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作者： Kurokawa, Fujio Sakemi, Junya Shibata, Yuichiro Soejima, Masato Yokoyama, Tomonori Sasaki, Masahiro Mimura, Yasuhiro Graduate School of Science and Technology Nagasaki University Japan Dept. of Electrical and Electronic Engineering Nagasaki University Japan Dept. of Computer and Information Sciences Nagasaki University Japan Dept. of Robotics and Mechatronics Tokyo Denki University Japan Shindengen Electric Mfg. Co. Ltd. Japan

ISBN: (纸本)9788986510119

The purpose of this paper is to estimate the performance characteristics of prototype of proposed digital peak current-injected control circuit using the FPGA IC. In the proposed novel digital control circuit, the peak current-injected control is realized using the combination of the simple dual A-D signal converter and the programmed delay circuit. The simple dual A-D signal converter consists of comparator and RC integrator. The programmed delay circuit and Pulse Width Modulation (PWM) is realized in a Field Programmable Gate Array (FPGA). From experimental and simulated results, it is confirmed that 1.2ns is not enough for the resolution of time delay because the output voltage eo and reactor current IL are unstable. So, it is necessary to improve the resolution of time delay until less than one-tenth in the general commercial FPGA.

关键词： Delay circuits

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Nanofork and line-patterned substrate for measuring single cells adhesion force inside ESEM

Nanofork and line-patterned substrate for measuring single c...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Ahmad, Mohd Ridzuan Nakajima, Masahiro Kojima, Masaru Kojima, Seiji Homma, Michio Fukuda, Toshio Dept. of Mechatronics and Robotics Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia Department of Micro-Nano Systems Engineering Nagoya University Nagoya 464-8603 Japan Department of Biological Science Graduate School of Science Nagoya University Nagoya 464-8602 Japan

ISBN: (纸本)9781424470334

In this paper, single cell adhesion force was measured using a nanofork. The nanofork was used to pick-up a single cell on a line-patterned substrate inside ESEM. The line-patterned substrate was used to provide small gaps between the single cells and the substrate. Therefore, the nanofork could be inserted through these gaps in order to successfully pick-up a single cell. Adhesion force was measured during the cell pick-up process from the deflection of the cantilever beam. The nanofork was fabricated using focused ion beam (FIB) etching process while the line-patterned substrate was fabricated using nanoimprinting technology. As to investigate the effect of contact area on the strength of the adhesion force, two sizes of gap distance of line-patterned substrate were used, i.e. 1 μm and 2 μm. Results showed that cells attached on the 1 μm gap line-patterned substrate required more force to be released as compared to the cells attached on the 2 μm gap line-patterned substrate. ©2010 IEEE.

关键词： Cells

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Nanorobot for Brain Aneurysm (vol 28, pg 558, 2009)

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2009年第7期28卷 927-927页

作者： Cavalcanti, Adriano Shirinzadah, Bijan Fukuda, Toshio Ikeda, Seiichi CAN Center for Automation in Nanobiotech Melbourne VIC 3168 Australia Monash University Department of Mechanical Engineering Robotics and Mechatronics Research Laboratory Clayton Melbourne VIC 3800 Australia Nagoya University Dept. of Micro-Nano Systems Eng. Nagoya Aichi 464-8603 Japan -u.ac.jp

In this paper we present how nanoelectronics should advancemedicine, providing details on the teleoperated techniques andequipment design methodology necessary for the effective developmentof nanorobots. The platform architecture describes how to usea nanorobot for intracranial prognosis, and shows how it shouldbe integrated for medical instrumentation. Furthermore, thecurrent study establishes proteomics, nanobioelectronics, andelectromagnetics as the basis to advance medical nanorobotics.To illustrate the proposed approach, the nanorobots must searchfor protein overexpression signals in order to recognize initialstages of aneurysm. An advanced nanomechatromics simulator,using a three-dimensional task-based environment, is implementedto provide an effective tool for device prototyping and medicalinstrumentation analysis. Thus, based on clinical data and nanobioelectronics,the proposed model offers details about how a nanorobot shouldhelp with the early detection of cerebral aneurysm.

关键词： architecture biochip medical nanorobotics nanobioelectronics nanobiosensor.

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Enhancement of infrared-based image identification system for security robots by image decomposition

Enhancement of infrared-based image identification system fo...

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International Conference on Autonomous Robots and Agents, ICARA

作者： K.H. Abas O. Ono Z. Ibrahim Dept. of Electron. & Bioinf. Meiji Univ. Kawasaki Department of Electronics and Bioinformatics Faculty of Science and Technology Meiji University Japan Department of Mechatronics and Robotics Faculty of Electrical Engineering University Technology of Malaysia Malaysia

In this paper, a new infrared-based face identification system based on an input image decomposition is presented. The proposed image decomposition is a novel approach to transform an infrared image into a multilayer infrared image based on energy levels. Image decomposition is done by firstly applying false-color palette to the input image which will then be decomposed according to each of the false-color layer. The proposed approach is able to identify correct images from manifold poses by using frontal view of the infrared images and its decomposition layers as training images. In this work, the proposed method was verified through the implementation on a face recognition system, which was based on wavelet and neural network classification. The application of this finding is substantial, for security and rescue robots, for example, where a single image is acquired and should be critically identified.

