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

作者： Yanling Tian Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical and AeroSpace Engineering Monash University Clayton VIC Australia

This paper presents the design, fabrication and experimental methodologies for a flexure based five bar mechanism, which is indispensable for the applications of micro-nano scale operations. To overcome the limited displacement of such a flexure based mechanism driven by piezoelectric actuators, lever mechanisms are used to enlarge the working range in Cartesian space. The mechanical design of the micro-manipulator is firstly described. Based on the configuration of the proposed flexure based mechanism, the kinematic model is developed. The linearised relationship between the actuation space and the Cartesian space is derived according to the kinematic analysis. Finite element analysis (FEA) is carried out to guarantee the long-term repeatability accuracy and examine the performance of the developed compliant mechanism. Experiments are implemented to cross validate the characteristics of the developed flexure-based mechanism.

关键词： Kinematics Fasteners Manipulators Mechatronics Fabrication Piezoelectric actuators Finite element methods Performance analysis Hysteresis Robotic assembly

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Get a head in virtual reality

Get a head in virtual reality

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IEE Colloquium on Control of Remotely Operated Systems: Teleassistance and Telepresence

作者： J. Pretlove R. Asbery Mechatronic Systems and Robotics Research Group Department of Mechanical Engineering University of Surrey Guildford Surrey UK

There are many essential features required of a telepresence system: it must consist of a sensor system which gathers information from the remote environment and a suitable method of displaying this information to the operator. In addition to the presentation of the visual information, the operator must also be capable of interacting with the remote system. This must be achieved in such a way that the operator does not feel visually separate or removed from the remote environment. This paper presents an overview of the design and development of an advanced, dynamic telepresence system which is the result of over six years experience building stereo vision systems.< >

关键词： Design methodology Detectors Stereo vision Virtual reality

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Correlation of multi-scale modeling and experimental results for the elastic moduli of cortical and trabecular bone

Correlation of multi-scale modeling and experimental results...

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2012 Annual Conference on Experimental and Applied Mechanics

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

ISBN: (纸本)9781461444268

Cortical and trabecular bones were modeled as nanocomposite materials with hierarchical structures spanning from collagen-mineral level to cortical and trabecular bone levels. In order to verify theoretical models, compression testing was done on cortical and trabecular bovine femur bone samples and the experimental data were compared with the theoretical results. The micro-computed tomography technique was used to characterize the porosities and structures of these bones at different length scales and to provide the inputs needed for the modeling. To obtain more insight on the structure of bone, especially on the interaction of the main constituents (collagen and mineral phases), both cortical and trabecular bone samples were deproteinized and demineralized and, afterwards, tested in compression. This information was used to fine-tune our multi-scale model representing bone as an interpenetrating composite material. Very good agreement was found between the theory and experiments for the elastic moduli of untreated, deproteinized, and demineralized cortical and trabecular bones. © The Society for Experimental Mechanics, Inc. 2013.

关键词： Elastic moduli

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A lobster-inspired hybrid actuator with rigid and soft components

arXiv

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arXiv 2020年

作者： Chen, Yaohui Le, Sing Tan, Qiao Chu Lau, Oscar Song, Chaoyang Sustainable and Intelligent Robotics Group Department of Mechanical Engineering Monash University ClaytonVIC3800 Australia

Soft actuators have drawn significant attentions from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design, fabrication, and analysis due to their inherent material softness. In this paper, a novel hybrid actuator design is presented with bio-inspirations from the lobster, or crustaceans in a broader perspective. We enclose a soft chamber with rectangular cross-section using a series of articulated rigid shells to produce bending under pneumatic input. By mimicking the shell pattern of lobsters’ abdomen, foldable rigid shells are designed to provide the soft actuator with full protection throughout the motion range. The articulation of the rigid shells predefines the actuator’s bending motions. As a result, the proposed design enables one to analyze this hybrid actuator with simplified quasi-static models and rigid-body kinematics, which are further validated by mechanical tests. This paper demonstrates that the proposed hybrid actuator design is capable of bridging the major design drawbacks of the entirely rigid and soft robots while preserving their engineering merits in performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Shells (structures)

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Microfluidic rheology to characterize viscoelastic properties of malignant and non-malignant epithelial cells 21

Microfluidic rheology to characterize viscoelastic propertie...

