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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： George Dikaiakos Antonia Tzemanaki Anthony G. Pipe Sanja Dogramadzi Bristol Robotics Laboratory Bristol UK Department of Engineering Design and Mathematics University of the West of England Bristol UK

Minimally invasive surgery (MIS) has proven to be beneficial in providing outstanding results for the patients. However, studies have shown that the surgeon faces significant challenges whilst performing this type of surgery, ranging from poorly designed instrument handles, to potential harm to the surgeon due to awkward postures. Deriving from the crucial need to develop surgical instruments that fully address the needs of the surgeons while applying MIS techniques, a more ergonomic surgical instrument that implements mechatronic characteristics is hereby proposed. This concept instrument is aiming at minimizing post-operation injuries of surgeons and maximizing their kinetic abilities during surgical procedures, whilst also improving speed and accuracy in the performed task.

关键词： Wires Instruments Surgery Force Ergonomics Shafts Robots

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Mechanical properties investigation of monolayer h-BN sheet under in-plane shear displacement using molecular dynamics simulations

Mechanical properties investigation of monolayer h-BN sheet ...

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作者： Tian, Y. Li, Z. Gao, W. Cai, K. Wang, F. Zhang, D. Shirinzadeh, B. Fatikow, S. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin University Tianjin 300072 China Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia Division of Microrobotics and Control Engineering University of Oldenburg 26111 Oldenburg Germany

The mechanical properties, including wrinkling patterns and fracture behavior, of monolayer h-BN sheets have been investigated using classic molecular dynamics simulations and continuum model. The wrinkling pattern formation and evolution have been first explored. The dependences of the wrinkling shape, amplitude, and wavelength, as well as wrinkling number on shear displacement are extensively elucidated. The influences of geometry and shear load direction, as well as temperature, on the fracture behavior have also been studied to obtain further insights into the properties of the monolayer h-BN sheets. © 2014 AIP Publishing LLC.

关键词： Monolayers

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The oscillatory behavior, static and dynamic analyses of a micro/nano gyroscope considering geometric nonlinearities and intermolecular forces

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Acta Mechanica Sinica 2013年第6期29卷 851-863页

作者： M.Mojahedi M.T.Ahmadian K.Firoozbakhsh School of Mechanical Engineering Sharif University of Technology Center of Excellence in Design Robotics and AutomationDepartment of Mechanical EngineeringSharif University of Technology

The nonlinear dynamic and static deflection of a micro/nano gyroscope under DC voltages and base rotation are investigated. The gyroscope undertakes two cou- pled bending motions along the drive and sense directions and subjected to electrostatic actuations and intermolecular forces. The nonlinear governing equations of motion for the system with the effect of electrostatic force, intermolecular tractions and base rotation are derived using extended Hamilton principle. Under constant voltage, the gyroscope finds the preformed shape. First, the deflection of the rnicro/nano gyroscope under electrostatic forces is obtained by static and dynamic analyses. Furthermore, the static and dynamic in- stability of the system are investigated. Afterward the oscillatory behavior of the pre-deformed micro/nano gyroscope around equilibrium is studied. The effects of intermolecular and nonlinear parameters on the static and dynamic de- flection, natural frequencies and instability of the micro/nano gyroscope are studied. The presented model can be used to exactly determine static and the dynamic behavior of vibratory micro/nano gyroscopes.

关键词： Nano-structures Microstructures Static dynamic

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Terrain identification on a one-legged hopping robot using high-resolution pressure images

Terrain identification on a one-legged hopping robot using h...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jacob J. Shill Emmanuel G. Collins Eric Coyle Jonathan Clark Department of Mechanical Engineering Center for Intelligent Systems Control. and Robotics (CISCOR) Tallahassee FL USA Department of Mechanical Engineering Embry-Riddle Aeron University Daytona Beach FL USA Department of Mechanical Engineering Scansorial and Terrestrial Robotics and Integrated Design Lab (STRIDe) Tallahassee FL USA

For efficient and safe locomotion the gaits of legged robots should vary with the type of terrain. Hence, terrain surface classification is an important problem for this class of mobile robots. Prior research has developed approaches to proprioceptive terrain classification for both wheeled and limbed robots that use sensor measurements dependent upon the dynamics of the robot, which ultimately requires the classification system to be trained at a large number of operating conditions (e.g., vehicle speeds and loads). This research develops an approach to terrain identification based on pressure images generated through direct surface contact using a robot skin constructed around a high-resolution pressure sensing array. Terrain signatures for classification are formulated from the magnitude frequency responses of the pressure images. The methodology is used to train and test a classifier using dynamically measured pressure images from a one-legged hopping robot. Experimental tests yield high classification accuracies, which are independent with respect to changing robot dynamics (i.e., different leg gaits). The findings of this paper suggest the methodology can be extended to autonomous field robots, providing the robot with crucial information about the environment that can be used to aid stability over rough terrains and enhance motion planning over varying terrains.

