检索结果-内蒙古大学图书馆

Microscale Actuation: Shape Memory Alloy (SMA)-Based Microscale Actuators with 60% Deformation Rate and 1.6 kHz Actuation Speed (Small 23/2018)

引用

Small 2018年第23期14卷

作者： Hyun-Taek Lee Min-Soo Kim Gil-Yong Lee Chung-Soo Kim Sung-Hoon Ahn Department of Mechanical and Aerospace engineering Seoul National University 1 Gwanak-ro Gwanak-gu Seoul 08826 Republic of Korea Soft Robotics Research Center Seoul National University 1 Gwanak-ro Gwanak-gu Seoul 08826 Republic of Korea Department of Mechanical engineering Kumoh National Institute of Technology 61 Daehak-ro Gumi Gyeongbuk 39177 Republic of Korea Institute of Advanced Machinery and Design Seoul National University 1 Gwanak-ro Gwanak-gu Seoul 08826 Republic of Korea Graduate School of Engineering Practice Seoul National University 1 Gwanak-ro Gwanak-gu Seoul 08826 Republic of Korea

来源：评论

学校读者我要写书评

暂无评论

Color‐Changing Soft Actuators: Biomimetic Color Changing Anisotropic Soft Actuators with Integrated Metal Nanowire Percolation Network Transparent Heaters for Soft robotics (Adv. Funct. Mater. 32/2018)

引用

Advanced Functional Materials 2018年第32期28卷

作者： Hyeonseok Kim Habeom Lee Inho Ha Jinwook Jung Phillip Won Hyunmin Cho Junyeob Yeo Sukjoon Hong Seungyong Han Jinhyeong Kwon Kyu‐Jin Cho Seung Hwan Ko Department of Mechanical Engineering Seoul National University 1 Gwanak‐ro Gwanak‐gu Seoul 08826 South Korea Department of Physics Kyungpook National University 80 Daehak‐ro Bukgu Daegu 41566 South Korea Department of Mechanical Engineering Hanyang University 55 Hanyangdaehak‐ro Sangnok‐gu Ansan Gyeonggi‐do 15588 South Korea Department of Mechanical Engineering Ajou University 206 Worldcupro Yeongtong‐gu Suwon Gyeonggi‐do 16499 South Korea Institute of Advanced Machinery and Design (SNU‐IAMD) Seoul National University Gwanak‐ro Gwanak‐gu Seoul 08826 South Korea Soft Robotics Research Center Seoul National University Gwanak‐ro Gwanak‐gu Seoul 08826 South Korea

来源：评论

学校读者我要写书评

暂无评论

Characterization of bimorph piezoelectric actuator by controlling voltage signal for robotic assembly

Characterization of bimorph piezoelectric actuator by contro...

引用

International Conference on Microelectronics, Computing and Communications (MicroCom)

作者： Bhaskar Ghosh R. K. Jain S. Majumder S. S. Roy S. Mukhopadhyay Design of Mechanical System/Micro Robotics Laboratory CSIR-Central Mechanical Engineering Research Institute (CMERI) Durgapur India Department of Mechanical Engineering National Institute of Technology (NIT) Durgapur India

ISBN: (纸本)9781467366229

Piezoelectric actuator is one of the most versatile types of smart actuators, extensively used in different industrial applications like robotics, MEMS, micro assembly, biological cell handling, self-assembly and optical component handling in photonics. By applying the potential to a piezoelectric actuator, it can produce micro level deflection with large force generation, very fast response and long-term actuation as compared to other actuators. The design and analysis of the bimorph piezoelectric cantilever using proportional-integral (PI) controller are carried out where the bimorph piezoelectric actuator is used as an active actuator for providing the dexterous behavior during robotic assembly. Characterization of bimorph piezoelectric actuator by controlling voltage signal is carried out which provides the steady state behavior and by conducting experiments it is verified that the actuator produces steady state behavior of deflection for handling the object. A prototype of micro gripper is also developed which shows the potential of handling the small light weight objects for robotic assembly.

