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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Pouya Asgari Payam Zarafshan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator adds new advantages to the Ballbot such as object manipulation and grasping. In this paper and to achieve more performance of a Ballbot, it is equipped with a PUMA type manipulator which gives to the proposed robot the capability of better stabilization. To this end, dynamics equations of the assumed mobile robot is presented and verified. Then, by respecting to this fact that a Ballbot is in the class of under-actuated systems, a control algorithm is proposed to attain the stable motion control of the system. Finally, a simulation routine is performed to move along the desired path/trajectory. Obtained results reveal the merits of the verified model of the new Ballbot and the considered control algorithm which will be discussed.

关键词： Manipulator dynamics

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A new approach in gait planning for humanoid robots

A new approach in gait planning for humanoid robots

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Majid Khadiv S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

Due to redundancy and natural instability of humanoid robots, their motion planning becomes a challenging task. Designing stable gaits with smooth trajectories for a humanoid robot is the main goal of this article. Taking all related parameters on robot's walking into consideration, a new gait planning approach in the task space is developed. Various aspects like upper-body motion and stability requirements have the most significant role in this new gait planning process. In order to reduce undesired fluctuations on robot center of mass a new method in trajectory planning is also suggested. To show performance of the proposed algorithm, it is compared with another reliable approach in this field, and the results will be discussed.

关键词： Trajectory Planning Joints Stability criteria Robots Foot

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Fabrication of Micro-OLEDs by Room-temperature Curing Nanocontact-print Lithography Using DLC Molds

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MRS Online Proceedings Library (OPL) 2013年第1期1511卷 mrsf12-1511-ee05-03-mrsf12-1511-ee05-03页

作者： Ippei Ishikawa Keisuke Sakurai Shuji Kiyohara Taisuke Okuno Hideto Tanoue Yoshiyuki Suda Hirofumi Takikawa Yoshio Taguchi Yoshinari Sugiyama Yukiko Omata Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Shiroya Maizuru Kyoto 625-8511 Japan Department of Electrical and Electronic Information Engineering Toyohashi University of Technology 1-1 Hibarigaoka Tenpaku Toyohashi Aichi 441-8580 Japan Application and Technical Section ELIONIX INC. 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan

The microfabrication technologiesfor organic light-emitting devices (OLEDs) are essential to the fabrication of the next generation of light-emitting devices. The micro-OLEDs fabricated by room-temperature curing nanoimprint lithography (RTC-NIL) using diamond molds have been investigated. However, light emissions from 10 μm-square-dot OLEDs fabricated by the RTC-NIL method have not been uniform. Therefore, we proposed the fabrication of micro-OLEDs by room-temperature curing nanocontact-print lithography (RTC-NCL) using the diamond-like carbon (DLC) mold. The DLC molds used in RTC-NCL were fabricated by an electron cyclotron resonance (ECR) oxygen ion shower with polysiloxane oxide mask in electron beam (EB) lithography technology. The mold patterns are square and rectangle dots which has 10 µm-width, 10 µm-width and50 µm-length, respectively. The height of the patterns is 500 nm. The DLC molds were used to form the insulating layer of polysiloxane in RTC-NCL. We carried out the RTC-NCL process using the DLC mold under the following optimum conditions: 0.1 MPa-pressure for coating DLC mold with polysiloxane film, 2.1 MPa-pressure for transferring polysiloxane from DLC mold pattern to indium tin oxide (ITO) glass substrate. We deposited N, N'-Diphenyl -N, N'-di (m-tolyl)benzidine (TPD) [40 nm-thickness] as hole transport layer / Tris(8-quinolinolato)aluminum (Alq3) [40 nm-thickness] as electron transport layer / Al [200 nm-thickness] as cathode on ITO glass substrateas anode in this order. We succeeded in formation of the insulating layer with square and rectangle dots which has 10 µm-width,10 µm-width and 50 µm-length, and operation of micro-OLEDs by RTC-NIL using DLC molds.

关键词： ion-beam processing microstructure diamond

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Norm optimal iterative learning control with auxiliary optimization: A switching approach

Norm optimal iterative learning control with auxiliary optim...

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11th IFAC International Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2013

作者： Owens, David H. Freeman, Chris T. Chu, Bing Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova Italy

ISBN: (纸本)9783902823373

The paper describes a substantial extension of Norm Optimal Iterative Learning control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously minimizing a quadratic cost function. Motivated by practical problems in automation and control, this enables point-to-point motion tasks to be performed whilst reducing effects such as payload spillage, vibration tendencies and actuator wear. Solutions combine feedforward and feedback actions, and are experimentally tested using a robotic arm. © IFAC.

