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Self-excited acoustical system for stress measurement in mass rocks

Journal of Low Frequency Noise Vibration and Active Control 2013年第1-2期32卷 133-144页

作者： Kwasniewski, Janusz Kravtsov, Yury Dominik, Ireneusz Dorobczynski, Lech Lalik, Krzysztof Faculty of Mechanical Engineering and Robotics Krakow AGH University of Science and Technology Poland Faculty of Marine Engineering Maritime University of Szczecin Szczecin Poland

The paper is devoted to theoretical end experimental studies of the low-frequency Self-excited Acoustical System (SAS), which allows monitoring stress changes in various elastic media including metals, concrete and mass rocks. The main principle of the SAS system is using a vibration exciter and vibration receiver placed on a sample with a positive feedback, which causes the excitation of the system. Stress changes manifest themselves in small but detectable variations of resonance frequency which can be used to indirectly measure stress changes in the *** the paper the considerations concerning working frequency of SAS were performed. It was suggested that in the case of stress variation in mass rock monitoring, the low frequency (even infrasound) band should be selected, in contrast to the stress monitoring in columns of marble or concrete, where frequencies from an acoustic band should be used. Computer simulations conducted in the MATLAB-Simulink environment were based on the research performed in the laboratories. They focused on finding a relationship between the compressing force and velocity of sound in a specimen made of concrete. Results of the simulations allowed to state that the frequency of self-excited oscillations of simulated SAS change linearly with the pressing *** the next step the laboratory experiments were carried out. The impact on stress measurement parameters such as: the position of sensors, actuator, and the influence of geometrical shape and dimensions of the sample. A sample of sandstone compressed in a frame by a hydraulic press was used in the study. The results proved the applicability of the design ***, the new possible applications of SAS were suggested, such as monitoring stress variations of stresses in mass rock, particularly in the active seismic zones.

关键词： Stress measurement

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Control of posture and trajectory for a rat-like robot interacting with multiple real rats

Control of posture and trajectory for a rat-like robot inter...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qing Shi Hiroyuki Ishii Yusuke Sugahara Shinichi Kinoshita Atsuo Takanishi Satoshi Okabayashi Qiang Huang Toshio Fukuda China and Faculty of Science and Engineering Waseda University Tokyo Japan Waseda University Tokyo Japan School of Science and Engineering Kokushikan University Tokyo Japan Intelligent Robotics Institute Beijing Institute of Technology Beijing China

In the past we achieved to use a rat-like robot and a single rat to develop Animal Models of Mental Disorder (AMMDs) through stress exposure. However, to simulate the real social environment, we use a rat-like robot composed of multiple links to chase a specific rat (target) in a group of rats (outside observers). In this paper, we aim to develop a real-time control system for a multi-link robot surrounded by multiple rats. A virtual impedance model was adopted to generate posture and trajectory for a multi-link robot named WR-5. With the analysis of virtual forces/moments acting on WR-5 based on the model, corresponding dynamic equations can be obtained to control the motion of WR-5. Simulation results show that the head of WR-5 can accurately direct a target object in the following test. After conducting experiments with three rat subjects (a target rat, two outside observers), the output results suggest that the head and body gesture of WR-5 achieves to follow the target in real-time. Meanwhile, the control system allows real-time avoidance of the moving outside observers during interaction.

关键词： Robots Rats Observers Force Joints Mathematical model Trajectory

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Catalytic driven micro-nanorobots fabricated by direct laser writing

Catalytic driven micro-nanorobots fabricated by direct laser...

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2014 International Symposium on Micro-NanoMechatronics and Human science, MHS 2014

作者： Bakar, Azrena Abu Nakajima, Masahiro Takeuchi, Masaru Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Center for Micro-Nano Mechatronics Nagoya University Nagoya Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479966790

We present the fabrication of catalytic driven micro-nano robot by direct laser writing. The micro-nanorobot has a spiral design of 3,5, and 7 μm named D1, D2 and D3 respectively and a flat top design D4. The micro-nanorobot is catalytically driven in 6% hydrogen peroxide (H2O2) from platinum catalytic area. The result shows that the spiral micro-nanorobot increased in speed except when the micro-nanorobot exhibits the drilling motion. It showed spinning motion, self-propulsion and drilling motion for micro-nanorobot D1, D2 and D3 respectively. The flat top micro-nanorobot has the highest speed and spinning motion was displayed. Future studies should include the actual pollutants in the environment and the effects of the drilling motion on its final content should be observed. © 2014 IEEE.

