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

作者： M. Rashedi H. Sadeghian A. Alasty Department of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Excellence in Design Robotics and Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

This paper presents an attempt to control the chaotic behavior of Rayleigh-Benard convection system in weakly elastic fluids. In this article, a nonlinear model is presented which fundamentally refers to a model introduced by Khayat. The nonlinear model has chaotic behavior which is controlled by using sliding mode method. In the presence of uncertainty for some parameters of the model, a controller is designed to stabilize the dynamic of the system on the desired trajectory. Different simulation results are presented to demonstrate the effectiveness of the designed controller in tracking different desired trajectories.

关键词： Sliding mode control Chaos Control systems Mechanical engineering Uncertainty Nonlinear dynamical systems Fluid dynamics Motion control Heat transfer Equations

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Performance optimization of a long rod penetrator penetrating into a semi-infinite target considering bending characteristics

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Turkish Journal of engineering and Environmental Sciences 2009年第1期33卷 9-20页

作者： Vahedi, Khodadad Zohoor, Hassan Nezamabadi, Alireza Zolfaghari, Mojtaba Department of Mechanical Engineering Imam Hossein University Tehran Iran Center of excellence in Design Robotics and Automation Sharif University of Technology Iran Department of Mechanical Engineering Islamic Azad University Tehran Sciences and Research Branch Iran

In this article a new parameter is introduced that optimizes penetration depth of a long rod penetrating into a semi-infinite target. This parameter helps to optimize penetration depth when the projectile is subjected to transverse loading. This parameter is defined using a simple assumption governing bending moment and deflection of the rod as well as the experimental observation of long rod penetrators having aspect ratios (L/D) of greater than 30. In this article the length of the rod that sustains allowable bending stress but does not fail is calculated. Using the results of the bending analysis and solution of the Alekseevskii & Tate (AT) equation, an analytical method to optimize crater depth for long rod penetrators of L/D > 30 is obtained. The result of the optimization shows a 14% increase in penetration depth. Also the results of the optimization are compared with the experimental results. © TÜBITAK.

关键词： Aspect ratio

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Theoretical description of the flexural vibration of dagger shaped atomic force microscope cantilevers

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Journal of Scanning Probe Microscopy 2009年第2期4卷 78-90页

作者： Sadeghi, Ali Zohoor, Hassan Department of Mechanical and Aerospace Engineering Science and Research Branch Islamic Azad University Tehran Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

The resonant frequency of flexural vibration for a dagger shaped atomic force microscope (AFM) cantilever has been investigated using the Timoshenko beam theory. Generally, three distinct regions are considered for dagger shaped cantilevers, one region with constant cross section and height and two double tapered regions. In this paper, the effects of the contact position, contact stiffness, the height of the tip, thickness of the beam, the height and breadth taper ratios of cantilever and the angle between the cantilever and the sample surface based on Timoshenko beam theory on the non-dimensional frequency and sensitivity to the contact stiffness have been studied. The differential quadrature method (DQM) is applied to solve the nonlinear differential equations of motion. The results show that the resonant frequency decreases when Timoshenko beam parameter or cantilever thickness increases and high order modes are more sensitive to it. Central and right (double tapered) cantilever lengths are effective on the resonant frequency and sensitivity to the contact stiffness. The first frequency is sensitive only in the lower range of contact stiffness, but the higher order modes are sensitive to the contact stiffness in a larger range. Increasing the tip height increases the sensitivity of the vibrational modes in a limited range of normal contact stiffness. We show that the sensitivity to the contact stiffness can be increased by the variations of height taper ratio and this matter has never been investigated formally. Copyright © 2009 American Scientific Publishers All rights reserved.

关键词： Natural frequencies

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Passivity-based synchronized visual feedback control for eye-to-hand systems

Passivity-based synchronized visual feedback control for eye...

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Annual Conference of Industrial Electronics Society

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

This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.

关键词： Feedback control Manipulators Control systems Cameras Robot vision systems Paper technology Motion control Error correction Intelligent robots Technological innovation

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Suck-and-blow master-slave system for micro-manipulation based on body image embedding

Suck-and-blow master-slave system for micro-manipulation bas...