关键词： Optimization

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US Students Carry out Nuclear Safety Project in a Virtual Environment

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Procedia Computer Science 2013年 22卷 1354-1360页

作者： Dana M. Barry Hideyuki Kanematsu Yoshimi Fukumura Toshiro Kobayashi Nobuyuki Ogawa Hirotomo Nagai Center for Advanced Materials Processing (CAMP) Clarkson University the USA Department of Materials Science and Engineering Suzuka National College of Technology Japan Department of Management and Information Systems Science Nagaoka University of Technology Japan Department of Electronics & Control Engineering Tsuyama National College of Technology Japan Department of Architecture Gifu National College of Technology Japan Water Cell Inc. Japan

A project about nuclear safety was carried out through e-learning. It was a problem based learning (PBL) activity that took place in Second Life (SL), an online three-dimensional community. The virtual classroom was built on an island owned by Nagaoka University of Technology, Japan. Three students from a high school near Clarkson University participated in this project. A teacher gave them a short lesson about nuclear energy safety and then proposed the problem. The students understood the contents very well and solved the problem through voice chat interactions in SL. They engaged in active discussions and displayed high interest for the safe use of nuclear energy throughout this successful project. The results clearly indicate that this type of PBL class is possible for actual e-learning about nuclear safety and for engineering education.

关键词： Problem Based Learning Nuclear Safety Second Life

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Eco Car Project for Japan Students as a Virtual PBL Class

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Procedia Computer Science 2013年 22卷 828-835页

作者： Hideyuki Kanematsu Toshiro Kobayashi Nobuyuki Ogawa Dana M. Barry Yoshimi Fukumura Hirotomo Nagai Department of Materials Science and Engineering Suzuka National College of Technology Japan Department of Electronics & Control Engineering Tsuyama National College of Technology Japan Department of Architecture Gifu National College of Technology Japan Center for Advanced Materials Processing (CAMP) Clarkson University the USA Department of Management and Information Systems Science Nagaoka University of Technology Japan Water Cell Inc. Japan

Problem Based Learning (PBL) is a powerful tool for engineering design education. On the other hand, STEM education at pre-college levels is important, particularly for engineering education, to increase and maintain a nation's industrial competitiveness. In this paper, virtual PBL in Second Life was carried out for third graders (18 year old students) in some national colleges of technology, Japan. At the beginning of the class, teachers proposed an ill-structured problem for students to solve, like one in real life. The problem was “design your own eco-cars through virtual discussion and make them by prim virtually”. Students as avatars discussed the problem in Second Life using microphones. They designed their own eco-cars using pens and tablets and made virtual cars with prims. After the project was completed, they evaluated their work by offline questionnaires and online talks in the virtual world. All of the results were examined from the viewpoints of the effectiveness for engineering design and STEM education.

关键词： Problem Based Learing STEM Education Second Life

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Computer-vision-based wheel sinkage estimation for robot navigation on lunar terrain

Computer-vision-based wheel sinkage estimation for robot nav...

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作者： Hegde, Guruprasad M. Ye, Cang Robinson, Christopher A. Stroupe, Ashley Tunstel, Edward Department of Systems Engineering University of Arkansas at Little Rock Little Rock AR 72204 United States Jaguar Land Rover Ltd. Whitley CV3 4LF United Kingdom FIS Jacksonville FL 32204 United States Advanced Robotic Control Group Mobility and Robotic Systems Section Jet Propulsion Laboratory Pasadena CA 91109 United States Space Department Johns Hopkins University Applied Physics Laboratory Laurel MD 20723 United States

This paper presents a wheel sinkage detection method that may be used in robotic lunar exploration tasks. The method extracts the boundary line between a robot wheel and lunar soil by segmenting the wheel-soil image captured from a video camera that monitors wheel-soil interaction. The detected boundary is projected onto the soil-free image of the robot wheel to determine the parameters of wheel sinkage. The segmentation method is based on a graph theory. It first clusters a wheel-soil image into homogeneous regions called superpixels and constructs a graph on the superpixels. It then partitions the graph into segments by using normalized cuts. Compared with the existing wheel sinkage detection methods, the proposed algorithm is more robust to illumination condition, shadows, and dust (covering the wheel). The method's efficacy has been validated by experiments under various conditions. © 1996-2012 IEEE.

关键词： Pixels

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Design of a BACnet-ZigBee gateway for Smart Grid in buildings

Design of a BACnet-ZigBee gateway for Smart Grid in building...

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IEEE Conference Anthology

作者： Gi Myung Kim Se Hwan Kim Seung Ho Hong Jin Lee Department of Electrical Control and Instrumentation Engineering Hanyang University Ansan Korea Head of Advanced Technology R&D Center LS Industrial Systems Co. Ltd. Anyang Korea

Smart Grid (SG) is a modernized and a future-oriented electric grid that deals with the whole energy chain from generation to consumer. Among SG applications, demand response (DR) is an important control mechanism to manage the electricity consumption of the customer in response to the supply condition. In buildings, DR is managed through communication networks installed in the buildings. These communication protocols must include DR-supporting applications. BACnet (Building automation and control network) [3] is an international standard communication protocol for building automation and control systems (BACS). BACnet uses ZigBee as a wireless communication protocol for BACS. Both BACnet and ZigBee have their own DR applications. In this study, we developed a BACnet-ZigBee gateway that maps the DR application of BACnet to that of ZigBee. The function of the BACnet-ZigBee gateway was verified through experiment.

