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Sensor Signal Processing for Defence, SSPD 2012

作者： Cao, Xiang Xin, Jingmin Nishio, Yoshifumi Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China Department of Electrical and Electronic Engineering University of Tokushima Tokushima 770-8506 Japan Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781849197120

In this paper, a multidimensional search procedure is presented for estimating spatial signature with uniform linear array in the presence of unknown gain and phase errors. The proposed method fully exploits multiple invariances in the interior of the sensor array and it is desirable that the quality of estimate improves as more and more array invariances are used. A Gauss-Newton iterative algorithm is applied for solving the multidimensional nonlinear problem. Simulation results indicate that a solution close to the minimum is obtained after only two or three iterations. Furthermore, the introduction of a weighting matrix, similar to weighted subspace fitting, can tone up the performance of our method.

关键词： Iterative methods

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Investigation of the Effects of Process Damping on Chatter Instability in Micro End Milling

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Procedia CIRP 2012年 1卷 156-161页

作者： S. Ahmad Tajalli Mohammad R. Movahhedy Javad Akbari Center of Excellence in Design Robotics and Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In this paper, chatter instability of micro end mill tools is studied by taking into account the process damping effect. The actual geometry of the micro tool including shank, taper part and fluted section is considered in the analysis. Timoshenko beam theory is utilized to consider the shear deformation and rotary inertia effects due to short and thick beam-type structures of each parts of the micro tool. The extended Hamilton's Principle is used to formulate a detailed dynamical model of the rotating micro end mill. The governing equations are solved by assumed mode model expansion. An exact dynamic stiffness method is developed to investigate modal characteristics of the tool including mode shapes to be utilized as base functions for the solution. In micro milling, the process damping affects the chatter especially at low spindle speeds. So, the process damping parameters are used to investigate chatter instability.

关键词： Micromachining Chatter Modeling Finite element Method

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Discovery Learning in mechanical engineering design: Case-based learning or learning by exploring?

Discovery Learning in mechanical engineering design: Case-ba...

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119th ASEE Annual Conference and Exposition

作者： Robson, Nina Dalmis, Ibrahim Savas Trenev, Vasil Engineering Technology and Industrial Distribution Department Texas A and M University United States Mechanical and Aerospace Engineering Department University of California Irvine United States Department of Mechanical Engineerind Design Manufacturing Division Namk Kemal University Turkey Department Unique Instruments Components and Structures Institute of System Engineering and Robotics Bulgarian Academy of Science Bulgaria

ISBN: (纸本)9780878232413

Relative to traditional deductive teaching, inductive methods impose more logistical problems and require much more planning. Inductive teaching and learning techniques are more likely to trigger student resistance and interpersonal conflicts. Moreover, instructional methods that call for the use of team-based learning pose additional problems, such as the needs to assess individual student performance in a team environment and to prepare students to deal with communication problems that arise in cooperative work. Discovery Learning is an extreme form of inductive teaching where students are presented with a challenge and left to work out the solution mainly on their own. The instructor may provide feedback in response to students' efforts but offers little direction. This form of inductive teaching has rarely been used in undergraduate classes. There is little empirical evidence for its effectiveness in that setting. This paper discusses two different challenges, presented in two consecutive semesters as part of the Mechanical design Applications II class at Texas A&M University, using the discovery learning approach. We compare the effectiveness of the discovery learning approach in the two undergraduate classes, based on empirical evidence and students' perceptions. In the end, the paper summarizes some of the lessons learned and plans for future activities using the discovery teaching/learning approach. © 2012 American Society for engineering Education.

关键词： Teaching

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Quality management techniques as support for designing automated domestic appliances for people with special needs

Quality management techniques as support for designing autom...

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IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Timea Györke Daniela Popescu Mihai Steopan Department of Design Engineering and Robotics Technical University of Cluj Napoca Cluj-Napoca Romania

Every product has to respond to certain needs with the relative special requests. Both needs and requirements are expressed specifically by customers or users. People with special needs represent a continuously growing part of the population of modern world. Products that satisfy the special needs and requirements of these new market niche so that they can be used by a wide range of people as possible, represent a great challenge for product designers. In the present paper authors propose a structured approach for the conception and development of such products, using instruments and techniques of quality management and engineering. A case study is made on a home appliance, precisely on an automated washing machine.

关键词： Instruments Aging Senior citizens Quality function deployment Washing machines Standards

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Conceptual design and kinematic analysis of a parallel rotational robot 1

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Herrera, Fray J. Acuña, Hernan Gonzalez Lengerke, Omar Dutra, Max Suell Research Group in Control and Mechatronics Mechatronics Engineering Program Universidad Autonoma de Bucaramanga Bucaramanga Colombia Research Group in Machine Design and Robotics Department of Mechanical Engineering COPPE UFRJ Federal University of Rio de Janeiro Rio de Janeiro Brazil

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

This paper presents the conceptual design and simulation of a rotational parallel robot. This robot is used to reproduce movement;the robot workspace, inverse kinematic study and a simulation of the system in a trajectory were analyzed. Computational tools were used to resolve equations, create a virtual design and conduct simulation in the conceptual design. The rotational parallel robot used 6 servomotors and 6 links with spherical joints that provide 360° rotational capabilities on its axis. This is a big flexibility in comparison with Stewart platform but the workspace is smaller than that of the Stewart platform. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Inverse kinematics

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Training in coordinate measurement using 3D virtual instruments

Training in coordinate measurement using 3D virtual instrume...

