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2007 IEEE International Workshop on Robotic and Sensor Environments, ROSE 2007

作者： Ben-Tzvi, Pinhas Goldenberg, Andrew A. Zu, Jean W. Robotics and Automation Laboratory Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Rd. Toronto ON M5S 3G8 Canada Vibration and Computational Dynamics Laboratory Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Rd. Toronto ON M5S 3G8 Canada

ISBN: (纸本)1424415276

This paper presents the control paradigm and embedded sensors for a mobile robot manipulator whereby the mobile platform and manipulator arm are designed as one entity to support both locomotion and manipulation simultaneously and interchangeably in several configuration modes. Along with the description of the novel design architecture, we developed, constructed and tested a novel paradigm for on-board RF data communication among robot's joints. This paper also describes the sensor and camera layout and their implementation in the mobile robot manipulator. A modular and extensible power source system design with major key elements that allow for easy reconfiguration and expansion was also developed, implemented and tested for the hybrid mobile robot manipulator. © 2007 IEEE.

关键词： Mobile robots

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Tetrahedral meshing for a slanted semi-elliptical surface crack at a solid cylinder

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engineering Fracture Mechanics 2021年 241卷 107400-107400页

作者： Teh, S. Andriyana, A. Ramesh, S. Putra, I.S. Kadarno, P. Purbolaksono, J. Department of Mechanical Engineering Faculty of Engineering University of Malaya Kuala Lumpur50603 Malaysia Mechanical Engineering Program Area Faculty of Engineering Universiti Teknologi Brunei GadongBE1410 Brunei Department of Mechanical Engineering Faculty of Industrial Technology Universitas Pertamina Jakarta12220 Indonesia Lightweight Structures Research Group Faculty of Mechanical and Aeronautical Engineering Institut Teknologi Bandung Bandung40132 Indonesia

This technical note demonstrates the use of tetrahedral meshing for modelling a slanted semi-elliptical surface crack at a solid cylinder by finite element method (FEM). For a relatively small ratio of the crack depth over cylinder diameter, Modes I and II (in-plane) stress intensity factors (SIFs) at the corner points by FEM were observed to be in good agreements with those by the dual boundary element method (DBEM). Effect of the crack aspect ratio, crack size and loading mode on the corner point singularity was noted. The tearing loading mode was found to promote a greater corner point singularity. © 2020 Elsevier Ltd

关键词： Finite element method

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Using Economic Iterative Learning Control for Time-Optimal Control of a Redundant Manipulator

Using Economic Iterative Learning Control for Time-Optimal C...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Matthijs van de Vosse Tyler W. Toner Maxwell J. Wu Dawn M. Tilbury Kira L. Barton Mechanical Engineering Department Eindhoven University of Technology Eindhoven NL Department of Mechanical Engineering University of Michigan Ann Arbor MI USA Robotics Department University of Michigan Ann Arbor MI USA

Industrial manipulators are deployed for a range of repetitive tasks in cluttered environments in which the robot must rapidly execute safe trajectories. While nominal robot models exist, true dynamic models of deployed manipulators are typically unavailable. This paper addresses the problem of generating dynamically feasible, collision-free, time-optimal kinematic reference signals for redundant manipulators with unknown dynamics. A novel economic iterative learning control approach is developed to leverage repeated task executions to learn a time-optimal control signal for an uncertain robot model. Simulation results demonstrate the performance of the approach for a 7-DOF manipulator. An experimental analysis is performed to understand the impact of the initial reference trajectory on converged performance.

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Data exploitation using visual analytics

Data exploitation using visual analytics

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2012 10th IEEE International Conference on Intelligence and Security Informatics, ISI 2012

作者： Habibi, Mohammad S. Robotics and Computer Integrated Manufacturing Dept. of Mech. and Mfg. Engr. Tennessee State University 3500 John Merritt Blvd. Nashville TN 37209 United States Department of Mechanical and Manufacturing Engineering College of Engineering and Technology Tennessee State University TN United States

ISBN: (纸本)9781467321037

In a surveillance system the huge volume of recorded multidimensional data poses a great challenge to the user in performing meaningful analysis in efficient and coherent manner, especially in a human-vehicle or human-object interaction domain. To address this concern a semi automated data analysis concept is developed for feature extraction, object detection, trajectory determination and cluster identification. In addition this paper presents an algorithmic basis for significantly improved correlation and association of features, and events of interest in a timely and sound manner. The uncertainty associated with the operator's interpretation of data is tackled by proposing an acceptable hypothesis by the analyst based on human intelligence and experience. Experimental results and graphs are also presented in this paper. © 2012 IEEE.

关键词： Object detection

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Hierarchical structure of porosity in cortical and trabecular bones

Hierarchical structure of porosity in cortical and trabecula...

