala Louisville CO USA Department of Physics School of Science University of Bahrain Zallaq Bahrain Institute of Radio Astronomy National Academy of Sciences of Ukraine Kharkiv Ukraine

The importance of lightning has long been recognized from the point of view of climate-related phenomena. However, the detailed investigation of lightning on global scales is currently hindered by the incomplete and spatially uneven detection efficiency of ground-based global lightning detection networks and by the restricted spatio-temporal coverage of satellite observations. We are developing different methods for investigating global lightning activity based on Schumann resonance (SR) measurements. SRs are global electromagnetic resonances of the Earth-ionosphere cavity maintained by the vertical component of lightning. Since charge separation in thunderstorms is gravity-driven, charge is typically separated vertically in thunderclouds, so every lightning flash contributes to the measured SR field. This circumstance makes SR measurements very suitable for climate-related investigations. In this study, 19 days of global lightning activity in January 2019 are analyzed based on SR intensity records from 18 SR stations and the results are compared with independent lightning observations provided by ground-based (WWLLN, GLD360, and ENTLN) and satellite-based (GLM, LIS/OTD) global lightning detection. Daily average SR intensity records from different stations exhibit strong similarity in the investigated time interval. The inferred intensity of global lightning activity varies by a factor of 2–3 on the time scale of 3–5 days which we attribute to continental-scale temperature changes related to cold air outbreaks from polar regions. While our results demonstrate that the SR phenomenon is a powerful tool to investigate global lightning, it is also clear that currently available technology limits the detailed quantitative evaluation of lightning activity on continental scales. Daily average Schumann resonance intensity is a quasi-global invariant quantity that shows good agreement with global daily stroke rates and thunder hours Global lightning activity can vary by a fa

关键词： global lightning activity Schumann resonances extremely low frequency lightning and climate day-to-day variability

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Highly wavelength-selective asymmetric dual-core liquid photonic crystal fiber polarization splitter

Highly wavelength-selective asymmetric dual-core liquid phot...

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作者： Younis, B.M. Heikal, A.M. Hameed, Mohamed Farhat O. Obayya, S.S.A. Centre for Photonics and Smart Materials Zewail City of Science and Technology 6th of October City October Gardens Giza Egypt Electronics and Communications Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Nanotechnology Engineering Program Zewail City of Science and Technology 6th of October City October Gardens Giza Egypt Mathematics and Engineering Physics Department Faculty of Engineering Mansoura University Mansoura35516 Egypt

An asymmetric dual-core photonic crystal fiber (ADC-PCF) wavelength-selective polarization splitter is reported and analyzed. The left core of the DC-PCF is surrounded by nematic liquid crystal infiltrated holes in order to control the wavelength at which coupling occurs between the dual cores of the proposed design. Moreover, the suggested structure can be tuned to split out the x- and y-polarized modes at the two telecommunication wavelengths λ = 1.3 μm and λ =1.55 μm. The geometrical parameters of the reported splitter are studied by the full vectorial finite difference method via the Lumerical software package to achieve high wavelength selectivity with device length of 5.678 mm at λ = 1.3 μm. Further, the power coupling characteristics of the reported device are studied, which ensures that the ADC-PCF splitter has a very narrow bandwidth of approximately 3 nm around wavelengths of 1.3 μm and 1.55 μm. Therefore, the suggested design can be considered as a very good candidate to be used in the integrated photonic devices. © 2018 Optical Society of America.

关键词： Nematic liquid crystals

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A single-phase distributed generation system with load power compensation capability using linear quadratic regulator 13

A single-phase distributed generation system with load power...

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13th IEEE International Conference on Industry Applications, INDUSCON 2018

作者： Fogli, Gabriel A. De Fernandes, Marcelo C. De Faria, Jose A. T. Barbosa, Pedro G. De Almeida, Pedro M. Department of Electrical Engineering Federal University of Ouro Preto João Monlevade MG Brazil Power Electronics and Automation Group Electrical Engineering Program Federal University of Juiz de Fora MG Brazil Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY United States Flextronics Institute of Technology Sorocaba SP Brazil

ISBN: (纸本)9781538679951

This paper presents design steps of a distributed generation system with load power compensation. A single-phase full-bridge converter is used to connect the alternative source to the mains. Besides injecting active power, the distributed generation also provides load power compensation capability. In this context, a current reference strategy based on single-phase circuit theory is proposed for grid-connected multi-task converters. The main idea is to synthesize the signal reference for control loop generating orthogonal signals from grid voltage and current load. A Third Order Sinusoidal Integrator is used to extract fundamental component and generate the orthogonal waveforms of grid voltage and load current. Current controller loop for interface converter is developed based on Linear Quadratic Regulator theory. Simulation results are presented to verify the system behavior. © 2018 IEEE.