关键词： Fabrication

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Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU

Collision avoidance with potential fields based on parallel ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Knut B. Kaldestad Sami Haddadin Rico Belder Geir Hovland David A. Anisi Faculty of Technology and Science University of Agder Norway Institute of Automatic Control Leibniz University Hanover (LUH) Hanover Germany Robotics and Mechatronics Center Wessling DLR Germany Dept. of Technology & Innovation ABB Norway

In this paper we present an experimental study on real-time collision avoidance with potential fields that are based on 3D point cloud data and processed on the Graphics Processing Unit (GPU). The virtual forces from the potential fields serve two purposes. First, they are used for changing the reference trajectory. Second they are projected to and applied on torque control level for generating according nullspace behavior together with a Cartesian impedance main control loop. The GPU algorithm creates a map representation that is quickly accessible. In addition, outliers and the robot structure are efficiently removed from the data, and the resolution of the representation can be easily adjusted. Based on the 3D robot representation and the remaining 3D environment data, the virtual forces that are fed to the trajectory planning and torque controller are calculated. The algorithm is experimentally verified with a 7-Degree of Freedom (DoF) torque controlled KUKA/DLR Lightweight Robot for static and dynamic environmental conditions. To the authors knowledge, this is the first time that collision avoidance is demonstrated in real-time on a real robot using parallel GPU processing.

关键词： Collision avoidance Robot sensing systems Service robots Three-dimensional displays Graphics processing units Force

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Cross-sectional imaging of C. elegans by SEM-CT using environmental SEM for nanomanipulation 14

Cross-sectional imaging of C. elegans by SEM-CT using enviro...

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2014 14th IEEE International Conference on Nanotechnology, IEEE-NANO 2014

作者： Nakajima, Masahiro Takeuchi, Masaru Hisamoto, Naoki Fukuda, Toshio Hasegawa, Yasuhisa Huang, Qiang Center For SEM-Nano Mechatronics Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 Japan Department of Micro- Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Graduate School of Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China

ISBN: (纸本)9781479956227

A novel technique was presented for a cross-sectional imaging of Caenorhabditis elegans (C. elegans) by Scanning Electron Microscope - Computed Tomography (SEM-CT) using Environmental-SEM (E-SEM) for nanomanipulation applications. In our previous works, a nanorobotic manipulation system was established inside the E-SEM for water-contained samples including biological organism with a real-time high resolution observation. However, the SEM image is two dimensional (2D) and surficial information from the secondly electrons. Hence, it is not able to evaluate the targeted structure inside the sample. In this research, we presented the cross-sectional observation of the sample by SEM-CT system which is used the X-ray generated by the electron beam of SEM. To improve the signal-to-noise ratio of CT imaging, we evaluated the following ways, 1) apertures for X-ray before/after irradiating the sample, 2) adjustment of emission currents of the electron beam, 3) iteration processing of captured images. To reduce the damage of C. elegans during observation, a method was used to immerse the C. elegans by a liquid oil. The proposed 3D imaging technique is useful to evaluate the 3D manipulation of the C. elegans, such as nano-injection application with functional micro-nano beads inside the C. elegans. © 2014 IEEE.

关键词： Electron beams

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The MORPH Project: Actual Results

The MORPH Project: Actual Results

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OCEANS

作者： J. Kalwa M. Carreiro-Silva J. Fontes L. Brignone P. Ridao A. Birk T. Glotzbach M. Caccia J. Alves A. Pascoal Atlas Elektronik GmbH 28309 Bremen/Germany Instituto do Mar (IMAR) Horta/Portugal Institut fran?ais de recherche pour l''exploitation de la mer La Seyne sur Mer France Universiat de Girona Girona Spain Jacobs Universit?t Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Consiglio Nazionale delle Ricerche - Istituto di studi sui sistemi intelligenti per l''automazion Genova Italy Centre for Maritime Research and Experimentation(CMRE) Italy Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal

ISBN: (纸本)9781479987375

The MORPH project (FP 7, 2012-2016) advances a novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that allow a limited flow of information among them. Without rigid links, the so called Morph Supra-Vehicle can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope. The MORPH concept requires new concepts in a number of technological fields. Examples are adaptive sensor placement for perception and navigation or environmental modeling in complex environments. As the project enters its final year the basic developments have been achieved. It is still a huge effort to create a system out of components which can be perceived as a supra-vehicle. This paper focuses on a presentation of the current state.

关键词： MORPH underwater robotic system composed modules

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Magnetic-Based Motion Control of Sperm-Shaped Microrobots using Weak Oscillating Magnetic Fields

Magnetic-Based Motion Control of Sperm-Shaped Microrobots us...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Islam S. M. Khalil Kareem Youakim Alonso Sanchez Sarthak Misra Faculty of Engineering and Material Science (EMS) the German University in Cairo New Cairo City Egypt MIRA-Institute for Biomedical Technology and Technical Medicine (Robotics and Mechatronics Group) University of Twente Enschede The Netherlands

