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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Tianjiang Zheng Yawei Yang David T. Branson Rongjie Kang Emanuele Guglielmino Matteo Cianchetti Darwin G. Caldwell Guilin Yang Ningbo Institute of Materials Technology & Engineering (NIMTE) Ningbo Zhejiang China Division of Advanced manufacturing Ningbo Industrial Technology Research Institute University of Nottingham Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin University Tianjin P. R. China Department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 Genoa Italy Scuola Superiore Sant'Anna(SSSA)

ISBN: (纸本)9781479943142

Highly flexible continuum arms have been investigated thoroughly. Materials and actuators employed include cables, pneumatic muscles, and also shape memory alloys (SMAs). SMA is a smart material that can be applied to continuum robot due to their intrinsic compliance. It can elongate or contract by applying external forces and return to its original shape when given appropriate current. However, control of the SMA actuated robot is still a challenge. This paper takes inspiration from octopus neurophysiology and designs a hierarchical controller for the SMA based continuum robotic arm.

关键词： Pneumatic systems Manipulators Prototypes Digital signal processing Actuators Conferences

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Ultrasonic-assisted cylindrical grinding of Alumina-zirconia ceramics

Ultrasonic-assisted cylindrical grinding of Alumina-zirconia...

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ASME 2013 International Mechanical engineering Congress and Exposition, IMECE 2013

作者： Tawakoli, Taghi Akbari, Javad Zahedi, A.M. Furtwangen University Schwenningen Baden-Württemberg Germany Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Azadi Ave. 14588-89694 Tehran Iran Center of Advanced Manufacturing and Material Processing Department of Engineering Design and Manufacture University of Malaya 50603 Kuala Lumpur Malaysia

ISBN: (纸本)9780791856185

Due to its vast applications and stochastic nature, grinding has been the subject of investigations and modifications for decades. Applying ultrasonic vibration in grinding has been a successful innovation introducing benefits such as reduced forces and temperature, improved surface quality, and making higher removal rates possible. In this work a set-up is developed for utilizing ultrasonic vibrations in cylindrical grinding. This is done by rotating and simultaneously vibrating the workpiece material. The set-up is used for cylindrical grinding of Alumina-zirconia ceramic as a difficult-to-grind and widely used industrial ceramic. Optimized parameters for efficient grinding and surface characteristics of the ground ceramic are investigated and the effects of ultrasonic vibration are declared. Copyright © 2013 by ASME.

关键词： Surface roughness

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Anomalous diffusion of proteins in sheared lipid membranes

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Physical Review E 2013年第3期88卷 032705-032705页

作者： Atefeh Khoshnood Mir Abbas Jalali Computational Mechanics Laboratory Department of Mechanical Engineering Sharif University of Technology Azadi Avenue Tehran Iran Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Azadi Avenue Tehran Iran

We use coarse grained molecular dynamics simulations to investigate diffusion properties of sheared lipid membranes with embedded transmembrane proteins. In membranes without proteins, we find normal in-plane diffusion of lipids in all flow conditions. Protein embedded membranes behave quite differently: by imposing a simple shear flow and sliding the monolayers of the membrane over each other, the motion of protein clusters becomes strongly superdiffusive in the shear direction. In such a circumstance, the subdiffusion regime is predominant perpendicular to the flow. We show that superdiffusion is a result of accelerated chaotic motions of protein-lipid complexes within the membrane voids, which are generated by hydrophobic mismatch or the transport of lipids by proteins.

关键词： Anomalous sheared lipid membranes Molecular Dynamics Simulation anomalous diffusion Shearing Proteins Anomalous Lipids Flow lipid membrane membrane

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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Applying Ultrasonic Vibration to Decrease Drilling-Induced Delamination in GFRP Laminates

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Procedia CIRP 2013年 6卷 577-582页

作者： P. Mehbudi V. Baghlani J. Akbari A.R. Bushroa N.A. Mardi Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology AzadiAve. 14588-89694 Tehran Iran Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group Department of Engineering Design and Manufacture Faculty of Engineering University of Malaya 50603 Kuala Lumpur Malaysia

Delamination is a major problem in drilling of fiber-reinforced composite materials. Thrust force is an important factor leading to propagation of delamination during drilling process. One of effective methods to reduce machining forces is application of ultrasonic vibrations. In this study ultrasonic assisted drilling is applied to reduce thrust force in drilling of GFRP laminates. In order to conduct experiments a setup is designed and fabricated to apply both vibrations and rotation to drill bits. Using Taguchi method, a set of experiments is conducted with feed rate, spindle speed, and ultrasonic vibration amplitude as control factors. The results show that applying ultrasonic vibration reduces the thrust force and therefore the drilling induced delamination dramatically.