关键词： Piezoelectric actuators Voltage control Robotic assembly Strain Stability analysis Structural beams

来源：评论

学校读者我要写书评

暂无评论

Delta DLP 3D printing with large size

Delta DLP 3D printing with large size

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Chenming Wu Ran Yi Yong-Jin Liu Ying He Charlie C.L. Wang TNList Department of Computer Science and Technology Tsinghua University Beijing China School of Computer Engineering Nanyang Technological University Singapore Department of Design Engineering and TU Delft Robotics Institute Delft University of Technology Netherlands

ISBN: (纸本)9781509037636

We present a delta DLP 3D printer with large size in this paper. Compared with traditional DLP 3D printers that use a low-cost off-the-shelf consumer projector and a single vertical carriage, the platform of our delta DLP 3D printer can also move horizontally in the plane. We show that this structure allows the printer to have a larger printing area than the projection area of a projector. Our system can print 3D models much larger than traditional DLP 3D printers. The major challenge to realize delta 3D printing with large size comes from how to partition an arbitrary planar polygonal shape (possibly with holes or multiple disjoint polygons) into a minimum number of rectangles with fixed size, which is NP-hard. We propose a simple yet efficient approximation algorithm to solve this problem. The time complexity of our algorithm is O(n3 log n), where n is the number of edges in the polygonal shape. A physical prototype system is built and several large 3D models with complex geometric structures have been printed as examples to demonstrate the effectiveness of our approach.

关键词： Printers Solid modeling Shape Approximation algorithms Liquids

来源：评论

学校读者我要写书评

暂无评论

Modeling and real-time dynamic control of cane robot for fall prevention

Modeling and real-time dynamic control of cane robot for fal...

引用

International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Mohamed A. Naeem Samy F. M. Assal A. A. Abouelsoud Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Department of Production Engineering and Mechanical Design Tanta University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt

Recently, the need for assistive devices has increased due to the rapid increase in the aging society. Elderly have weakened muscles in their lower limbs and they are susceptible to chronic injuries because of falling on the ground. They need some assistance to walk normally by themselves. The real-time fall prevention is a challenging problem due to the quite short time needed for the system to respond. So, in this paper, a 4-DOF cane robot system is proposed to assist elderly during walking and prevent them from falling. It consists of a 3-DOF Omni-direction mobile platform and one DOF stick. The 4-DOF is selected to achieve the front falling and the lateral one. First, the dynamic model of the cane robot using Lagrange method is derived. Then the kinematic model for the follow in the front by the cane robot is introduced. During normal walking, a kinematic control is introduced while a dynamic control is proposed during falling. An impedance controller whose gains tuned by Genetic algorithm (GA) with force/torque constraints is developed. Three cost functions are proposed for the GA to achieve the minimum time response required for real-time fall prevention. The results prove that the 4-DOF is enough for the front and lateral fall prevention and the dynamic response of the developed controller is suitable for real-time fall prevention.

关键词： Manganese

来源：评论

学校读者我要写书评

暂无评论

Dynamics analysis and control of all-terrains wearable vehicle

Dynamics analysis and control of all-terrains wearable vehic...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Mohamed S. Raessa Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept. Mansoura University Egypt

ISBN: (纸本)9781467380768

Transferring humans while carrying loads on all types of terrains efficiently using compact means of transportation is still a challenge. This may be due to the unstructured areas humans need to move through, or due to traffic congestions in structured roads. Some compact-size, light-weight transportation systems have been developed but they provide only a partial solution to the stated problem. This paper presents the dynamics analysis and control of a novel all-terrains wearable vehicle, a new transportation means consisting of a lower extremity exoskeleton carrying two motorized wheels and two free wheels. On flat free ground, this novel system utilizes its wheels to travel fast and when faced with crowded traffic or unstructured area, the human just switches into walking mode. CAD models of the human and the wearable vehicle are developed, and a dynamic human walker is built in MSC ADAMS and is used for proving the feasibility the proposed wearable vehicle in its two modes of operation. PD controller with gravity compensation is designed to ensure that the wearable vehicle is tracking the human motion in the walking mode, and the results obtained show the effectiveness of the controller, the vehicle dynamics are also studied, and the critical acceleration safety margins are defined.

关键词： Vehicles Legged locomotion Exoskeletons Solid modeling Wheels Acceleration Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

Optimal design of parallel manipulators based on their dynamic performance 14

Optimal design of parallel manipulators based on their dynam...

引用

14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Kilaru, Jagadeesh Karnam, Murali K. Agarwal, Saurav Bandyopadhyay, Sandipan Robotics Laboratory Department of Engineering Design Indian Institute of Technology Madras TN600036 India

ISBN: (纸本)9789860460988

This paper presents an approach for the design of parallel manipulators, from the perspective of optimal dynamic performance over a given safe working zone. It is shown that no single index is sufficient to fully quantify the dynamic performance of such a system. Two different indices are therefore developed from the study of the generic equation of motion of such systems. The resulting bi-objective optimisation problem is solved using a genetic algorithm-based numerical optimiser, namely, NSGA-II. The proposed algorithm is applied to an existing planar 3-RRR parallel manipulator, to obtain an improved design. It is found that the improved design, though obtained by optimising the intrinsic performance indices, perform better in terms of extrinsic dynamic indices, such as the required torque for tracking a set of given trajectories.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Control laws development for a free-flying unmanned robotic system to support interplanetary bodies prospecting and characterization missions

Control laws development for a free-flying unmanned robotic ...

