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IEEE International Conference on robotics and automation (ICRA)

作者： Li Chen Yuechao Wang Shugen Ma Bin Li Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

A reconfigurable modular snake robot has been developed, which can not only move on a plane but aIso achieve some f-dimensional motions while reconfigured. Control equations of 3-dimensional locomotion were established by the composition of two bending motions in mutual orthogonal plane. Three types of lateral rolling locomotion, flapping, linear rolling and curved rolling, were achieved by controlling the amplitudes and the number of two waves in the two bending motions. Using the three types of locomotion the snake robot can realize net lateral translation, alternation of its contact base and rolling over some obstacles. The lateral rolling locomotion obtains its driving force through the interaction with the environment. The rolling shape and its direction depend on the transferring direction and phase difference of the two waves respectively.

关键词： Robots DC motors Orbital robotics robotics and automation Motion control Metalworking machines Laboratories Systems engineering and theory Equations Shape

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： W.J. Li Ning Xi Centre for Micro and Nano Systems Chinese University of Hong Kong New Territories Hong Kong China Micro/Nano Robotics and Automations Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI USA

Several novel devices under development in our laboratories to ultimately realize a micro robotic system for single cell nanoscale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500/spl mu/m embryonic cells in water with /spl sim/2 V input; 2) developed a probe-etching technique to controllably shape fiber probes into various tip geometries, i.e., fibers with initial diameter of 125 /spl mu/m were sharpened into tips with angles ranging from <2.7-9.7/spl deg/ and with nanoscale tip diameters of <1/spl mu/m; 3) developed a novel PVDF force sensing system with resolution in the sub-/spl mu/N range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Surgery Shape control Laboratories Robot sensing systems Nanoscale devices Micromechanical devices Polymers Grippers Embryo Force control

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Understanding the bacterial stringent response using reachability analysis of hybrid systems

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7th International Workshop on Hybrid Systems: Computation and Control, HSCC 2004

作者： Belta, Câlin Finin, Peter Habets, Luc C. G. J. M. Halász, Ádám M. Imieliński, Marcin Vijay Kumar, R. Rubin, Harvey Department of Mechanical Engineering Drexel University PhiladelphiaPA19101 United States General Robotics Automation Sensing and Perception Laboratory PhiladelphiaPA19101 United States Graduate Group in Computational Biology and Genomics University of Pennsylvania PhiladelphiaPA19101 United States Department of Medicine University of Pennsylvania PhiladelphiaPA19101 United States Department of Mathematics and Computer Science Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)3540212590

In this paper we model coupled genetic and metabolic networks as hybrid systems. The vector fields are multi affine, i.e., have only product type nonlinearities to accommodate chemical reactions, and are defined in rectangular invariants, whose facets correspond to changes in the behavior of a gene or enzyme. For such systems, we showed that reachability and safety verification problems can be formulated and solved (conservatively) in an elegant and computationally inexpensive way, based on the fact that multi-affine functions on rectangular regions of the space are determined at the vertices. Using these techniques, we study the stringent response system, which is the transition of bacterial organisms from growth phase to a metabolically suppressed phase when subjected to an environment with limited nutrients. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Hybrid systems

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Experimentally verified procedure for determining dynamical model of the ETM MEMS structures

Experimentally verified procedure for determining dynamical ...

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Intersociety Conference on Thermal and Thermomechanical Phenomena in Electronic Systems (ITHERM)

作者： B. Borovic F.L. Lewis M.M. Hossain D. Agonafer E.S. Kolesar Automation and Robotics Research Institute (ARRI) University of Texas Arlington Fort Worth TX USA Mechanical and AeroSpace Engineering Department University of Texas Arlington TX USA Department of Engineering Tucker Technology Center Texas Christian University Fort Worth TX USA

Electro Thermo Mechanical (ETM) actuators play important role in rapidly growing MEMS area, particularly as a part of the more complex MEMS assemblies. Compared to the other types of micro actuators, ETM actuators generate large force with the price of the high power consumption. Tradeoff between these two properties, and design requirements arise necessity for the development of its accurate dynamical mathematical model. The accurate model leads towards the optimal design and, if necessary, can be used for a subsequent design of control algorithms. In general, the mathematical model consists of the three sub-models-electrical, thermal and mechanical and is should be considered as multi-physics phenomena with thermal one playing a dominant role. The dynamics of particular sub-model is determined by combining of the theoretical and Finite Element Analysis approach, verified with the available experimental data. Simultaneous application of these three approaches requires a definition of a procedure that leads toward determination of the model. In this paper, mentioned procedure is described in details, and is subsequently illustrated on the example of two hot arm bimorph thermal actuator fabricated using Poly-Multi User MEMS Process (PolyMUMPs).

