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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期18卷 31-61页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University Montreal Canada Control and Computer Engineering Polytechnic University of Turin Turin Italy Center for Space Human Robotics Italian Institute of Technology Turin Italy

ISBN: (纸本)9783319015644

Starting from the user’s requirements previously defined, a new soft robotics approach was chosen and developed in order to overcome the criticalities arisen in the analysis of the state of the art. One of the key points of soft robotics is biomimicry: in place of heavy, rigid and noisy motors, artificial muscles are in charge of the movement of the soft structure, allowing a number of degrees of freedom unthinkable with traditional mechanics. The shift from hard to soft robotics brings the focus on materials: actuating and sensing devices are embedded in the material itself, which turns out to be smart. In particular, the attention was focused on Electroactive Polymers (EAPs): these polymeric materials work as transducers, converting electrical inputs into mechanical outputs, and vice versa. After an extensive material selection procedure among all the EAPs solutions currently available, Dielectric Elastomers (DEs) emerged as the most suitable materials for the intended application and a mathematical model of their electro-mechanical behavior is presented. The control of the hand exoskeleton is addressed in this section. Its objective is to help the astronaut accomplish the tasks he has to perform. The entire control system is composed of four phases: the recognition of the astronaut’s will (detect and distinguish the different movements), the control strategy, the enhancement of these movements and the measure of the actual position and force. The final measure system was implemented focusing on redundancy, safety control and to assure minimum performances also in off-nominal conditions. © The Author(s) 2014.

关键词： Degrees of freedom (mechanics)

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Wheel-Legged Robot – Construction and obstacle detection sensors

Wheel-Legged Robot – Construction and obstacle detection se...

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作者： Gronowicz, A. Sperzyński, P. Szrek, J. Jakubiak, J. Wroclaw University of Technology Division of Machine Theory and Mechatronic Systems Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Poland

ISBN: (纸本)9789400774841

This paper presents the general structure of wheel-legged robot module and sensory systems. The scheme, interfaces and system components will be presented. Basing on initial experiments the sensor properties and suitability for a particular task – detection, identification and overcoming encountered obstacles on the robot’s path were assessed. © Springer Science+Business Media Dordrecht 2014.

关键词： Wheels

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Concept layout

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期18卷 63-84页

ISBN: (纸本)9783319015644

The chapter presents the design of the device actuators and sensors in terms of concept developing, dimensioning, testing and prototyping. Inspired by soft robotics concept, the design of actuators is based on the characteristics of dielectric elastomers and their relationship between voltage applied and material elongation. Smart material properties are exploited in the multiple layers actuator proposed, capable of performing both linear elongation and bending, by means of the application of different voltage levels to different layers. Calculations of the torques required by the hand actions and, consequently, the maximum stress are presented. Then, the choice of the material leads to the identification of the correct dimensioning of the system, in terms of voltage to be applied and thick of the actuator layers. In order to control the actuation according to the human will, sensors based on physiological signals are required. EMG and MMG based sensors are chosen, specifying the sensors number and positioning required for an effective human will identification. Pressure sensors, realized with dielectric elastomers, give the feedback of the system. Calculations relating voltage measured and pressure applied on the sensors are presented. Finally, the prototyping and testing phase is described, in which two mockup hands are realized for a proof of concept while EMG and MMG sensors are tested. Experimental setup and qualitative results are extensively described. © The Author(s) 2014.

关键词： Actuators

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Corrigendum to `Parallel machine scheduling and common due window assignment with job independent earliness and tardiness costs' [Information Sciences, 224 (2013) 109–117]

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Information Sciences 2016年 357卷 217-217页

作者： Adam Janiak Władysław Janiak Mikhail Y. Kovalyov Erhan Kozan Erwin Pesch Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 11/17 Janiszewskiego Str. 50-372 Wroclaw Poland Faculty of Computer Science and Management Wroclaw University of Technology 5 Lukasiewicza Str. 50-373 Wroclaw Poland United Institute of Informatics Problems National Academy of Sciences of Belarus Surganova 6 2200120 Minsk Belarus School of Mathematical Sciences QUT GPO Box 2434 Brisbane Qld 4001 Australia Institute of Information Systems University of Siegen 57068 Siegen Germany

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Introduction

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期 1-2页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University MontrealQC Canada Control and Computer Engineering Polytechnic University of Turin Turin Italy Center for Space Human Robotics Italian Institute of Technology Turin Italy

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Conclusions

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期 85-89页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University MontrealQC Canada Control and Computer Engineering Polytechnic University of Turin Torino Italy Center for Space Human Robotics Italian Institute of Technology Torino Italy

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Combined parametric-nonparametric identification of block-oriented systems

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2014年 454卷

作者： Mzyk, Grzegorz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

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一种两自由度的压电-电磁复合能量收集器(英文)

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2014年第9期15卷 711-722页

作者： Hong-yan WANG Li-hua TANG Yuan GUO Xiao-biao SHAN Tao XIE College of Computer and Control Engineering Qiqihar University State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Mechanical Engineering University of AucklandAuckland 1010 New Zealand

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输... 详细信息

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输出功率。研究方法:对一种两自由度的压电-电磁复合能量收集器进行数学建模,并实验验证数学模型的正确性。基于实验测试得到的系统参数值,理论研究压电元件和电磁元件的机电耦合系数对不同能量收集器发电性能的影响关系,并对几种能量收集器的发电能力进行对比分析。重要结论:对于非强耦合(弱或中间耦合)的两自由度机电转换器,复合能量收集器(压电+电磁)具有比单一能量收集器(压电或电磁)更高的发电能力。

关键词：振动复合能量收集两自由度模型压电电磁

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Users’ requirements

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期18卷 3-16页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University Montreal H3A 0G4 QC Canada Control and Computer Engineering Polytechnic University of Turin Turin Italy Center for Space Human Robotics Italian Institute of Technology Turin Italy

ISBN: (纸本)9783319015644

This chapter deals with the identification of the requirements that drive the design of the hand exoskeleton to help crewmembers during Extra-Vehicular Activities (EVAs). The requirements were identified by means of literature review as well as interviews to users and stakeholders. After an introduction to EVAs, the method followed for the design is presented. The space environment and the main characteristics of spacesuits and gloves are reviewed, focusing in particular on the condition of the hands. The fatigue problem of arms and hands during EVAs is explained and some peculiarities of the training that astronauts undergo to prepare to this type of activities in space are stressed. Since one of the most important problems for materials and electronics in space is radiation, the total dose that has to be withstood in the typical International Space Station (ISS) environment is then estimated. Different requirements also come from the EVA spacesuit equipment, as well as from safety and cost considerations. A discussion on kinematics and dynamics follows, in which the main hand movements needed for EVAs and the different joints of the fingers are discussed. Finally, a table summarizes the identified requirements, which drive the design of the hand exoskeleton. © The Author(s) 2014.

关键词： Manned space flight

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On applications of robotic representation of molecules

On applications of robotic representation of molecules

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Michał Adamczyk Ignacy Duleba Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In this paper a robotic representation of chemical compounds was proposed. The representation allows to model chemical molecules similarly to open-chain manipulators with tree-like structures. Transformations between known chemical representations (formats) and robotic one were established and the representations were compared to. Possible applications of the robotic representation were enumerated and illustrated on a simple example.

关键词： Robot kinematics Manipulators Kinematics Chemicals Chemical compounds

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