引用

AIAA Guidance, Navigation, and Control Conference, 2016

作者： Perez, Andres E. Moncayo, Hever Prazenica, Richard J. Zacny, Kris Mueller, Robert P. Ebert, Tom Dupuis, Michael Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Aerospace Engineering Department Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Exploration Technology Group Honneybee Robotics Company CA United States Exploration Research and Technology Programs Science and Technology Projects Division NASA Kennedy Space Center FL United States Autonomous Flight Systems Lead Testing and Design Branch NASA Kennedy Space Center FL United States Robotics and Autonomous Systems Testing and Design Branch NASA Kennedy Space Center FL United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

In situ Resource Utilization (ISRU) facilitates planetary exploration by drawing needed resources, such as water, from the local environment. However, the extreme nature of these environments require the development of advanced unmanned space systems integrated with sample-capture devices to achieve the ultimate goal of prospecting these resources. This paper presents the design, development and Hardware-in-the-Loop (HIL) simulation testing of guidance and tracking control laws for an autonomous small marsupial free-flyer prospector system. The control laws are based on an extended non-linear dynamic inversion (NLDI) approach and its implementation is illustrated through HIL simulation using a mathematical model of an autonomous vehicle research platform developed by NASA Kennedy Space Center. This vehicle has been designed to support the development, testing and validation of algorithms for safe, reliable, and scalable control space missions with minimal need for human intervention in complex, unstructured environments. The main objective of the control laws is to minimize 3-axis distances with respect to a desired trajectory and maintain stability and adequate performance in the presence of uncertainties. The performance of the control laws is evaluated during autonomous flight in terms of trajectory tracking errors, real-time execution on board the flight computer, and control activity at nominal and dynamically-changing conditions. The results show that for all mission cases investigated the control laws approach has desirable capabilities and is reliable for in-flight testing operation as a next step towards the validation and verification of this configuration. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hardware-in-the-loop simulation

来源：评论

学校读者我要写书评

暂无评论

Leader-following consensus of multi-agent systems under hierarchical nearly cyclic pursuit

Leader-following consensus of multi-agent systems under hier...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Muhammad Iqbal John Leth Trung-Dung Ngo More-Than-One Robotics Laboratory University of Brunei Darussalam Brunei Darussalam Department of Electronic Systems Aalborg University School of Sustainable Design Engineering University of Prince Edward Island Canada

ISBN: (纸本)9781509020669

In this paper, we solve the leader-following consensus problem using nearly cyclic pursuit (NCP) and a two-layer hierarchical nearly cyclic pursuit (HNCP). First, we design a control strategy based on the nearly cyclic pursuit(NCP) to enable the agents to rendezvous at a point. Second, we propose a two-layer HNCP for a leader-following consensus problem to increase the convergence rate of the network. We show that the two-layer HNCP outperforms the original NCP. Simulations illustrate the key theoretical results.

关键词： Eigenvalues and eigenfunctions Multi-agent systems Convergence Kinematics Trajectory Indexes Conferences

来源：评论

学校读者我要写书评

暂无评论

Numerical study of material properties, residual stress and crack development in sintered silver nano-layers on silicon substrate

引用

Scientia Iranica 2016年第3期23卷 1037-1047页

作者： Keikhaie, M. Movahhedy, M.R. Akbari, J. Alemohammad, H. Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology P.O. Box 14588-89694 Tehran Iran Department of Mechanical and Mechatronics Engineering University of Waterloo 200 University Ave West WaterlooONN2L 3G1 Canada

In order to improve the performance of thin film devices, it is necessary to characterize their mechanical, as well as electrical, properties. In this work, a model is developed for analysis of the mechanical and electrical properties and the prediction of residual stresses in thin films of silver nanoparticles deposited on silicon substrates. The model is based on inter-particle diffusion modeling and finite element analysis. Through simulation of the sintering process, it is shown how the geometry, density, and electrical resistance of the thin film layers are changed by sintering conditions. The model is also used to approximate the values of Young's modulus and the generated residual stresses in the thin film in the absence and presence of cracks in the film. The results are validated through comparing them with available experimental data. © 2016 Sharif University of Technology. All rights reserved.

关键词： Thin films

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：