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2011 MRS Fall Meeting

作者： Novitskaya, Ekaterina Hamed, Elham Li, Jun Manilay, Zherrina Jasiuk, Iwona McKittrick, Joanna University of California San Diego Materials Science and Engineering Program 9500 Gilman Dr. San Diego CA 92093 United States University of Illinois at Urbana-Champaign Department of Mechanical Science and Engineering 1206 West Green Street Urbana IL 61801 United States University of California San Diego Department of Mechanical and Aerospace Engineering 9500 Gilman Dr. San Diego CA 92093 United States

ISBN: (纸本)9781627482318

In this paper the amount and morphology of cortical and trabecular bone porosities were estimated using optical microscopy and micro-computed tomography technique. The hierarchical structure of porosity at different structural scales spanning from a single lacuna (sub-microscale) to trabecular or cortical bone levels (mesoscale) was characterized and described. This study was conducted by using samples of untreated, deproteinized and demineralized bones, to obtain better insight into the bone structure and porosities. The motivation of this work is that the porosity in bone has a major effect on its mechanical response, yet it is often neglected in bone models. Investigations of the mechanical properties of bone and its main components (collagen and mineral phases), complemented by modeling, are of importance in orthopedics. © 2012 Materials Research Society.

关键词： Porosity

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Thermoeconomic design and optimization of frost-free refrigerators

Thermoeconomic design and optimization of frost-free refrige...

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作者： Mitishita, Rodrigo S. Barreira, Eduardo M. Negrão, Cezar O.R. Hermes, Christian J.L. Thermal Science Laboratory Postgraduate Program of Mechanical and Materials Engineering Federal University of Technology - Paraná Av. Sete de Setembro 3165 80230901 Curitiba PR Brazil Center for Applied Thermodynamics Department of Mechanical Engineering Federal University of Paraná P.O. Box 19011 81531990 Curitiba PR Brazil

An optimization methodology aiming at energy and cost savings in frost-free refrigerators is advanced. A steady-state simulation model was devised and its predictions for energy consumption were compared with experimental data obtained elsewhere, with differences not exceeding a +/- 9% error band. The model was used to find out the evaporator air flow rate, the number of evaporator and condenser fins, the compressor size and efficiency, and the insulation thicknesses of both fresh- and frozen-food compartments which yield the minimum energy consumption when the total cost is constrained. The optimization led to a refrigeration system with energy consumption 18% lower than that observed for the baseline system without any cost penalty. The system performance for four different compressors, including a high efficiency, a large capacity and a variable-speed one, was also analyzed. For the refrigerator under analysis, it was found that, to ensure an economically feasible design, the variable-speed compressor should not cost 26% more than a single-speed one with the same piston displacement. © 2012 Elsevier Ltd. All rights reserved.

关键词： Compressors

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DIFFERENCES IN THE GAIT CHARACTERISTICS OF PATIENTS WITH DIABETES AND PERIPHERAL NEUROPATHY COMPARED WITH AGE-MATCHED CONTROLS - RESPONSE

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PHYSICAL THERAPY 1994年第4期74卷 312-313页

作者： MUELLER, MJ MINOR, SD SAHRMANN, SA SCHAAF, JA STRUBE, MJ MJ Mueller PhD PT is Assistant Professor Program in Physical Therapy Washington University School of Medicine 660 S Euclid Box 8083 St Louis MO 63110 (USA). SD Minor PhD PT is Assistant Professor Program in Physical Therapy Washington University School of Medicine. SA Sahrmann PhD PT FAPTA is Associate Professor Program in Physical Therapy Washington University School of Medicine. JA Schaaf PhD is Visiting Research Associate and Lecturer Department of Mechanical and Aeronautical Engineering University of California Davis CA 95616. He was Hunter Assistant Professor of Mechanical Design Mechanical Engineering Washington University at the time of this study. MJ Strube PhD is Professor of Psychology Washington University.

Background and *** with diabetes and peripheral neuropathy have a high incidence of injuries while walking. Biomechanical analysis of their walking may lead to treatments to reduce these injuries. The purpose of this study was to compare (1) the gait characteristics, (2) the plantar-flexor peak torques, and (3) the ankle range of motion of subjects with diabetes mellitus (DM) and peripheral neuropathy with those of age-matched *** subjects, 10 with DM and a history of peripheral neuropathy (DM group) (mean age=58 years, SD=15, range=35–75) and 10 subjects without diabetes (NODM group) (mean age=57 years, SD=11, range=37–68), were *** following data were collected on all subjects: ankle joint mobility, plantar-flexor peak torque (ankle strength), kinematics of the trunk and lower extremity during normal walking, and ground reaction forces. Moments and power at the ankle, knee, and hip during walking were calculated using a two-dimensional link-segment *** DM group subjects showed less ankle mobility, ankle moment, ankle power, velocity, and stride length during walking than the NODM group subjects. A significant decrease in ankle strength and mobility appeared to be the primary factor contributing to the altered walking patterns of the DM *** and *** DM group subjects appeared to pull their legs forward using hip flexor muscles (hip strategy) rather than pushing the legs forward using plantar-flexor muscles (ankle strategy), as seen in the NODM group subjects. Implications for treatment are presented to attempt to reduce the number of injuries during walking in patients with DM and peripheral neuropathy.