关键词： Ultrasonic assisted drilling GFRP laminates Drilling induced delamination Taguchi method

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Nonlinear Observer design for Turbocharger in a SI Engine

Nonlinear Observer Design for Turbocharger in a SI Engine

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American Control Conference

作者： R. Salehi M. Shahbakhti A. Alasty G.R. Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) Mechanical Engineering Department Sharif University of Technology Tehran Iran Mechanical Engineering-Engineering Mechanics Department Michigan Technological University Houghton MI 49931USA

ISBN: (纸本)9781479901777

Estimation of major turbocharger variables is essential for proper control and monitoring of a turbocharged engine. This work presents a novel algorithm to estimate turbocharger rotator speed, air temperature downstream a compressor and flow rate over the compressor using mean value models of engine subsystems. A nonlinear Luenberger observer is designed for a 1.7-lit gasoline turbocharged engine. The designed observed is shown analytically to be asymptotically stable. Performance of the designed observer is experimentally validated with the data collected from the engine. The results indicate the observer can capture major turbocharger's rotational dynamics and estimated turbocharger variables are in a good agreement with the experimental measurements.

关键词： compressor designed experimental Turbochargers Compressors Engines Observers Turbocharged Engines

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Control Oriented Modeling of a Radial Turbine for a Turbocharged Gasoline Engine

Control Oriented Modeling of a Radial Turbine for a Turbocha...

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American Control Conference

ISBN: (纸本)9781479901777

This paper presents a control oriented model for predicting turbine major variables in a turbocharged spark ignition engine. The turbine is simulated as a two-nozzle chamber where the pressure ratio over the two nozzles is not the same. A convex nonlinear estimation algorithm is formulated to determine the relation between these pressure ratios. The new model is experimentally validated with transient and steady state data collected from a 1.7 liter gasoline engine. The results show the new model can predict the turbine mass flow with an average error of 1.4%. In addition, the application of the turbine model is illustrated for the design of a nonlinear observer to estimate the turbocharger non-measured variables. The designed observer is tested against experimental data and the results confirm the observer capability to estimate the turbine rotor speed, flow over the compressor and temperature downstream the compressor.

关键词： gasoline engine PresRto turbines Turbochargers radial flow turbine Compressors key variable MASS FLOW Oriented

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Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation

Visual motion observer-based bilateral control for eye-in-ha...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Toshiyuki Murao Hiroyuki Kawai Yusei Tsuruo Masayuki Fujita Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper investigates, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.

关键词： Visualization Mobile robots Attitude control Torque Force Observers

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Adaptive Intelligent Controller design for a New Quadrotor Manipulation System

Adaptive Intelligent Controller Design for a New Quadrotor M...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Department of Production Engineering and Mechanical Design Mansoura University Mansoura Egypt Department of Computer and Automatic Control Tanta University

ISBN: (纸本)9781479906505

This paper presents the design of two controllers namely, Direct Fuzzy Logic controller and Fuzzy Model Reference Learning Control applied to a new aerial manipulation system called "Quadrotor-Manipulator System". This system consists of 2-link manipulator connected to the bottom of a quadrotor. The dynamic model of this system is derived taking into account the effect of adding a payload to the manipulator. The performance of the proposed controllers are compared with that of the previously developed controller based on Feedback Linearization technique. All controllers are tested regarding their ability to stabilize the system and track desired trajectories under the effects of picking and placing a payload as well as changing the system operating region. Finally, the system equations of motion and the control laws are simulated using MATLAB/SIMULINK. The simulation results indicate the outstanding performance of the Fuzzy Model Reference Learning Control.

关键词： Aerial manipulation Quadrotor-Manipulator 2link manipulator Feedback linearization Demining devices Fuzzy logic control Fuzzy model reference learning control Fuzzy control Controllers Equations of motion intelligent controller controller design fuzzy logic controller learning control fuzzy modeling Payload Picking control law

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