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20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science

作者： Mochiyama, Hiromi Shirato, Yuki Kobayashi, Hisato Tatsuno, Junya Kawai, Hiroyuki Department of Intelligent Interaction Technologies University of Tsukuba Tennoudai 1-1-1 Tsukuba Ibaraki 305-8573 Japan University of Tsukuba Japan Faculty of Engineering and Design Hosei University Fujimi 2-17-1 Chiyoda-ku Tokyo 102-8160 Japan Department of Mechanical Engineering Kinki University 1 Takeya Umenobe Higashihiroshima City Hiroshima 739-2116 Japan Department of Robotics Kanazawa Institute of Technology 7-1 Ohgigaoka Nonoichi Ishikawa 921-8501 Japan

ISBN: (纸本)9781424450954

In this paper, we propose a novel master-slave system for micro-manipulation of the mechanical contact type. In the proposed system, suck and blow movements in the master side are scaled and transmitted to the slave side, i.e., we generate the air flow at the tip of the micro-straw in the slave side according to operator's suck and blow in the master side. The air flows by operator's suck and blow are detected by a series of two flow sensors opposite in direction each other. The output air flow at the micro-straw is controlled by switching a series of two solenoid valves whose three inputs are connected to an air compressor, a vacuum pump, and the atmosphere respectively. The switching law is calculated based on the data from the flow sensors. Moreover, by vibrating the straw at an operator's mouth according to the detected contact between the microstraw and a micro-object, we also expect immersive feel as if the operator sucks or blows the micro-object directly with the straw. The suck-and-blow master-slave system proposed here is compatible with the master-slave system based on the body image embedding the authors proposed previously. By combining the two systems, we expect to realize the rapid pick-and-place in a micro-world. We show some results on very basic experiments, i.e., measurement of air flows by operator's suck and blow, and picking a micro-particle by suction, to prove the potential of the proposed micro-manipulation system. ©2009 IEEE.

关键词： Air

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Optimal braking control for UW-Car using sliding mode

Optimal braking control for UW-Car using sliding mode

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IEEE International Conference on robotics and Biomimetics

作者： Feng Ding Jian Huang Yongji Wang Xueshan Gao Takayuki Matsuno Toshio Fukuda Kosuke Sekiyama Department of Control Science & Engineering Huazhong University of Science and Technology Wuan Hubei China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Intelligent System Design Engineering Toyama Prefectural University Imizu Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan

ISBN: (纸本)9781424447749;9781424447756

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying Lagrange's motion equation. A sliding mode control (SMC) method is proposed for the dynamic model, which is capable of both handling the mismatched perturbation and keeping the body upright. An optimal braking scheme is introduced which reduces the velocity of UW-Car to zero first and adjusts the displacement of seat to the centre position. Genetic Algorithm (GA) is adopted to search the optimal parameters for sliding mode controller. The optimal braking scheme is implemented by on-line switching three sliding mode controllers. The effectiveness of the proposed methods is finally confirmed by numerical simulation.

关键词： Optimal control Sliding mode control Vehicle dynamics Mechanical systems Mobile robots Intelligent robots Intelligent vehicles Lagrangian functions Equations Genetic algorithms

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Suck-and-blow master-slave system for micro-manipulation based on body image embedding

Suck-and-blow master-slave system for micro-manipulation bas...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Hiromi Mochiyama Yuki Shirato Hisato Kobayashi Junya Tatsuno Hiroyuki Kawai Department of Intelligent Interaction Technologies University of Tsukuba Tsukuba Ibaraki Japan University of Tsukuba Japan Faculty of Engineering and Design Hosei University Chiyoda Tokyo Japan Department of Mechanical Engineering Kinki University Higashihiroshima Japan Department of Robotics Kanazawa Institute of Technology Nonoichi Ishikawa Japan

In this paper, we propose a novel master-slave system for micro-manipulation of the mechanical contact type. In the proposed system, suck and blow movements in the master side are scaled and transmitted to the slave side, i.e., we generate the air flow at the tip of the micro-straw in the slave side according to operator's suck and blow in the master side. The air flows by operator's suck and blow are detected by a series of two flow sensors opposite in direction each other. The output air flow at the micro-straw is controlled by switching a series of two solenoid valves whose three inputs are connected to an air compressor, a vacuum pump, and the atmosphere respectively. The switching law is calculated based on the data from the flow sensors. Moreover, by vibrating the straw at an operator's mouth according to the detected contact between the micro-straw and a micro-object, we also expect immersive feel as if the operator sucks or blows the micro-object directly with the straw. The suck-and-blow master-slave system proposed here is compatible with the master-slave system based on the body image embedding the authors proposed previously. By combining the two systems, we expect to realize the rapid pick-and-place in a micro-world. We show some results on very basic experiments, i.e., measurement of air flows by operator's suck and blow, and picking a micro-particle by suction, to prove the potential of the proposed micro-manipulation system.