关键词： Security Robots Image decomposition Face recognition Lighting Infrared imaging Biometrics Image generation Bioinformatics Nonhomogeneous media

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Study of skating robot

Study of skating robot

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2008

作者： Shibata, Takahiro Sato, Kazuo Takeshita, Toshikazu Iwase, Masami Hatakeyama, Shoshiro Dept. of Computers and System Engineering Tokyo Denki University Saitama Japan Dept. of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

ISBN: (纸本)9781424424955

Walk movement of a humanoid robot is necessary on undulation surface. However, efficiency is not so good because much energy losses occur by friction at the time of reaching the ground. Therefore, think about slide movement to assume the foot is a blade. This case, it is necessary to control balance because there are few ground contact areas. In this paper, propose of the skating robot mechanism and examine optimal control to an easy model. Also, the dynamic equation of the skating robot is derived using the Projection Method. © 2008 IEEE.

关键词： Anthropomorphic robots

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Development of predictive hybrid redundancy for fault tolerant in safety critical systems

Development of predictive hybrid redundancy for fault tolera...

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4th IEEE International Conference on mechatronics, ICM 2007

作者： Son, Byong Jum Park, Ji Hoon Kyung, Nam Ha Lee, Suk Kyung, Chang Lee Kim, Man Ho School of Mechanical Engineering Pusan National University 609-735 Busan Korea Republic of Dept. of Control and Automation Engineering Pukyong National University 608-739 Busan Korea Republic of Dept. of Mechatronics Intelligent Vehicle Research Team DGIST 704-230 Daegu Korea Republic of

ISBN: (纸本)142441184X

As many systems depend on electronics, concern for fault tolerance is growing rapidly. For example, a car with its steering controlled by electronics and no mechanical linkage from steering wheel to front tires (steer-by-wire) should be fault tolerant because a failure can come without any warning and its effect is devastating. In order to make system fault tolerant, there has been a body of research mainly from aerospace field. This paper presents the structure of predictive hybrid redundancy that can filter out most erroneous values. In addition, several numerical simulation results are given where the predictive hybrid redundancy outperforms well-known average and median voters. ©2007 IEEE.

关键词： Fault tolerance

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A full order sliding mode tracking controller for direct drive robot manipulators

A full order sliding mode tracking controller for direct dri...

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2004 5th Asian Control Conference

作者： Ahmad, M.N. Osman, Johari H.S. Dept. of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia

ISBN: (纸本)0780388739

This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.

关键词： Sliding mode control

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Quantitative comparison of bilateral teleoperation systems using H∞ framework

Quantitative comparison of bilateral teleoperation systems u...

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kim, Keehoon Cavusoglu, M. Cenk Chung, Wan Kyun Robotics and Bio-Mechatronics Lab. Pohang Univ. of Sci. and Technology Pohang Korea Republic of Dept. of Electrical Engineering Case Western Reserve Univ. Cleveland OH United States

ISBN: (纸本)0780384636

Since teleoperation systems are mostly executed in the extreme environment, there are constraints in designing the mechanism and choosing sensors. This paper presents a novel quantitative comparison method of teleoperators based on H∞, framework. The upper H∞ norm bound of the system including H∞ sub optimal controller is used as the performance index. As a case study, the method is applied to a real teleoperation system to study the effects of sensory configuration and back-drivability of the mechanism on the performance of the system in tasks which involve different environment impedances. It can be important criteria to design a teleoperator from the control point of view.

关键词： Telecommunication systems

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Design and realtime implementation of an adaptive variation absorber for uncertain mechanical systems subjected to unknown disturbances

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JVC/Journal of Vibration and Control 2004年第1期10卷 55-84页

作者： Derkhorenian, R. Jalili, N. Dawson, D.M. Department of Mechanical Engineering Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634-0921 United States Dept. of Electrical and Comp. Eng. Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634-0915 United States

In this paper we describe the design and implementation of a nonlinear adaptive disturbance rejection approach for single-input-single-output linear-time-invariant uncertain systems subject to sinusoidal disturbances with unknown amplitude and frequency. This is an extension of our earlier study to a more complicated plant, a two-degrees-of-freedom (2DOF) system representing a vibration absorber setting. The controller design is based on a single Lyapunov function incorporating both the error states and the update laws and, hence, global stability and improved transient performance are readily achieved. Utilizing only the system output, a virtual control input is used in place of non-measurable and unknown signals. The performance of the adaptation algorithm is demonstrated through real-time simulations, both for regulation and tracking, on a 2DOF system representing an active vibration absorber setup. It is shown that when the primary system is subjected to an unknown sinusoidal disturbance, the proposed controller in the absorber subsection completely suppresses the primary system vibration in the presence of unknown disturbance.

关键词： Vibration control

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AUV dynamics: Modelling and parameter estimation using analytical, semi-empirical, and CFD methods

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IFAC Proceedings Volumes 2004年第10期37卷 369-376页

作者： E.A. de Barros A. Pascoal E. de Sa Department of Mechatronics Engineering and Mechanical Systems University of São Paulo São Paulo SP. Brazil Institute for Systems and Robotics (ISR) and Dept. Electrical Engineering and Computers Instituto Superior Técnico Lisbon Portugal. National Institute of Oceanography Dona Paula Goa India

The paper addresses the problem of autonomous underwater vehicle (AUV) modeling and parameter estimation as a means to predict the expected dynamic performance of underwater vehicles and thus provide solid guidelines during their design phase. The use of analytical and semi-empirical (ASE) methods to predict the hydrodynamic derivatives of a large class of AUVs with conventional, streamlined bodies is discussed. An application is made to the estimation of the hydrodynamic derivatives of the MAYA AUV, an autonomous vehicle that is being developed under a joint Indian-Portuguese project. The estimates are used to predict the behavior of the vehicle in the vertical plane and to assess the impact of stern plane size on its expected performance.

关键词： Autonomous Underwater Vehicles AUV Modeling Parameter Estimation Computational Fluid Dynamics

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