关键词： Robot sensing systems Skin Legged locomotion Vectors Foot Accuracy

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Opening remarks

2016 International Conference on Advances in Human Machine I...

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2016 International Conference on Advances in Human Machine Interaction, HMI 2016 2016年

作者： Nagaraja, Ch. Swamy, J. Nagendra Rajendra, J. Khan, M.S. Vishwanath Reddy, D.S. Manjunath, N. Dillmann, Ruediger Tarn, Tzyh Jong Zhao, Qianchuan Ammi, Mehdi Zuberek, Wlodek M. Sandhu, P.S. Patthira Newman, K. De Silva Liyanage, Chandratilak Hassan, Sohair Aly Aly Sun, Kien Wen Rahman, Md. Moshiur Ordoño, E. Evangelista Sharma, R.K. Mishra, Preeti Chandel, B.S. Singla, Ekta Petric, Tadej Zhong, Yu Jiglar, Janson Alemzadeh, Kazem Asokan, T. Tripathi, Animesh Tripathi, Manoj Ram, Swaminath Shrma, M.K. Panday, P.N. Kumar, Devendra Hinchey, Mike Stilman, Boris Suraj, Zbigniew Pal, Sankar K. Sasi, Sreela Rajan, Deepu Marshall, Roger G. Abraham, Ajith Peter S, David Paul, Vargheese Gopakumar, V. Dustdar, Schahram Soto, Sebastián Ventura Rausch, Andreas Angelis, Lefteris Nelson, Andrew L. Botzheim, Janos Bernardino, Heder Soares Zboril, Frantisek Ane, Bernadetta Kwintiana Maeda, Toshiyuki Sakalauskas, Virgilijus Hann, Garenth Lim King Samek, Jan Romero Salguero, José Raúl Varghese, Kuruvilla Kriksciuniene, Dalia Mathew, Jimson Reif, Wolfgang Mauri, Giancarlo Cabrerizo Lorite, Francisco Javier Özcan, Ender Cho, Sung-Bae Paily, Roy P. Rezankova, Hana Tudjarov, Boris Hong, Wei-Chiang De Oliveira, José Valente Flores Romero, Juan Jose Oskouei, Rozita Jamili Cicchetti, Antonio Roy, Chanchal Segura, Sergio Samuel, C. Mallet, Frédéric Mernik, Marjan Punnekkat, Sasikumar Waseemulla, A. Sri Devaraj Urs Educational Trust Bangalore India R. L. Jalappa Institute of Technology Doddaballapur Bangalore India Humanoids and Intelligence Systems Lab Kalsruhe Germany Electrical and Systems Engineering Washington University in St. Louis United States Deputy Director of Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing China Department of Computer Science CNRS/LIMSI Lab AMI Group France Memorial University St. John'sNL Canada RBIT and Bio-Technology India LR University Thailand University of Colorado at Boulder Boulder United States Faculty of Science University of Brunei Brunei University of Kuala Lumpur Malaysia National Chiao Tung University Taiwan EPR Centre Bangladesh Mapua Institute of Technology Philippines ARO CWC Lucknow India Mpec Kanpur India DSC DBS Kanpu India Indian Institute of Technology Ropar India Jozaf Stefan Institute Department of Automation Biocyernetics and Robotics Ljubljana Slovenia Robotics Institute Carnegie Mellon University Pittsburgh United States Faculty of Engineering University of Bristol United Kingdom Department of Engineering Design Indian Institute of Technology Madras India Lucknow Uni Lucknow India CSJM Uni Kanpur India UPPCB Lucknow India PCB Roorkee India Awadh Uni Faijabad India Agra Uni Agra India Lero University of Limerick Ireland University of Colorado Denver United States University of Rzeszow Poland Indian Statistical Institute Kolkata India Gannon University PA United States Nanyang Technical University Singapore Singapore Plymouth State University NH United States MIR Labs United States Cochin University of Science and Technology India State Project Facilitation Unit TEQIP Kerala India Technical University of Vienna Austria University of Cordoba Spain Clausthal University of Technology Germany Aristotle University of Thessaloniki Greece Androtics LLC TucsonAZ United States Tokyo Metropolitan University Japan Federal Unive

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μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design

μAngelo: A novel minimally invasive surgical system based o...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Antonia Tzemanaki Thomas M. W. Burton David Gillatt Chris Melhuish Raj Persad Anthony G. Pipe Sanja Dogramadzi Bristol Robotics Laboratory Bristol UK Department of Engineering Design and Mathematics University of the West of England Bristol UK Southmead Hospital Bristol Urological Institute Bristol UK

Abdominal surgery has seen a rapid transition from open procedures to Robot-Assisted Minimally Invasive Surgery (R-A MIS). The learning process for new surgeons is long compared to open surgery, and the desired dexterity cannot always be achieved using the current surgical instruments. Furthermore, the way that these instruments are controlled plays an important role in their effectiveness and the ergonomics of the procedure. This paper presents the μAngelo Surgical System for R-A abdominal MIS, based on an anthropomorphic design comprising two three-digit surgical instruments and a sensory hand exoskeleton. The operation of these subsystems and the efficacy of their corresponding performance are demonstrated.

