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 opti...
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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.
Oxygen redox is considered a new paradigm for increasing the practical capacity and energy density of the layered oxide cathodes for Na-ion batteries. However, severe local structural changes and phase transitions dur...
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Oxygen redox is considered a new paradigm for increasing the practical capacity and energy density of the layered oxide cathodes for Na-ion batteries. However, severe local structural changes and phase transitions during anionic redox reactions lead to poor electrochemical performance with sluggish ***, we propose a synergy of Li-Cu cations in harnessing the full potential of oxygen redox, through Li displacement and suppressed phase transition in P3-type layered oxide cathode. P3-type Na_(0.7)[Li_(0.1)Cu_(0.2)Mn_(0.7)]O_(2) cathode delivers a large specific capacity of ~212 mA h g^(-1)at 15 mA g^(-1). The discharge capacity is maintained up to ~90% of the initial capacity after 100 cycles, with stable occurrence of the oxygen redox in the high-voltage region. Through advanced experimental analyses and first-principles calculations, it is confirmed that a stepwise redox reaction based on Cu and O ions occurs for the charge-compensation mechanism upon charging. Based on a concrete understanding of the reaction mechanism, the Li displacement by the synergy of Li-Cu cations plays a crucial role in suppressing the structural change of the P3-type layered material under the oxygen redox reaction, and it is expected to be an effective strategy for stabilizing the oxygen redox in the layered oxides of Na-ion batteries.
Dynamic simulation is an important part of the design pipeline for robot controllers, but there is often a significant performance gap between the simulation domain and the real world. This sim-to-real gap makes trans...
Dynamic simulation is an important part of the design pipeline for robot controllers, but there is often a significant performance gap between the simulation domain and the real world. This sim-to-real gap makes transferring controllers developed in one simulation environment to other simulations or to real hardware systems difficult and time-consuming. Here, we introduce an approach to reduce this gap for the MIT Humanoid by using physically-feasible system identification methods to match dynamics models across domains, combined with neural networks to model any residual dynamics, such as friction. Using data from our real hardware system as the ground truth, we develop models for transfer from two separate simulation environments to hardware, as well as transfer between the two simulations. Finally, we show experimental results using our fitted dynamic models and characterize our domain transfer success.
In this study, an inexpensive fundamental robotic end effector module was investigated in order to make it easier to conduct robotic grasping research. The three-finger under actuated robotic gripper was designed in t...
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In large-scale assembly, the perpendicularity of bolting fastens is very critical for the fatigue life and fluid dynamic configuration of the drilled surface. Because the deformation from assembly stress and workpiece...
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In large-scale assembly, the perpendicularity of bolting fastens is very critical for the fatigue life and fluid dynamic configuration of the drilled surface. Because the deformation from assembly stress and workpiece manufacturing error, the profile of the prepared drilling surface is different from the CAD model, so the on-line normal direction measurement is required instead of extracting from the CAD model. In this article, a robust normal direction measurement method in robotic drilling based on point cloud is proposed. In our method, the structure-light-based 3D sensor is used for acquiring the surface 3D point cloud and then the modified PCA is applied for calculating the drilling normal direction. The process for aligning the robotic drilling device to the measured surface is also studied. The proposed method is verified by several simulations experiments. The result show the methods are robust and effective.
To design the heavy duty industrial robot manipulator, it must be tested and evaluated for the overall structure. The test and evaluation procedure may be followed after the parts configuration determined from the kin...
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We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution, Cerberus, for legged robots that estimates position precisely on various terrains in real time using a set of standard sensors, ...
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Optical super resolution (OSR) is a technique that enhances the spatial resolution of images beyond the diffraction limit of the imaging system. OSR images can provide more details and information compared with conven...
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