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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Moghaddam, Borna Monazzah Chhabra, Robin Carleton University Autonomous Space Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering Department OttawaONKIS 5B6 Canada

ISBN: (纸本)9798350337020

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity. © 2023 IEEE.

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Inherently integrated microfiber-based flexible proprioceptive sensor for feedback-controlled soft actuators

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npj Flexible Electronics 2024年第1期8卷 803-816页

作者： Hwajoong Kim Hyunbin Na Seungbeom Noh Shinwon Chang Jinho Kim Taejune Kong Gyowook Shin Chankyu Lee Seonggyu Lee Yong-Lae Park Sehoon Oh Jaehong Lee Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)333 Techno jungang-daeroHyeonpung-eupDalseong-gunDaeguRepublic of Korea Department of Mechanical Engineering Seoul National University1 Gwanak-roGwanak-guSeoulRepublic of Korea University of California BerkeleyCAUSA

For the accurate and continuous control of soft actuators in dynamic environments,the movements of the soft actuators must be monitored in *** this end,various soft actuators capable of selfmonitoring have been developed by separately integrating sensing devices into ***,integrating such heterogeneous sensing components into soft actuators results in structural complexity,high manufacturing costs,and poor interfacial ***,we report on intelligent pneumatic fiber-reinforced soft actuators with an inherent flexible proprioceptive sensor that uses only the essential components of typical fiber-reinforced soft *** inherent flexible proprioceptive sensor is achieved by leveraging two parallel conductive microfibers around an elastomeric chamber of the soft actuator,which simultaneously acts as both a capacitive bending sensor and radial expansion limiting fibers of typical fiber-reinforced soft *** proprioceptive soft actuator exhibits excellent mechanical actuation up to 240°bending motion and proprioceptive sensing performance with high sensitivity of 1.2 pF rad^(−1).Mathematical analysis and simulations of the soft actuator can effectively predict the bending actuation and capacitive responses against input *** that proprioceptive soft actuators can be used to construct a soft gripping system and prosthetic hand which express various hand gestures and perform dexterous manipulation with real-time proprioceptive sensing capability.

关键词： prop integrating sensor

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Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

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Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

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CO2 Laser Fabrication of a Passive continuous-flow T-shaped Polymethyl Methacrylate (PMMA) Micromixer

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Lasers in Manufacturing and Materials Processing 2023年第3期10卷 373-388页

作者： Okello, Job Lazarus El-Bab, Ahmed M. Fath Yoshino, Masahiko El-Hofy, Hassan A. Industrial and Manufacturing Engineering Department University of Science and Technology New Borg El-Arab City Egypt Mechatronics and Robotics Engineering Department University of Science and Technology New Borg El-Arab City Egypt Department of Mechanical Engineering Tokyo Institute of Technology Tokyo Japan On leave from Department of Production Engineering Faculty of Engineering Alexandria University Alexandria Egypt

Since the emergence of microfluidics, the demand for microfluidic devices is ever increasing. Polymethyl methacrylate (PMMA) is extensively used to manufacture microfluidic devices because it is cheap, disposable, and biocompatible. CO2 laser micromachining of PMMA is cheap, fast, and efficient. However, thermal defects affect the process. In this work, a passive continuous-flow T-shaped micromixer was fabricated using a low-power CO2 laser. Microchannels were fabricated on PMMA substrates coated with a 1-µm layer of 99.95% pure aluminium. The power and speed of the laser varied from 1.5 to 7.5 W and 5 to 17.5 mm/s respectively. The effects of the deposited energy on surface roughness, heat-affected zone, and volumetric removal rate were examined. The microchannels were characterized to get the suitable dimensions for the micromixer’s microchannel which was fabricated at 3.0 W and 17.5 mm/s. The micromixer was bonded using the microwave welding technique and tested for leakage using purple dye by varying the flow pressure at intervals of 100 kPa for 20 min. Up to 1.5 MPa, no leakage occurred. Beyond 1.5 MPa, any increase in pressure resulted in leakage from the inlet tubes. Coating PMMA substrates with 99.95% pure aluminium before fabrication reduces thermal defects and improves efficiency. © 2023, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.

关键词： Carbon dioxide lasers

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Recursive Input-Output Linearization for Slow-Fast Realization of Nonholonomic Hamiltonian Control Systems

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IEEE Transactions on Automatic Control 2024年第6期70卷 3571-3586页

作者： Gzenda, Vaughn Chhabra, Robin Carleton University Autonomous Space Robotics Laboratory OttawaONK1S 5B6 Canada Toronto Metropolitan University Department of Mechanical Industrial and Mechatronics Engineering TorontoONM5B 2K3 Canada

In this paper, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using the kinetic energy metric and the geometry of friction forces. The (slow) invariant manifold is identified by a set of invariance conditions resulting in partial differential equations that generally do not have an analytic solution. We approximate the invariant manifold along with the control inputs with power series and show that using this approximation the invariance conditions admit an inherent recursion. Accordingly, we develop a recursive procedure to perform dynamic input-output linearization of the approximated slow system. We consider the output trajectory tracking problem using a PD control law on the Nth order approximation of the invariant manifold. Closed-loop stability analysis is performed on both the invariant manifold and the full phase space of the system. We prove that if the internal dynamics of the nonholonomic system is exponentially stable, then the perturbed system remains asymptotically stable. Moreover, we prove that the output error dynamics is uniformly bounded when applying the approximated control law, with bounds dependent on the control gains and strength of the friction force. Our approach is illustrated through a numerical case study on a differential robot. © 1963-2012 IEEE.

