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2014 International Conference on Industrial Automation, Information and Communications Technology, IAICT 2014

作者： Kang, Rongjie Guo, Yong Kaiyu, Cheng Lisha, Chen Design of Ministry of Education School of Mechanical Engineering Tianjin University Tianjin China Advanced Robotics Department Istituto Italiano di Tecnologia Genova Italy

ISBN: (纸本)9781479949090

To permit the growth of robotic systems into new applications, e.g. rehabilitation, wearable (exoskeleton) and domestic/service robots, new actuators that can safely interact with humans and environments are greatly required. This paper designs a pneumatically powered actuator that has intrinsic compliance, and is able to extend and bend. A discretization method is utilized to model the continuum shape of the actuator. The control strategy for such actuator are then presented to relate the actuator posture (including position and orientation) to its control inputs, i.e. supply pressures for the pneumatic muscles. Simulations and experiments were finally carried out to validate the model and prototype where good agreement was found between the two. © 2014 IEEE.

关键词： Muscle

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Effects of report-writing on a multi-stage-experience educational program using an autonomous mobile robot 45th

Effects of report-writing on a multi-stage-experience educat...

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Frontiers in Education (FIE) Conference

作者： Shigeto Nakamura Takayuki Tamaki Yorihiko Yano Shigeki Nishida Kenichi Iida Hiroaki Ichii Yasuhiro Hayakawa Mitsuyoshi Shimaoka Yoshihiro Oshida Etsuko Ueda Takahiro Michishita Tomohito Sasayama Hirotsugu Shimada Hiroshi Fukuyama Department of Control Engineering National Institute of Technology Nara College Nara Japan Nara College Nara Technical Support Section National Institute of Technology Japan Robotics & Design Center Osaka Institute of Technology Osaka Japan CS-Wakita Co. Ltd. Nara Japan

ISBN: (纸本)9781479984558

System design and development are fundamental capabilities for an engineer. The department of Control engineering at the National Institute of Technology, Nara College, has been offering a course called “Practical System design,” a unique opportunity for students to experience the entire process of developing an autonomous mobile robot, to fourth-year students for about 20 years. However, in recent years, robot design and construction have become a huge challenge for these students. To address this problem, we have worked on improving the engineering program. First, we have introduced a problem-based learning (PBL) education program in all experimental engineering classes in years 1-3. Also, we require students to submit a written report after each class session. This report is intended to help improve the students' schedule management, role-sharing, and work-tracking skills. These reports are reviewed by the relevant course teachers and assessed for logic and quantitative representation. In this paper, we discuss the approach to, achievements of, and future subjects to be taken up by this multi-stage-experience educational program, especially the effect of report-writing.

关键词： Mobile robots Problem-solving Schedules System analysis and design Control engineering Education

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Enhancing tilt range of electrostatic torsional micromirrors using robust adaptive critic-based neurofuzzy control

Enhancing tilt range of electrostatic torsional micromirrors...

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作者： Malmir, Hessam Salarieh, Hassan Department of Energy Engineering Sharif University of Technology Azadi Street Tehran Iran Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Azadi Street Tehran Iran

Electrostatic torsional micromirrors, as instances of Micro Electro Mechanical Systems (MEMS), have many optical network applications;such as optical wavelength-selective switches, optical cross-connects, etc. For all these applications, the micromirror needs to have minimal overshoot and settling time in order to minimize the time between two successive switching operations. Moreover, the controllability and stability of a torsional micromirror are major challenges due to high nonlinearities in its dynamic characteristics. In this paper, a robust adaptive critic-based neurofuzzy controller is proposed for electrostatic torsional micromirrors, which can improve the performance of the mirror tilting and enhance the robustness of the system to any stochastic perturbations. Furthermore, utilizing this adaptive neurofuzzy controller, which is based on a proportional and derivative (PD) critic, the micromirror "pull-in" phenomenon is crucially eliminated. Thus, the mirror tilting range is significantly expanded. Moreover, the stability of the closed-loop system is guaranteed via the Lyapunov theorem. The robust adaptive critic-based neurofuzzy controller is simulated for a 1-DOF electrostatic torsional micromirror and the results show the effectiveness of this approach for various tilt ranges and conditions. In addition, the robustness of this controller is examined in the presence of input noises and parameter uncertainties. © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Mirrors

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Investigating the effect of ultrasonic vibration on hole accuracy in drilling of metal matrix composites

Investigating the effect of ultrasonic vibration on hole acc...