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21st International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2017

作者： Kim, Junghyun Sohn, Lydia L. Department of Mechanical Engineering University of California at Berkeley BerkeleyCA United States Graduate Program in Bioengineering University of California Berkeley University of California San Francisco BerkeleyCA United States

ISBN: (纸本)9780692941836

This study introduces a novel microfluidic rheology platform to quantify the viscoelastic properties of cells at the single-cell level. We measured both the storage (G') and loss (G") moduli of malignant and non-malignant epithelial cells, and simultaneously evaluate the frequency dependence of the moduli through a power-law structure damping model. With our unique platform's ability to screen large cellular populations, we have established a clear difference between the viscoelastic response of malignant and non-malignant cells. © 17CBMS-0001.

关键词： Cytology

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Bi-axial exciter of mechanical vibrations

Bi-axial exciter of mechanical vibrations

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International Carpathian Control Conference (ICCC)

作者： Janusz Pluta Pawel Orkisz Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

This article presents mechanical vibrations exciter, which is electrohydraulic device designed to extorting bi-axial vibrations. The priority task of exciter is to excite physical model with related to exploitations real conditions parameters of signals The building of working device and his important assemblies are described. The most important part of exciter is electrohydraulic control system which ensures the obtainment of required parameters of generated signal. Exciter is compound from: mechanical construction, two servomechanisms, station of hydraulic power supply, electric power supply and control system. The possibility of built device with can extorting vibrations of horizontal platform both in one, as in two axis was introduced. For end the results after two years of exploitation were showed.

关键词： Vibrations Electrohydraulics Laboratories Servomechanisms Pistons Transducers

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The application of a piezoelectric stack for control of small flow intensity hydraulic fluid

The application of a piezoelectric stack for control of smal...

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International Carpathian Control Conference (ICCC)

作者： Janusz Pluta Marek Sibielak Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow AGH University of Science and Technology Poland

This paper aims to present the throttle valve, in which a piezoelectric stack was used for adjustment of the flow section area of the throttle aperture. The valve was built based on a proprietary design, using the components of a standard manufactured overflow valve. Laboratory tests were carried out to establish the valve's characteristics, describing its usefulness for control of small flow intensity. LabView software was used for measuring the data gathered. The test results, after conversion, were developed using the Matlab/Simuling software package. This paper presents the most notable results of the tests of a valve equipped with a high-voltage piezoelectric stack. Based on the results obtained, the functional correlation between the volumetric flow rate, pressure drop in the throttling aperture and control signal input to the piezoelectric stack were determined.

关键词： Valves Apertures Laboratories Correlation Actuators Shape Temperature measurement

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Free-Space Locomotion with Thread Formation

Free-Space Locomotion with Thread Formation

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Liyu Wang Utku Culha Fumiya Iida Bio-Inspired Robotics Lab Department of Mechanical and Process Engineering ETH Zurich 8092 Zurich Switzerland

ISBN: (纸本)9781467363563

The paper presents a new concept of locomotion for wheeled or legged robots through an object-free space. The concept is inspired by the behaviour of spiders forming silk threads to move in 3D space. The approach provides the possibility of variation in thread diameter by deforming source material, therefore it is useful for a wider coverage of payload by mobile robots. As a case study, we propose a technology for descending locomotion through a free space with inverted formation of threads in variable diameters. Inverted thread formation is enabled with source material thermoplastic adhesive (TPA) through thermally-induced phase transition. To demonstrate the feasibility of the technology, we have designed and prototyped a 300-gram wheeled robot that can supply and deform TPA into a thread and descend with the thread from an existing hanging structure. Experiment results suggest repeatable inverted thread formation with a diameter range of 1.1-4.5 mm, and a locomotion speed of 0.73 cm per minute with a power consumption of 2.5 W.