关键词： Biomechanics Diabetes mellitus Gait analysis Joint mobility Kinetics Muscle performance

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Adaptive inverse microstep tracking control of a hybrid stepper motor using RBF and MLP neural networks

Adaptive inverse microstep tracking control of a hybrid step...

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IEEE International Conference on Mechatronics and Automation

作者： Y. Bastani G.R. Vossoughi Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

In this paper, a radial basis function neural network-based (RBFNN) adaptive inverse controller for real-time position tracking control of a two phase hybrid stepper motor in microstep mode is presented. To ensure system's robustness and closed loop stability and to improve the performance of the controller, the RBF based adaptive inverse control is combined with a closed loop PID controller. Experimental results are provided for various types of trajectories, comparing the performance of the proposed controller to the same neuro-controller using feed forward back-propagation neural networks (FFBP) proposed previously by the authors. The results show the superior performance of RBFNN over FFBP neural networks. Also the comparison of neuro controllers with a conventional fixed gain stand-alone PID controller show the improvement of the controller performance from 80% up to 99.7% decrease in the mean squared error (MSE) for different trajectories. Trajectories were tracked with the maximum error of 0.02 up to 0.06 degrees. Also the robustness of the method is confirmed through experimental results comparing neuro-controllers and the conventional PID controller by varying the load's inertia and disturbance torques. For this purpose two methods were examined. First using the same neuro-controllers trained by the initial training data and in the second method, neuro-controllers were adapted by new training data according to the new working conditions.

关键词： programmable control Adaptive control Micromotors Neural networks Control systems Three-term control Robust control Robust stability Training data Adaptive systems

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A development of experimental system for macro-micro teleoperation

A development of experimental system for macro-micro teleope...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： K. Kaneko H. Tokashiki K. Tanie K. Komoriya Department of Robotics Mechanical Engineering Laboratory Tsukuba Ibaraki Japan University of Tsukuba Tsukuba Ibaraki Japan

Micro components of micro machines, such as mechanisms, gears, sensors and actuators which are almost invisible, have been made by recent advance of mechanical and electronic engineering. The production of micro machines, however, requires new technologies for assembling micro parts into complete micro machines. Macro-micro teleoperation is one of the key technologies for constructing micro machines and will help human operators assemble micro parts with the skills they already have. First, we describe an experimental system for macro-micro teleoperation which we have developed. This system consists of a pair of prototype 2 DOF micro slave arms actuated by voice-coil motors to generate micro forces, and a pair of 2 DOF master arms actuated by the linear DD motors. Second, the basic characteristics of the system are introduced and the experimental results are presented.

关键词： Assembly Arm Micromotors Gears mechanical sensors Actuators Production Humans Prototypes Master-slave

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Dynamic modeling and vibration measurement of power transmission line 44

Dynamic modeling and vibration measurement of power transmis...

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44th International Congress and Exposition on Noise Control engineering, INTER-NOISE 2015

作者： Kwak, Moon K. Shin, Ji-Hwan Kim, Seung-Ki Choi, Min-Sup Koo, Jae R. Department of Mechanical Robotics and Energy Engineering Dongguk University 30 Pildong-ro 1-gil Jung-gu Seoul100-715 Korea Republic of Department of Mechanical Engineering Dongguk University 30 Pildong-ro 1-gil Jung-gu Seoul100-715 Korea Republic of Korea Electric Power Research Institute 105 Munji-Ro Yuseong-Gu Daejeon305-760 Korea Republic of

This paper is concerned with the dynamic modeling and vibration measurement of a single or bundled power transmission line. The bundled power transmission line may consists of two or more electric lines, which are connected by spacers. By assuming each electric line as a suspended uniform cable and the spacer as a spring, the dynamic model for the bundled power transmission line was derived by using the assumed mode method. The resulting equations of motion are expressed in matrix form, which are suitable for numerical simulations. The vibration measurements were carried out by using an accelerometer and image processing technique. The image processing technique was developed to measure the displacement profile of the cable and applied to the transmission line of a test site. Experimental natural frequencies obtained by using the image processing method were compared to theoretical natural frequencies. It was found that experimental natural frequencies are in good agreement with theoretical natural frequencies thus validating the theoretical model proposed in this study. It was found both theoretically and experimentally that the tension in the cable greatly affects the natural vibration characteristics. © 2015 by ASME.

关键词： Electric lines

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