关键词： Buildings Logic gates Zigbee Automation Wireless communication Heating Standards

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Nanofabrication of DLC-dot Arrays by Room-temperature Curing Imprint-liftoff Method

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MRS Online Proceedings Library (OPL) 2013年第1期1511卷 mrsf12-1511-ee05-02-mrsf12-1511-ee05-02页

作者： Shuji Kiyohara Shohei Matta Ippei Ishikawa Hideto Tanoue Hirofumi Takikawa Yoshio Taguchi Yoshinari Sugiyama Yukiko Omata Yuichi Kurashima Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Aza Shiroya Maizuru Kyoto 625-8511 Japan Department of Electrical and Electronic Information Engineering Toyohashi University of Technology 1-1 Hibarigaoka Tenpaku Toyohashi Aichi 441-8580 Japan Application and Technical Section ELIONIX INC. 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan Research Center for Ubiquitous MEMS and Micro Engineering AIST 1-2-1 Namiki Tsukuba Ibaraki 305-8564 Japan

As an application to the nanoemitter, we investigated the nanofabrication of diamond-like carbon (DLC)-dot arrays by room-temperature curing imprint-liftoff (RTCIL) method using aluminum mask. The DLC film which has excellent properties similar to diamond properties was used as the patterning material. A polished glass like carbon (GC) was used as a mold material. The polysiloxane in the state of sticky liquid at room temperature and stable in air exhibits a negative-exposure characteristics. Therefore, the polysiloxane was used as electron beam (EB) resist and oxide mask material in EB lithography, and also used as RTC-imprint resist material. An aluminum was used as oxide metal mask material of liftoff. We have fabricated the GC mold of dot arrays with 5 µm-square and 500 nm-height. We carried out the RTCIL process using the GC mold under the following optimum imprint conditions: 0.5 MPa-imprinting pressure and 5 min- holding time. Aluminum film on the imprinted polysiloxane was prepared by vacuum evaporation method and its thickness is 20 nm. Finally, the polysiloxane patterns were removed with acetone and aluminum mask patterns were fabricated. We found that the maximum etching selectivity of aluminum film against DLC film was as high as 35, which was obtained under an ion energy of 400 eV. Then we processed the patterned aluminum on DLC film with an ECR oxygen ion shower. We fabricated DLC-dot arrays with 5 µm-square and 400 nm-height with an aspect ratio of 0.08.

关键词： diamond ion-beam processing microstructure

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Fabrication of DLC-Based Micro-Gear Patterns by Room-Temperature Curing Nanoimprint Lithography Using Glass-Like Carbon Molds

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MRS Online Proceedings Library (OPL) 2013年第1期1511卷 mrsf12-1511-ee05-01-mrsf12-1511-ee05-01页

作者： Shuji Kiyohara Tomu Ikegaki Chigaya Ito Ippei Ishikawa Hideto Tanoue Hirofumi Takikawa Yoshio Taguchi Yoshinari Sugiyama Yukiko Omata Yuichi Kurashima Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Aza Shiroya Maizuru Kyoto 625-8511 Japan Department of Electrical and Electronic Information Engineering Toyohashi University of Technology 1-1 Hibarigaoka Tenpaku Toyohashi Aichi 441-8580 Japan Application and Technical Section ELIONIX INC. 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan Research Center for Ubiquitous MEMS and Micro Engineering AIST 1-2-1 Namiki Tsukuba Ibaraki 305-8564 Japan

The fabrication of diamond-like carbon (DLC) micro-gear by room temperature curing nanoimprint lithography (RTC-NIL) using glass-like carbon (GC) molds as applications to the DLC-based medical MEMS (Micro Electronic Mechanical systems) was investigated. The DLC film which has excellent properties similar to chemical vapor deposited (CVD) diamond films was used as the patterning material. We propose GC as mold material because GC has higher etching selectivity than a diamond film. The etching selectivity of polysiloxane film against a GC substrate is about 5 times as high as that of a diamond film. Therefore we fabricated the GC molds that have micro-gear patterns with 30 µm-tip diameter and 500 nm-tooth thickness. We carried out the RTC-NIL process using the GC micro-gear molds under the following optimum conditions. 1 min-time from spin-coating to imprint: t1, 0.5 MPa-imprinting pressure: P and 5 min-holding time: t2, and then the imprinted polysiloxane pattern on DLC film was processed with an electron cyclotron resonance (ECR) oxygen ion shower. However, we were not able to fabricate micro-gear patterns in high accuracy because of a remaining residual layer on the DLC film. Therefore we propose the removing process for the residual layer with trifluoromethane (CHF3) ion shower under the optimum conditions of 300 eV-ion energy and 4 min-etching time. As a result, we succeeded to fabricate concave DLC-based micro-gear patterns in high accuracy which has 30 µm-tip diameter and 1 µm-depth.

关键词： diamond ion-beam processing microelectro-mechanical (MEMS)

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