关键词： Distributed power generation

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Time-dependent modelling of short-term variability in the TeV-blazar VER J0521+211 during the major flare in 2020

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Astronomy and Astrophysics 2025年 694卷

作者： MAGIC Collaboration Abe, S. Abhir, J. Abhishek, A. Acciari, V.A. Aguasca-Cabot, A. Agudo, I. Aniello, T. Ansoldi, S. Antonelli, L.A. Arbet Engels, A. Arcaro, C. Artero, M. Asano, K. Baack, D. Babić, A. Barres De Almeida, U. Barrio, J.A. Batković, I. Bautista, A. Baxter, J. Becerra González, J. Bednarek, W. Bernardini, E. Bernete, J. Berti, A. Besenrieder, J. Bigongiari, C. Biland, A. Blanch, O. Bonnoli, G. Bošnjak, Ž. Bronzini, E. Burelli, I. Campoy-Ordaz, A. Carosi, A. Carosi, R. Carretero-Castrillo, M. Castro-Tirado, A.J. Cerasole, D. Ceribella, G. Chai, Y. Cifuentes, A. Colombo, E. Contreras, J.L. Cortina, J. Covino, S. D'Amico, G. D'Elia, V. Da Vela, P. Dazzi, F. De Angelis, A. De Lotto, B. De Menezes, R. Delfino, M. Delgado, J. Delgado Mendez, C. Di Pierro, F. Di Tria, R. Di Venere, L. Dominis Prester, D. Donini, A. Dorner, D. Doro, M. Eisenberger, L. Elsaesser, D. Escudero, J. Fariña, L. Fattorini, A. Foffano, L. Font, L. Fröse, S. Fukami, S. Fukazawa, Y. García López, R.J. Garczarczyk, M. Gasparyan, S. Gaug, M. Giesbrecht Paiva, J.G. Giglietto, N. Giordano, F. Gliwny, P. Gradetzke, T. Grau, R. Green, D. Green, J.G. Günther, P. Hadasch, D. Hahn, A. Hassan, T. Heckmann, L. Herrera Llorente, J. Hrupec, D. Imazawa, R. Ishio, K. Jiménez Martínez, I. Jormanainen, J. Kankkunen, S. Kayanoki, T. Kerszberg, D. Kluge, G.W. Kobayashi, Y. Kouch, P.M. Kubo, H. Kushida, J. Láinez, M. Lamastra, A. Leone, F. Lindfors, E. Lombardi, S. Longo, F. López-Coto, R. López-Moya, M. López-Oramas, A. Loporchio, S. Lorini, A. Lyard, E. Machado De Oliveira Fraga, B. Majumdar, P. Makariev, M. Maneva, G. Manganaro, M. ETH Zürich ZürichCH-8093 Switzerland Università di Siena and INFN Pisa SienaI-53100 Italy BarcelonaE-08193 Spain Universitat de Barcelona ICCUB IEEC-UB BarcelonaE-08028 Spain Instituto de Astrofísica de Andalucía-CSIC Glorieta de la Astronomía s/n Granada18008 Spain RomeI-00136 Italy Università di Udine and INFN Trieste UdineI-33100 Italy Max-Planck-Institut für Physik GarchingD-85748 Germany Università di Padova and INFN PadovaI-35131 Italy Technische Universität Dortmund DortmundD-44221 Germany Zagreb10000 Croatia Rio de Janeiro22290-180 URCA Brazil IPARCOS Institute EMFTEL Department Universidad Complutense de Madrid MadridE-28040 Spain Instituto de Astrofísica de Canarias Dpto. de Astrofísica Universidad de La Laguna La LagunaE-38200 Spain University of Lodz Faculty of Physics and Applied Informatics Department of Astrophysics Lodz90-236 Poland Centro de Investigaciones Energéticas Medioambientales y Tecnológicas MadridE-28040 Spain Departament de Física CERES-IEEC Universitat Autònoma de Barcelona BellaterraE-08193 Spain Università di Pisa and INFN Pisa PisaI-56126 Italy INFN MAGIC Group: INFN Sezione di Bari Dipartimento Interateneo di Fisica dell'Università e del Politecnico di Bari BariI-70125 Italy Department for Physics and Technology University of Bergen Bergen Norway INFN MAGIC Group: INFN Sezione di Torino Università degli Studi di Torino TorinoI-10125 Italy Croatian MAGIC Group: University of Rijeka Faculty of Physics Rijeka51000 Croatia Universität Würzburg WürzburgD-97074 Germany Japanese MAGIC Group: Physics Program Graduate School of Advanced Science and Engineering Hiroshima University Hiroshima739-8526 Japan ZeuthenD-15738 Germany Armenian MAGIC Group: ICRANet-Armenia Yerevan0019 Armenia Croatian MAGIC Group: Josip Juraj Strossmayer University of Osijek Department of Physics Osijek31000 Croatia Finnish MAGIC Group: Finnish Centre for Astronomy with ESO Department of Physics and Astronomy U