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作者： Neamţu, CǍlin Hurgoiu, Dan Popescu, Sorin Dragomir, Mihai Osanna, Herbert Technical University of Cluj-Napoca Department of Design Engineering and Robotics Bd. Muncii 103-105 400641 Cluj-Napoca Romania Vienna University of Technology Department for Interchangeable Manufacturing and Industrial Metrology Karlsplatz 13/3113 A-1040 Vienna Austria

Coordinate metrology is a subject that has evolved driven by two important vectors: hardware and software development. At present, most 3D measuring software offer features for offline programming of the Coordinate Measuring Machines (CMM). A few software solutions enable the simulation of both the CMM and other elements involved in the measuring process, such as the human operator or an automated system for loading and unloading the measured parts. The paper presents the features and advantages offered by Delmia V5 for simulating a complete measuring environment encompassing: the CMM, the human operator, a robot or automated system for manipulating the parts. The simulations developed represent a powerful learning tool that can complement existing models for CMM training. © 2011 Elsevier Ltd. All rights reserved.

关键词： Coordinate measuring machines

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Estimation of the number of narrowband signals in the presence of multipath propagation

Estimation of the number of narrowband signals in the presen...

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2012 IEEE 7th Sensor Array and Multichannel Signal Processing Workshop, SAM 2012

作者： Tao, Hao Xin, Jingmin Jiasong Wang Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781467310710

In this paper, we address with the problem of detection the number of narrowband signals impinging on a uniform linear array (ULA) in the presence of multipath propagation. Firstly, by forming a differencing matrix from the array covariance matrix to eliminate the effects of uncorrelated incident signals and additive noises, a combined matrix is constructed from this differencing matrix to decorrelate the coherence of signals. Since the number of coherent signals is revealed as the rank of this resultant matrix, a singular value based ratio criterion is proposed to estimate the number of coherent signals. Then, another singular value based ratio criterion is also presented to determine the number of uncorrelated signals from the array covariance matrix. The notable advantage of the proposed method is that it can detect more signals compared to some existing methods, and the number of signals resolved by our method can exceed the number of array sensors. © 2012 IEEE.

关键词： Additive noise

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Two-Dimensional Direction of Arrival Estimation Method for A Mixture of Noncoherent and Coherent Narrowband Signals

Two-Dimensional Direction of Arrival Estimation Method for A...

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IEEE Workshop on Signal Processing Advances in Wireless Communications

作者： Hao Tao Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Xi'an Jiaotong University Suzhou Academy Suzhou 215123 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781467355766

In this paper, we investigate the two-dimensional (2-D) direction-of-arrivals (DOAs) estimation of a mixture of non-coherent (including uncorrelated and correlated) and coherent narrowband signals impinging on a simple structured planar array consist of two parallel uniform linear arrays (ULAs), and a new oblique projection based method is proposed for estimating the DOAs of these mixed incident signals, where the computationally intensive eigendecomposition is avoided. In the proposed method, the 2-D DOAs of noncoherent and coherent signals are estimated separately, while the difficulties such as the separation of the noncoherent and coherent signals and the automatic pairing of the azimuth and elevation angles of same signal are overcame. Furthermore for overcoming the "saturation" problem encountered in estimation of coherent signals, an iterative alternate scheme is presented. The theoretical analysis and simulation results confirm the effectiveness of proposed method.

关键词： Direction Arrival Estimation

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Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems

Visual motion observer-based pose control via obstacle avoid...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tsuruo, Yusei Murao, Toshiyuki Kawai, Hiroyuki Fujita, Masayuki Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781467324212

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations. © 2012 IEEE.

关键词： Visual communication

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Competitive design of an anthropomorphic gripper

Competitive design of an anthropomorphic gripper

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IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Mihai Steopan Timea Györke Florin Popister Szabolcs Gal Department of Design Engineering and Robotics Technical University of Cluj Napoca Cluj-Napoca Romania Robotics Specialization Technical University of Cluj Napoca Cluj-Napoca Romania

In this paper the development of an anthropomorphic gripper is presented. Using competitive engineering tools and techniques like AHP, QFD, TRIZ and FMEA, a low cost human like gripper was developed. The gripper has 5 independently controlled fingers, presenting a high flexibility both in motion and the ability to have certain pre-programmed movements.

关键词： Thumb Grippers Quality function deployment Humans Joints Robots

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