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6th International Conference on Tribology in Manufacturing Processes and Joining by Plastic Deformation, ICTMP 2014

作者： Kadivar, Mohammadali Akbari, Javad Vakili Azghandi, Bijan Department of Mechanical Engineering Industries and Mines University Tehran Iran Tehran Iran Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Advanced Manufacturing and Material Processing Micro Mechanism Research Group Department of Engineering Design and Manufacture University of Malaya Malaysia School of Mechanical Engineering Amirkabir University of Technology Hafez street Tehran Iran

ISBN: (纸本)9783038351276

Generally in the drilling of new engineering materials such as metal matrix composites, problems frequently occur in terms of poor finished surface, tool stress, tool wear, high drilling forces as well as low process reliability. A useful and promising method to overcome these problems is the use of ultrasonic vibration as an assistance, where high-frequency and low amplitude vibration are added to the conventional movement of cutting tools or workpieces. This research presents the new design of an ultrasonic assisted system and the experimental investigation of ultrasonically assisted drilling of Al/SiC metal matrix composites under different cutting conditions. The effect of cutting conditions and ultrasonic amplitude on the circularity, cylindericity, and hole oversize of the ultrasonically and conventionally drilled workpieces were investigated. The obtained results show that the ultrasonic vibration can improve the hole quality. © (2014) Trans Tech Publications, Switzerland.

关键词： Cutting tools

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Conditioning of Vitrified Bond CBN grinding wheels using a picosecond laser 17

Conditioning of Vitrified Bond CBN grinding wheels using a p...

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17th International Symposium on Advances in Abrasive Technology, ISAAT 2014

作者： Zahedi, Ali Tawakoli, Taghi Akbari, Javad Azarhoushang, Bahman Furtwangen University SchwenningenBaden-W��rttemberg Germany Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group Department of Engineering Design and Manufacture University of Malaya Kuala Lumpur Malaysia

ISBN: (纸本)9783038352211

Laser ablation is a novel non-mechanical wheel preparation method for optimizing the treatment costs of superabrasive tools. In this study the thermal effects of picosecond laser radiation on CBN superabrasive grinding wheel surface is analytically and experimentally investigated. The analytical approach is intended to find threshold process parameters for selective ablation of cutting grains and bond material. It has been analytically and experimentally shown that, the extent of material degradation is defined by the maximum surface temperature induced by the laser radiation which is in turn defined by the laser beam energy. It is also suggested that, the depth of laser thermal effects is governed by the relative speed of the laser scanner with respect to the wheel surface. © (2014) Trans Tech Publications, Switzerland.

关键词： Grinding (machining)

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design Methodology of a Micro-Scale 2-DOF Energy Harvesting Device for Low Frequency and Wide Bandwidth

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Journal of Sensor Technology 2014年第2期4卷 37-47页

作者： Mahmoud M. Magdy Ahmed M. R. Fath El-Bab Samy F. M. Assal Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Production Engineering and Mechanical Design Department Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

A detailed design methodology of a micro-scale 2-DOF energy harvesting device that can harvest human motion energy of low frequency and wide bandwidth is developed. Based on the concept of the 2-DOF vibration absorber, device parameters are selected to harvest energy at low frequency of 1-10 Hz and wide bandwidth with ±20% of the mean frequency, which matches the human motion. The device dimensions are limited to 40 × 30 × 10 mm3 to fit with the human wrist size. Then, a finite element model is developed to investigate the system performance with the selected parameters. When subjected to harmonic excitation of 1 g, the proposed 2-DOF device is able to provide a power of at least 10 μW in between the two close resonant peaks of 4 Hz and 6 Hz, which is the target frequency range. The device shows very high power per square frequency compared with the reported harvesters.