Self-repairing graphite protective layer has been discovered as a suitable protective layer in blast furnace (BF) hearth in recent years. In the current study, actual samples of self-repairing graphite protective layer taken from a commercial BF were analyzed in detail. The results revealed that the hot face of graphite protective layer exhibits a distinct white graphite luster, with large areas of graphite adhering to the surface. Along the direction of its formation, the sample displays a striped pattern with alternating layers. The graphite is strip-shaped, it is relatively coarse and unevenly distributed. The coarse graphite runs in the same direction, unlike graphite in molten iron which has no fixed direction in a chaotic state. The formation process of selfrepairing graphite protective layer can be concluded, graphite precipitates at the interface through heterogeneous nucleation. Crystal nuclei often preferentially adhere to the surface of these impurities to form, owing to the fact that the nucleation energy of heterogeneous nucleation is lower than that of homogeneous nucleation. Titanium is discovered during the observation of microscopic morphology of graphite protective layer, graphite protective layer is more robust due to the strengthening effect of titanium. Titanium strengthening mechanism of self-repairing graphite protective layer is summarized, the strengthening mechanism can be divided into four steps. TiC particles are dispersed around graphite, which reduces the difficulty of the orientation of flake graphite growth. The presence of TiC increases the growth rate of crystals. The four steps are cyclically performed, so the self-repairing graphite protective layer can precipitate layer by layer through titanium strengthening mechanism, which serves to protect the carbon brick in BF hearth. © EDP Sciences, 2025.

关键词： Blast furnaces

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Development of a Transformable Self-Balancing Mobile Robot

Development of a Transformable Self-Balancing Mobile Robot

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International Conference on Control, Automation and Systems

作者： Jinkwang Kim Geonhoo Kim Taewoo Han Seungwon Heo Yongjae Kim Hyun Myung Department of the Robotics Program KAIST Daejeon Korea Department of Electronics Engineering Korea University of Technology and Education(Koreatech) Cheonan Korea Department of Civil and Environmental Engineering KAIST Daejeon Korea

ISBN: (纸本)9781538670804;9788993215168

This paper reports the design, construction, and control of a mobile robot that can be transformed from the four-wheel mobile robot into two-wheel self-balancing robot and vice versa. The hardware of the robot utilizes the mechanism of the three-link manipulator. This robot is composed of three components;the body part, the middle link, and the top part. The system architecture comprises a pair of DC motor controllers to move the wheel, two servo motors to move the middle link and the top part, and an Arduino microcontroller board, etc. When the robot is transformed to the two-wheel self-balancing robot, the COM (Center of Mass) equation, and the IMU (Inertial Measurement Unit) sensor are employed for attitude determination. The method of the control is based on a proportional-integral-differential (PID) control. The results show the possibility of performing both functions of the four-wheel mobile robot and two-wheel self-balancing robot.

关键词： Three-link manipulator Two-wheel self-balancing robot Center of mass

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