关键词： Micromechanical devices Actuators Mathematical model Algorithm design and analysis Assembly Microactuators Power generation Energy consumption Optimal control Finite element methods

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Study on a snake-like robot adapting to the ground

Study on a snake-like robot adapting to the ground

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WCICA 2004 - Fifth World Congress on Intelligent Control and automation, Conference Proceedings

作者： Li, Bin Tan, Dalong Wang, Yuechao Chen, Li Ma, Shugen Robotics Laboratory Shenyang Institute of Automation CAS 114 Nanta Street Shenyang 110016 China Department of Systems Engineering Ibaraki University 4-12-1 Nakanarusawa-Cho Hitachi 316-8511 Japan

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the Biological snakes' locomotion mode on the diverse ground, and describes the development of a snake-like robot with the adaptability for the ground. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test.

关键词： Mobile robots

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Optimizing Supervision and Control for Industrial Furnaces: Predictive Control Based Design

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IFAC Proceedings Volumes 2004年第19期37卷 17-28页

作者： Georgi M. Dimirovski A. Talha Dinibütün Miomir K. Vukobratovic J. Zhao SS Cyril and Methodius University Faculty of Electrical Engineering MK-1000 Skopje Republic of Macedonia Dogus University Computer Engineering Department Faculty of Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey Institute “Mihailo Pupin” Centre of Robotics and Flexible Automation 11000 Belgrade Serbia and Montenegro Northeastern University School of Information Science and Engineering Institute of Control Theory Shenyang Liaoning 110004 P.R. of China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons.

关键词： Complex time-delay processes generalized predictive control integrated control and supervision optimization set-point control

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Design of the Leg Mechanism of a Water Surface Runner

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Journal of robotics and Mechatronics 2004年第3期16卷 304-311页

作者： Higuchi, Masaru Tanaka, Hideo Tsutsumi, Shingo Takeda, Yukio Funabashi, Hiroaki Department of Mechanical Sciences and Engineering Tokyo Institute of Technology 2-12-1 Oh-okayama Meguro-ku Tokyo 152-8552 Japan CAD Application Department Armonicos Co. Ltd. Act Tower 21F 111-2 Itaya-machi Hamamatsu Shizuoka430-7721 Japan Development section 1 Robot Plant Robotics Automation Division Yasukawa Electric Corporation 11-1 Kosagidatyou Yahatanisi-ku Kitakyushu-city Fukuoka806-0056 Japan Shibaura Institute of Technology 3-9-14 Shibaura Minato-ku Tokyo 108-8548 Japan

We designed the leg mechanism of a water surface runner to generate motion with sufficient force to support and propel it the water with minimum power consumption. We studied force acting between the foot and water when the foot impacted on the water and strokes into the water experimentally. We propose leg motion so that the foot is not pulled downward by water based on observation of water behavior. Based on this formulation and idea, we obtained optimal foot motion through simulations and designed the leg mechanism, then designed and built a prototype water surface runner. We discuss its motion and the force acting on the foot together with experimental results. © Fuji Technology Press Ltd.

关键词： Machine design

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Ground condition sensing of a snake-like robot

Ground condition sensing of a snake-like robot

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IEEE International Conference on robotics, Intelligent Systems and Signal Processing

作者： Lu, Y Ma, SG Li, B Chen, L Robotics Laboratory Shenyang Institute of Automation CAS China Department of Systems Engineering Ibaraki University Japan

ISBN: (纸本)078037925X

Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot locomotion on different terrains simply, then point out the significance to sense the ground status that is the base of choosing different locomotion form on different ground. Last we use force sensors to distinguish the different ground status.

关键词： Robots

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Dimensional synthesis of CRR serial chains

Dimensional synthesis of CRR serial chains

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2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Perez, Alba McCarthy, J.M. Robotics and Automation Laboratory Department of Mechanical Engineering University of California Irvine CA 92612 United States

This paper presents the kinematic synthesis of a CRR serial chain. This is a four-degree-of-freedom chain constructed from a cylindric joint and two revolute joints in series. The design equations for this chain are obtained from the dual quaternion kinematics equations evaluated at a specified set of task positions. In this case, we find that the chain is completely defined by seven task positions. Furthermore, our solution of these equations has yielded 52 candidate designs, so far;there may be more. This synthesis methodology shows promise for the design of constrained serial chains.

关键词： robotics

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Kinematic synthesis of RPS serial chains

Kinematic synthesis of RPS serial chains

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2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Su, Hai-Jun McCarthy, J. Michael Robotics and Automation Laboratory Department of Mechanical Engineering University of California Irvine CA 92697 United States

This paper examine the geometric design of the five degree-of-freedom RPS serial chain. This constrained robot can be designed to reach an arbitrary set of ten spatial positions. It is often convenient to consider tasks with fewer positions, and here we study the cases of seven through ten position synthesis. A generalized eigenvalue elimination technique yields analytical solutions for cases seven and eight. While cases nine and ten are solved numerically using homotopy continuation. An numerical example is provided for an eight position task.

关键词： Mechanical engineering

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