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design and analysis of a novel two DOF thermal micromanipulator

Design and analysis of a novel two DOF thermal micromanipula...

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International Conference on Mechatronics (ICM)

作者： Hoorad Pourzand Reza Ghaemi Aria Alasty Center of Excellence in Design Robotics & Automation (CEDRA) Mechanical Engineering Department Sharif University of Technology Tehran Iran

In this paper, a novel thermal microactuator is designed which is capable of producing bi-directional lateral and rotational output and one of its applications as a two DOF micromanipulator is shown. Also, by carefully choosing the doping level, temperature distribution is determined by considering the dependency of silicon's resistivity and conductivity to temperature. Using variable separation method an equation in terms of elliptic integrals is reached and after imposing boundary conditions the exact temperature distribution is obtained numerically. Currents at each branch is updated due to the last temperature distribution and this process is repeated several times until the final thermal distribution is reached with less than 0.1 percent change in two following computed currents. Furthermore, By using equations of postbuckling behavior of a cantilever subjected to tip multiple loading, deflections of flexible joints and computed linear axial and flexural stiffness of a box spring, a numerical approach has been developed to find output displacement of the micromanipulator.

关键词： Heating Micromanipulators Voltage control Jacobian matrices Finite element methods Polymers

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[VOILES | SAILS]: A modular architecture for a fast parallel development in an international multidisciplinary project

[VOILES | SAILS]: A modular architecture for a fast parallel...

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International Conference on Advanced robotics (ICAR)

作者： David St-Onge Nicolas Reeves Clément Gosselin Robotics Laboratory of the Department of Mechanical Engineering Université Laval Quebec Canada NXI Gestatio Design Laboratory of the School of Design University of Quebec at Montreal Montreal Canada

The [VOILES | SAILS] project was born from architect and artist Nicolas Reeves' will to evoke the age-old myth of an architecture freed from the law of gravity. Many challenges had to be solved in order to achieve this result, and many skills and expertises were required to implement the different modules of the project, from mechatronics to high-level behavior programming. Standing at the crossroads between Art, Architecture and Science, this highly interdisciplinary project brings together researchers from the artistic, technological and scientific realms in an international academic collaboration. Accordingly, the structure, software, mechatronics and artistic concepts were developed in order to allow rapid implementation of new behaviors and potentials for the robots. This paper presents an overview of the development required to create this robotic platform. It is shown that the modular architecture of both the mechatronics and the software was essential for this international and multidisciplinary initiative.

关键词： Robot sensing systems Computer architecture Software Batteries Brushless motors

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Direction estimation of uncorrelated and coherent narrowband signals with uniform linear array

Direction estimation of uncorrelated and coherent narrowband...

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International Symposium on Access Spaces (ISAS)

作者： Guangmin Wang Jingmin Xin Chenyang Ge Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi''an Jiaotong University Xi'an China Department of System Design Engineering Keio University Yokohama Japan

In this paper, an effective direction-of-arrival (DOA) estimation method is proposed with a uniform linear array (ULA) when uncorrelated and coherent signals coexist. The direction-of-arrivals (DOAs) of uncorrelated signals and coherent signals are estimated in two steps. The DOAs of uncorrelated signals are estimated using conventional subspace method firstly, then the information of the uncorrelated signals can be eliminated by using matrix difference technique, and finally the coherent signals are decorrelated to be estimated. The theoretical analysis and simulation results show that the proposed method is effective.

关键词： Direction of arrival estimation Covariance matrix Estimation Arrays Smoothing methods Signal to noise ratio Gold

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Two-dimensional direction estimation of coherent signals with two parallel uniform linear arrays

Two-dimensional direction estimation of coherent signals wit...

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IEEE/SP Workshop on Statistical Signal Processing (SSP)

作者： Guangmin Wang Jingmin Xin Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi''an Jiaotong University Xi'an China Department of System Design Engineering Keio University Yokohama Japan

In this paper, the problem of estimating two-dimensional (2D) direction-of-arrivals (DOAs) of coherent signals is investigated, and a new computationally efficient subspace-based method is proposed for the multiple coherent narrowband signals impinging on a planar sensor array formed by two uniform linear arrays (ULAs), where the array geometry and shift invariance property of the ULA are exploited to decorrelate the coherency of incident signals, and the cross-correlations between two ULAs are used to mitigate the effect of additive noise in null space estimation, while the pair-matching of the estimated azimuth and elevation angles and computationally burdensome eigendecomposition are avoided. The asymptotic mean-square-error (MSE) expressions of the estimated azimuth and elevation angles are derived explicitly. The effectiveness of the proposed method and the theoretical analysis are substantiated through numerical examples.

关键词： Estimation Direction of arrival estimation Azimuth Signal to noise ratio Array signal processing Sensor arrays Antennas

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Development of a Dexterous Endoscopic Manipulator Based on Parallel Mechanism

Development of a Dexterous Endoscopic Manipulator Based on P...

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2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)

作者： Khalil Ibrahim Ahmed Ramadan Mohamed Abdellatif Ahmed Fath El-Bab Ahmed Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt

This paper describes the development of a dexterous endoscopic robot manipulator for laparoscopic *** mechanisms are used to secure *** manipulators are more reliable compared to wire driven mechanisms that is vulnerable to the wire rupture *** problem of limited bending angles could be overcome in our proposed manipulator that is designed to achieve ± 90 o bending *** proposed manipulator is designed to have four degrees of freedom to facilitate its use and learning by *** 4-DOF parallel mechanism consists of four serials chains;two serial chains consisting of 1P4R （one active prismatic joint and four passive revolute joints） and another two serials chains consisting of 1P5R （one active prismatic joint and five passive revolute joints）.Three linear motors are used for *** linear motors are installed on two serials chains and the other motor is installed on the other two serial chains in order to move together with the same motion.A rotary motor is attached to the base to give 360 o rotation of the *** kinematics of the manipulator is graphically modeled and the performance was investigated via computer *** motion capability of the mechanism was achieved by simulation and the workspace is estimated and the results are *** model was experimentally verified through a real scaled-up prototype that ensured the feasibility of our proposed design for real applications.