ISBN: (纸本)9781479969357

We experimentally demonstrate that using oscillating weak magnetic fields a sperm-shaped microrobot (which we refer to as MagnetoSperm) can swim using flagellar propulsion and slide on a surface under water. The sperm morphology allows the MagnetoSperm to mimic the locomotion mechanism of a living sperm cell. The MagnetoSperm is designed and developed with a magnetic head and a flexible tail to provide a magnetic dipole moment and propulsion, respectively. The head oscillates under the influence of controlled oscillating weak magnetic fields (～5 mT). This oscillation generates a thrust force in the flexible tail, and hence allows the MagnetoSperm to overcome the drag and friction forces during swimming and sliding on a surface, respectively. Point-to-point open- and closed-loop control of the MagnetoSperm are accomplished using an electromagnetic system under microscopic guidance. This motion control is done in two cases, i.e., swimming in water and sliding on a surface. At oscillating magnetic field of 5 Hz and 45 Hz, the MagnetoSperm swims at an average swimming speed of 32 μm/s (0.1 body lengths per second) and 158 μm/s (0.5 body lengths per second), respectively. At the same frequencies, the MagnetoSperm slides on the bottom of a petri-dish at an average speed of 21 μm/s (0.07 body lengths per second) and 6 μm/s (0.02 body lengths per second), respectively.

关键词： Motor Control Body Height Microbots Swimming electromagnetic system Magnetic heads oscillating magnetic field Spermatozoa Average speed field weakening sperm morphology control ring Propulsion

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First-principles simulation on orientation dependence of piezoresistivity in graphene nanoribbon 2

First-principles simulation on orientation dependence of pie...

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2nd International Conference on Engineering and technology, ICET 2014

作者： Gamil, Mohammed Nakamura, Koichi Fath El-Bab, Ahmed M.R. Tabata, Osamu El-Moneim, Ahmed Abd Alexandria Egypt Department of Micro Engineering Kyoto University Kyoto Japan Center for the Promotion of Interdisciplinary Education and Research Kyoto University Kyoto Japan Mechatronics and Robotics Department Egypt-Japan University of Science and Technology Alexandria Egypt On-leave from Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt On Leave from Physical Chemistry Department National Research Center Cairo Egypt

ISBN: (纸本)9781479958078

The orientation dependence of piezoresistivity in graphene nanoribbons has been discussed by carrying out the first-principles simulation. Our original procedure of simulating piezoresistive properties was applied to the one-dimensional nanoribbon systems in conductor state. For the armchair-oriented model series, band structures hardly change due to any strain, and the gauge factors are small as the common characteristics for the armchair-oriented graphene nanoribbons. On the other hand, various values of gauge factors have been obtained according to model size for the zigzag model series because of the nonuniformity of band structures among the model series. Generally, the zigzag model series have sufficiently large values of gauge factors for practical application to nanoscale piezoresistor. We have found the clear defference of gauge factors with respect to the orientation of graphene nanoribbon, and it is expected that zigzag-oriented graphene nanoribbons will have potential for use in future MEMS/NEMS technology. © 2014 IEEE.

关键词： Graphene

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Vibration signals processing by cellular automata for wind turbines intelligent monitoring

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Diagnostyka 2013年第2期14卷 31-36页

作者： Barszcz, Tomasz Bielecki, Andrzej Wójcik, Mateusz Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Cracow Poland Department of Applied Computer Science Faculty of Electric Engineering Automation Computer Science and Biomedical Engineering AGH University of Science and Technology Al. Mickiewicza 30 30-059 Cracow Poland Faculty of Physics Astronomy and Applied Computer Science Jagiellonian University Reymonta 4 30-059 Cracow Poland

In recent years wind energy is the fastest growing branch of the power generation industry. The largest cost for the wind turbine is its maintenance. A common technique to decrease this cost is a remote monitoring based on vibration analysis. Growing number of monitored turbines requires an automated way of support for diagnostic experts. As full fault detection and identification is still a very challenging task, it is necessary to prepare an early-warning tool, which would focus the attention on cases which are potentially dangerous. There were several attempts to develop such tools, in most cases based on various classification methods. The techniques that have been used so far are based on the vibration signals analysis in which the signals are considered as time series. However such approach has crucial limitations. Therefore, new approaches for wind turbines intelligent monitoring are worked out. Artificial intelligence systems are ones of promising. In this paper such approach is proposed - a vibration signal spectrum is considered as a pixel matrix which is processed using deterministic cellular automaton (DCA). It turns out that such processing allows us to detect pre-failure states.

关键词： Wind turbines

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System of geometric parameters monitoring during cutting of steel plates process

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Diagnostyka 2013年第3期14卷 23-28页

作者： Kwasniewski, Jerzy Grzybowski, Józef Kordos, Damian AGH University of Science and Technology in Kraków Faculty of Mechanical Engineering and Robotics Department of Rope Transport Poland Rzeszów University of Technology Faculty of Mechanical Engineering and Aeronautics Department of Avionics and Control Systems Poland

The steel plate cutting is performed on a special pro-duction lines to enable longitudinal and lateral cut. Input material is usually a metal ring of weight about 32 tons. The cutting process is preceded by an operation of straightening the cutting section. So far, during this operation parameters such as wave cut off sheets, the thickness of the material were not monitored. This paper presents a system of continuous monitoring of sheets parameters constructed by the authors. It was mounted on the process line-cutting and slitting of one of the companies cutting sheet metal. Such approach allows to improve quality control.

关键词： Metal cutting

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