关键词： Thread Formation behaviour spiders forming silk THREADS program Thread Locomotion MATERIAL SOURCE diameter range Legged robot DRIPPING wheeled Power consumption Technology Mobile robots Payload deformation

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Autonomous navigation of hexapod robots with vision-based controller adaptation

Autonomous navigation of hexapod robots with vision-based co...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Bjelonic, Marko Homberger, Timon Kottege, Navinda Borges, Paulo Chli, Margarita Beckerle, Philipp Robotic Systems Lab ETH Zürich Zürich8092 Switzerland Autonomous Systems Group CSIRO PullenvaleQLD4069 Australia Department of Mechanical and Process Engineering ETH Zurich Zurich8092 Switzerland Vision for Robotics Lab ETH Zürich Zurich8092 Switzerland Institute for Mechatronic Systems in Mechanical Engineering Technische Universitat Darmstadt Darmstadt64287 Germany

ISBN: (纸本)9781509046331

This work introduces a novel hybrid control architecture for a hexapod platform (Weaver), making it capable of autonomously navigating in uneven terrain. The main contribution stems from the use of vision-based exteroceptive terrain perception to adapt the robot's locomotion parameters. Avoiding computationally expensive path planning for the individual foot tips, the adaptation controller enables the robot to reactively adapt to the surface structure it is moving on. The virtual stiffness, which mainly characterizes the behavior of the legs' impedance controller is adapted according to visually perceived terrain properties. To further improve locomotion, the frequency and height of the robot's stride are similarly adapted. Furthermore, novel methods for terrain characterization and a keyframe based visual-inertial odometry algorithm are combined to generate a spatial map of terrain characteristics. Localization via odometry also allows for autonomous missions on variable terrain by incorporating global navigation and terrain adaptation into one control architecture. Autonomous runs on a testbed with variable terrain types illustrate that adaptive stride and impedance behavior decreases the cost of transport by 30 % compared to a non-adaptive approach and simultaneously increases body stability (up to 88 % on even terrain and by 54 % on uneven terrain). Weaver is able to freely explore outdoor environments as it is completely free of external tethers, as shown in the experiments. © 2017 IEEE.

关键词： Motion planning

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A multidisciplinary power and energy engineering program

A multidisciplinary power and energy engineering program

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119th ASEE Annual Conference and Exposition

作者： Holloway, Lawrence Cheng, Yang-Tse Colliver, Donald Cramer, Aaron Dolloff, Paul A. Gregory, Bob Groppo Jr., John George Liao, Yuan Lipka, Stephen Mark Neathery, Jim Johne, M. Parker Singh, Vijay Sottile, Joseph Taylor, Timothy R.B. Andrews, Rodney Department of Electrical and Computer Engineering Power and Energy Institute of Kentucky University of Kentucky United States Biosystems and Agricultural Engineering Department Power and Energy Institute of Kentucky University of Kentucky United States Research and Development Department East Kentucky Power Cooperative University of Kentucky United States Engineer and Program Manager University of Kentucky Center for Applied Energy United States Department of Electrical and Computer Engineering University of Kentucky Lexington KY United States Department Mechanical Engineering University of Kentucky United States Unversity of Ky Center for Applied Energy Research Department Mechanical Engineering United States Lexington KY 2000 United States Electrical and Computer Engineering University of Kentucky Lexington United States

ISBN: (纸本)9780878232413

This paper outlines a newly implemented multidisciplinary program in power and energy. The program's goal is to create more engineers with power and energy backgrounds in order to address national and industry needs. The paper also outlines several of the challenges that have been faced in implementing such a program across disciplines and departments. © 2012 American Society for engineering Education.

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