关键词： Parallel mechanism endoscopy manipulator minimally invasive surgery

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Friction drive microrobots: dynamic analysis and performance evaluation

Friction drive microrobots: dynamic analysis and performance...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： A. Kamali Eigoli GR. Vossoughi Mechanical engineering department Sharif University of TechnologyTehranIran Design Roboticsand AutomationSharif University of Technology11365-9567TehranIran

In this paper, we analytically investigate the dynamic modeling of a nonlinear microrobot based on the friction drive principle. The superposition of a horizontal vibration at the interface between the robot and work floor and an active variation of friction force, obtained by the vertical vibration of the base, makes the robot to move on the substrate. Periodic solutions obtained from the harmonic balance method can predict the contribution of the friction coefficient on the average velocity of the slider. Unlike traditional analytical techniques and in agreement with both numerical simulations and experiments reported in the literature, results show that the maximum average velocity occurs at a phase shift that varies with respect to systems configuration parameters. We have shown that the velocity of the device increases linearly with the relative amplitude of vibrations, whereas the step efficiency of motion, as a performance criterion, can be independently controlled by the driving frequency.

关键词： Friction Vibrations Robots Mathematical model Equations Force Harmonic analysis

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Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

Passivity-based control for 2DOF robot manipulators with ant...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Hiroyuki Kawai Toshiyuki Murao Ryuichi Sato Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.

关键词： Muscles Joints Manipulator dynamics Trajectory Simulation

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A closed-loop drop-foot correction system with gait event detection from the contralateral lower limb using fuzzy logic

A closed-loop drop-foot correction system with gait event de...

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International Workshop on Biomedical engineering

作者： Vassilis C. Moulianitis Vasileios N. Syrimpeis Nikolaos A. Aspragathos Elias C. Panagiotopoulos Department of Product and Systems Design Engineering University of the Aegean Hellas Greece Robotics Group in Mechanical & Aeronautics Engineering Department University of Patras Hellas Greece Department of Orthopedics University Hospital of Patras Hellas Greece

In the present paper a closed loop fuzzy control scheme for the correction of the drop-foot syndrome is presented. The control scheme is based on EMG signals from the contralateral, unimpaired lower limb and its efficiency is tested by the application of the controller to a simulated bipedal locomotion with one lower limb suffering from the Drop-Foot Syndrome. Two are the major characteristics of the controller: identification of the phase where the stimulation must be provided using EMG signals from the contralateral, unimpaired lower limb and correction of the excitation signal according to the phase using EMG signals from the collateral impaired lower limb.

关键词： Electromyography Fuzzy logic Muscles Foot Fuzzy sets Educational institutions

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ANFIS Based Controller for Double Inverted Pendulum System with Payload

ANFIS Based Controller for Double Inverted Pendulum System w...

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2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)

作者： Omar Mehrez Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt

The swing up and stabilization of inverted pendulum systems represents a challenge task for *** more the number of links,the more difficult is to control the ***,we propose a double inverted pendulum system with a payload of significant mass attached to the second *** mass addition is not only to increase the complexity of the control problem,but also has significant effect on the development of applications that are simply modeled with inverted pendulum systems such as humanoid robots and mobile *** ANFIS controller based on the training from an optimal LQR controller is introduced to stabilize the system around the equilibrium *** rule numbers explosion of the ANFIS controller is solved by combining the system variables into only two states;the error and error *** performance of the ANFIS controller is compared with the optimal one,which shows better performance,covering wider range,and much more robustness against disturbances.

关键词： fuzzy control double inverted pendulum with payload fuzzy rules number problem

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Adaptive control design in chaos synchronization as alternative of lyapunovs direct method

Adaptive control design in chaos synchronization as alternat...

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作者： Tar, József K. Rudas, Imre J. Bitó, János F. Pozna, Claudiu Inst. of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Bécsi út 96/B Budapest H-1034 Hungary Design and Robotics Department University Transilvania of Brasov Bd. Eroilor 29 Brasov Romania

ISBN: (纸本)9781457718069

As is well known various neuron models show interesting behavior as producing stable, non-sinusoidal limit cycles or even chaotic regimes of motion. Realization of precise tracking of a chaotic trajectory generated by a "master system" by a controlled, quite different "slave" system also having aptitude for chaotic motion is an interesting challenge. Lyapunov's 2nd or "Direct" Method is generally used in the literature for such purposes. It is well known that finding appropriate Lyapunov function is rather an "art" that needs special mathematical skills so it needs very talented designers. As an alternative of Lyapunov's Direct Method the use of "Robust Fixed Point Transformations (RFPT)" for the synchronization of the motion of different chaotic systems is studied in this paper via numerical simulations. It is shown that the RFPT-based method is very efficient. In the present paper the signal generated by a 1st order Chua-Matsumoto Circuit serves as a reference trajectory to be racked by a 2 nd order chaotic system, the Duffing Oscillator. The interesting finding is reported that while the "brute force" solution achieved by very big simple linear feedback coefficients fails after a short period the adaptive controller operating on the basis of very loose, purely kinematically designed feedback coefficient successfully stabilizes the synchronization. © 2011 Scientific Assoc Infocomm.

关键词： Chaotic systems

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