关键词： Master-slave Force feedback Solenoids Valves Atmosphere Mouth Microscopy Control systems Force control Technological innovation

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Macro-micro tele-manipulation system based on body image embedding with contact feel, spatial motion and stereo vision

Macro-micro tele-manipulation system based on body image emb...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Hiromi Mochiyama Takeyuki Dohda Hisato Kobayashi Junya Tatsuno Hiroyuki Kawai Department of Intelligent Interaction Technologies University of Tsukuba Tsukuba Ibaraki Japan University of Tsukuba Japan Faculty of Engineering and Design Hosei University Chiyoda Tokyo Japan Department of Mechanical Engineering Kinki University Higashihiroshima Hiroshima Japan Department of Robotics Kanazawa Institute of Technology Nonoichi Ishikawa Japan

In this paper, we propose a novel macro-micro tele-manipulation system based on body image embedding with contact feel, spatial motion and stereo vision for micro-manipulation under a microscope. The basic concept of body image embedding for macro-micro tele-manipulation has been already proposed by the authors. The system proposed here has three new realization ideas. The first idea is the realization of realistic contact feeling which is attained by driving a voice coil motor according to the binary on/off information of the switch between micro-tools. The use of a voice coil motor not only saves the cost of the system, but also generates clearer tactile and auditory stimuli than a piezo actuator for sending contact information in a micro world to an operator. The switch between micro-tools does not detect the contact between the object to be manipulated and the tool for manipulation directly, but can be useful for some tasks. The second idea is the realization of spatial motion of the manipulation tool relative to the object to be manipulated, which is realized by the appropriate coordination of the 2-degree-of-freedom motions of the slave manipulators. The third idea is the realization of stereo vision under the constraint of the position/orientation consistency of an operator's body image between proprioception and vision, which is achieved by the special placement of the dual joysticks of the dual micro-manipulators. The effectiveness of the proposed realization method is verified experimentally by micro-drawing tasks where we need appropriate hybrid position/force control of the micro-tool for manipulation in a three-dimensional space.

关键词： Stereo vision Switches Contacts Coils Micromotors Microscopy Costs Actuators Object detection Force control

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Development of an MR safe reach and grasp movement evaluation system to study brain activation patterns after stroke

Development of an MR safe reach and grasp movement evaluatio...

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

作者： Rubing Xu Michelle J. Johnson Matthew Verber Sheku Kamara Rehabilitation Robotics and Research and Design Lab Zablocki VA Medical Center Milwaukee WI USA Department of Biomedical Engineering Marquette University Milwaukee WI USA Department of Physical Medicine and Rehabilitation Medical College Milwaukee WI USA Rehabilitation Robotics Research and Design Lab Clement J. Zablocki Veterans Affairs Medical Center Milwaukee WI USA Clinical and Translational science Institute Medical College Milwaukee WI USA Rapid Prototyping Lab Milwaukee School of Engineering Milwaukee WI USA

An MR safe apparatus is important for the for monitoring of tasks in the magnetic resonance (MR) environment. This paper describes the development of an MR safe movement evaluation system to measure the hand grasp and elbow flexion/extension movements. The system will be used to monitor motor performance in the fMRI environment and assess functional and motor impairment level pre and post robot-assisted therapy.

关键词： Magnetic materials Elbow Biomedical imaging Biomedical measurements Fingers Rehabilitation robotics Educational institutions Biomedical engineering Force measurement Radio frequency

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Evaluation of the TheraDrive system for robot/computer assisted motivating rehabilitation after stroke

Evaluation of the TheraDrive system for robot/computer assis...

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

作者： Rohit Ruparel Michelle J. Johnson Elaine Strachota John McGuire Guennady Tchekanov Rehabilitation Robotics and Research and Design Lab Zablocki VA Medical Center Milwaukee WI USA Department of Biomedical Engineering Marquette University Milwaukee WI USA Department of Physical Medicine and Rehabilitation Medical College Milwaukee WI USA Rehabilitation Robotics Research and Design Lab Clement J. Zablocki Veterans Affairs Medical Center Milwaukee WI USA Department of Occupational Therapy Milwaukee Area Technical College University of Wisconsin Milwaukee USA Department of Physical Medicine and Rehabilitation Medical College USA

This paper presents experimental data evaluating the merits of using a fun and engaging therapy protocol over a less engaging one in the context of a low-cost robot/computer motivating rehabilitation system for stroke rehabilitation called TheraDrive. The preliminary results suggest that there is a small advantage of the engaging therapy over the rote therapy in reducing motor impairment, improving ADL function, and improving stability. The more engaging protocol has an advantage in maintaining engagement and interest in therapy.

关键词： Rehabilitation robotics Medical treatment Educational institutions Wheels Protocols robotics and automation Medical robotics Biomedical engineering Mobile robots USA Councils

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