关键词： Joints Instruments Surgery Thumb Exoskeletons Robot sensing systems Indexes

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Near-field source localization with partly sensor gain and phase uncertainties

Near-field source localization with partly sensor gain and p...

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IEEE Workshop on Signal Processing Advances in Wireless Communications (SPAWC)

作者： Weiliang Zuo Jingmin Xin Guangmin Wang Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China State Key Laboratory of Astronautic Dynamics Xi'an China Department of System Design Engineering Keio Univerity Yokohama Japan

In this paper, we consider the source localization for the multiple near-field narrowband signals impinging on a uniform linear array (ULA) with partly gain and phase uncertainties. By dividing the ULA into two overlapped symmetric subarrays and assuming that they have partly unknown gain and phase responses but correspondingly identical, a new modified generalized ESPRIT based method is presented, in which the direction of arrival (DOA) and range are estimated separately. Moreover, we prove that the proposed method is equivalent to the spectral Fresnel-region rank reduction (FR-RARE) [15] method, but more computationally efficient than it. The simulations demonstrate the effectiveness of the proposed method.

关键词： Direction-of-arrival estimation Arrays Estimation Conferences Signal to noise ratio Vectors

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Simultaneous control for end-point motion and vibration suppression of a space robot based on simple dynamic model

Simultaneous control for end-point motion and vibration supp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Daichi Hirano Yusuke Fujii Satoko Abiko Roberto Lampariello Kenji Nagaoka Kazuya Yoshida Department of Aerospace Engineering Tohoku University Aoba-ku Sendai Japan Department of Mechanical Systems and Design Tohoku University Aoba-ku Sendai Japan Institute of Robotics and Mechatronics German Aerospace Center (DLR) Germany

This paper addresses a dynamic model and a control method of a space robot with a rigid manipulator and a flexible appendage. The control method has been developed for performing multiple tasks: end-point motion control and vibration suppression control of a flexible appendage. A simple dynamic model that considers coupling between the manipulator and the flexible appendage is proposed for the control method. The tasks are performed simultaneously on the basis of their order of priorities using a redundant manipulator. Additionally, because vibration suppression requires feedback of the state of the flexible appendage, a state estimator of the appendage using a force/torque sensor is developed. Finally, the proposed model, control method, and state estimator were verified experimentally using an air-floating system.

关键词： Joints Vibrations Manipulator dynamics Robot sensing systems Torque

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Mathematical model for the calculation of linear speed for a water jet cutting machine

Mathematical model for the calculation of linear speed for a...

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International Conference on Biomechanics, Neurorehabilitation, Mechanical engineering, Manufacturing Systems, robotics and Aerospace: Optimization of the engineering Systems, OPTIROB 2013

作者： Ferent-Pipas, Silvia Padurean, Bogdan Ciupan, Cornel Technical University of Cluj-Napoca Department of Design Engineering and Robotics Romania

ISBN: (纸本)9783037857335

This article is about creating a mathematical model for the calculation of linear speed, of a water jet machine, depending on the thickness of the material, the water pressure, the abrasive rate flow and the required cut quality, in order to justify the cutting costs of a water jet machine that are directly proportional with the necessary cutting time. Finding the cutting speed, it can be find the necessary time for the cutting, and so, the resulting costs for the process. The optimization of the process, after some minimize and maximize criteria is also presented in this article. © (2013) Trans Tech Publications, Switzerland.

关键词： Abrasives

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New Anti stealth technology for safe piloting of the unmanned aerial vehicle

New Anti stealth technology for safe piloting of the unmanne...

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IEEE International Conference on Mechatronics and Automation

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Minia University El Minia El Minia Egypt Electrical Engineering Department Minia University El Minia El Minia Egypt Electrical Engineering Department Aswan University Aswan Egypt Production Engineering and Design Department Minia University El Minia El Minia Egypt

This research handles a proposed technology in the defense and security system is Anti stealth technology, This technology supposes increasing radar cross section (RCS) of the stealth system by increasing relative permittivity ε' and decreasing attenuation ε" consequently loss tangent tan(δ e ). Non lethal pulsed ND YAG 532nm laser is the proposed solution for enhancing stealth EM 3500 wave absorber's relative permittivity. This research handles a probabilistic Algorithm for detecting stealth target by using neural network as future implementation for Anti stealth technology.

关键词： Laser beams Materials Permittivity Aircraft Radar Masers Laser applications

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