关键词： Energy Harvesting Two Degree of Freedom Low Frequency Wide Bandwidth

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Using laser scanning to measure the difference between classical individual custom trays and 3D ideal individual custom trays in the totally edentulous

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International Conference on Advancements of Medicine and Health Care through Technology, MEDITECH 2014

作者： Buhăţel, D. Buna, Z. Campian, R.S. Ilea, A. Moga, M. Ţarmure, V. Neamţu, Calin University of Medicine and Pharmacy "Iuliu Hatieganu" Department of Oral Rehabilitation Cluj-Napoca Romania Technical University of Cluj-Napoca Department of Design Engineering and Robotics Romania University of Medicine and Pharmacy "Iuliu Hatieganu" Department of Maxillofacial Surgery and Radiology Cluj-Napoca Romania

ISBN: (纸本)9783319076522

This paper presents a methodology for measuring using laser scanning the differences between ideal individual custom trays and classical individual custom trays obtained in the dental laboratory in the case of treatment steps to achieve total prostheses. The resulted 3D models from the scans can be used to: verify the accuracy of operations performed by the dental technician to create the ideal individual custom trays obtained directly from dental records, in dental prosthesis and for digital dental records storage. In this case study scanning equipment for high precision industrial metrology and engineering CAD software solutions were used to process the scans results. © Springer International Publishing Switzerland 2014.

关键词： Scanning

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Detection of the number of noncoherent and coherent signals with a simple planar array 15

Detection of the number of noncoherent and coherent signals ...

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2014 15th IEEE International Workshop on Signal Processing Advances in Wireless Communications, SPAWC 2014

作者： Ke, Chen Xin, Jingmin Tao, Hao Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an710049 China Xi'An Jiaotong University Suzhou Academy Suzhou215123 China Department of System Design Engineering Keio University Yokohama223-8522 Japan

ISBN: (纸本)9781479949038

In this paper, we investigate the number detection of a mixture of noncoherent and coherent signals impinging on a simple planar array consisting of two parallel uniform linear arrays (ULAs). Firstly, the numbers of noncoherent signals and coherent groups are obtained from the ranks of two outer-product matrices. Then a new oblique projector is obtained to suppress the noncoherent signals in the received array data and the number of coherent signals is obtained from the rank of another outer-product matrix which only contains the information of coherent signals. The number of noncoherent signals and that of coherent signals are estimated separately and the effectiveness of the proposed method is substantiated through numerical examples where the simulation results show that the proposed method performs well with a small number of snapshots and/or at relatively low signal-to-noise ratio (SNR). © 2014 IEEE.

关键词： Matrix algebra

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New trends in medical and service robots theory and integrated applications

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International Exploratory Workshop on New Trends in Medical and Service Robots, 2012

作者： Pisla, Doina Bleuler, Hannes Rodic, Aleksandar Vaida, Calin Pisla, Adrian Research Center for Industrial Robots Technical University of Cluj-Napoca Cluj-Napoca Romania LSRO—Robotic Systems Laboratory Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Robotics Laboratory Mihailo Pupin Institute Belgrade Serbia Design Engineering and Robotics Department Technical University of Cluj-Napoca Cluj-Napoca Romania

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Human Motion Spectrum-based 2-DOF Energy Harvesting Device: design Methodology and Experimental Validation

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Procedia engineering 2014年 87卷 1218-1221页

作者： Mahmoud M. Magdy Nader A. Mansour Ahmed M.R. Fath El-Bab Samy F.M. Assal Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Production Engineering and Mechanical Design Department Faculty of Engineering Tanta University Egypt

In this paper, a macro-scale 2-DOF energy harvester (EH) prototype is designed based on the human motion frequency range and bandwidth. Harvester parameters are selected according to the concept of the vibration absorber to achieve two close resonance frequencies at ±20% of the mean frequency of the frequency range 1-10 Hz, which matches the human motion. Simulation and experimental work are carried out to validate the design parameters and the system performance. The harvester is subjected to harmonic accelerations within 1 g which represents the dominant acceleration of the human motion. The proposed device provides a power of at least 18 μW in between the two close resonant peaks of 4 Hz and 6 Hz, which is the target frequency range. The device shows high power per square of the mean frequency compared to the reported harvesters in the literature.

关键词： Energy Harvesting Two Degree of freedom Low Frequency Wide Bandwidth

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