关键词： Kinetic energy

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Potentiodynamic study and microstructural evaluation of the corrosion behavior of mill scale and alumina reinforced aluminium metal matrix composites

Potentiodynamic study and microstructural evaluation of the ...

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2024 International Conference on Science, engineering and Business for Driving Sustainable Development Goals, SEB4SDG 2024

作者： Adediran, Adeolu A. Mosadomi, Oreofeoluwa A. Ikubanni, Peter P. Nana, Achile Ikumapayi, Omolayo Nwaeju, Cynthia C. Ojji, Immanuel O. Afolalu, Sunday A. Landmark University Department of Mechanical Engineering Kwara State Omu-Aran Nigeria Science University of Johannesburg Mechanical Engineering South Africa CSIR-National Metallurgical Laboratory Jamshedpur831007 India Afe Babalola University Department of Mechanical Engineering Ado-Ekiti Nigeria Nigeria Maritime University Department of Mechanical Engineering Delta State Okerenkoko Nigeria Demontfort University Department of Mechatronics and Robotics Leicester United Kingdom

ISBN: (纸本)9798350358155

The current study reports the corrosion behavior of aluminium metal matrix composites (AMMCs) reinforced with mill scale (MS) and alumina (Al2O3) in a simulated marine environment (3.5 % NaCl solution). Electrochemical technique and optical microscopy were used to evaluate the corrosion behavior of the composites developed at varying weight ratios of MS (0, 2, 4, 6, 8) and Al2O3 (0, 2, 4, 6, 8) respectively. From the results obtained, the average grain size of the composites after exposure to the marine environment varies significantly. Sample A showed an average grain size of 55.02 μm, B - 26.85 μm, C - 28.12 μm, D - 27.03 μm, E - 32.31 μm and F (control) - 37.02 μm. The contributory influence of the reinforcing materials is evident in the variation noted in the average grain sizes. Their presence acts as active sites for corrosion initiation. The oxidation of metal ions causes severe pitting with sample C having the optimum corrosion rate of 0.9532 mm/yr and sample D showing the least corrosion rate of 0.6188 mm/yr. The morphology of the corroded surfaces confirms the presence of pitting corrosion on the composites developed. © 2024 IEEE.

关键词： Pitting

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Resampling Strategies for Increasing Point Density in Narrow Passages for Probabilistic Roadmaps

Resampling Strategies for Increasing Point Density in Narrow...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Bartłomiej Bonar Tomasz Buratowski Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Krakow Kraków Poland

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This paper presents multiple point-sampling strategies for stochastic approach to path planning. Their main purpose is to increase points density in narrow corridors, which are often difficult areas to navigate using non-deterministic approach for path planning. At the same time, algorithms for distributing points over the area of narrow regions and reducing their number in open space are described as well as postprocessing algorithm distancing samples from obstacles. Simulation-based tests are performed to compare achieved results and estimate calculation times.

关键词： Navigation Gaussian distribution Probabilistic logic Vectors Path planning Computational efficiency Complexity theory

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Path Tracing and Validation of Omni Wheeled Mini Robot Using Visual Feedback

Path Tracing and Validation of Omni Wheeled Mini Robot Using...

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International Conference on Advanced Computer Control, ICACC

作者： Aftaab Ahamed Karthik Jayaraj Shibin Fazil Nikitha S Sudheer A P Robotics Interest Group Mechatronics/Robotics Laboratory National Institute of Technology Calicut Mechanical Engineering Department Mechatronics/Robotics Laboratory National Institute of Technology Calicut

ISBN: (数字)9798350379136

ISBN: (纸本)9798350379143

Holonomic drives are gaining popularity in many fields due to their versatility in various industrial applications. The ability of the holonomic drive robots to move in all directions makes it distinct from other drive mechanisms. Open-loop control of omnidirectional bots can be achieved with relative ease whereas automating it is not as easy. When trying to create an automated system with lower cost, off the shelf components and hardware, other problems may arise as a result of the poor performance of the components. Here a three wheeled omnidirectional robot that can trace a predefined path without human intervention has successfully been developed.

关键词： Location awareness Visualization Costs Service robots Debugging Drives Hardware Mobile robots Robots Wireless fidelity

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Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System 48

Optimum Design of a Wire-Driven Redundant Spherical Parallel...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Gamal, Ahmed Mohamed, Abdelfatah Iwata, Hiroyasu Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to such cases, their high cost and the lack of professional caregivers arise the need for robotic rehabilitation systems. On the other hand, the existing robotic systems for foot-drop rehabilitation are heavy and bulky. Therefore, in this paper, a lightweight foot-drop rehabilitation system based on a wire-driven redundant spherical parallel manipulator (RSPM) is developed. The proposed RSPM can provide 3-DOF movements to exercise the dorsiflexion, plantarflexion, supination, lateral and medial rotations. Kinematic and static analyses are performed for the proposed rob RSPM. In order to guarantee permissible positive tensions for the wires of the RSPM, a new performance index is introduced, called permissible tension index. Optimum design based on optimizing certain performance indices is carried out to obtain the proper dimensions of the movable platform design parameters of the proposed RSPM. A new index called permissible tension index is introduced to guarantee permissible positive tensions for the wires of the RSPM. A weighted sum of the global kinematic dexterity, global minimized transmission and the global permissible tension indices is considered for the objective function of the optimization process. The RSPM performance is evaluated over its range of motion and the reaction forces exerted on the ankle are shown to be tolerable by an injured ankle. Additionally, the Jacobian-based kinematic controller is shown to be capable of tracking the normal gait trajectories with acceptable tracking errors. © 2022 IEEE.

关键词： Kinematics

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Design and Hybrid Impedance Control of a Compliant and Balanced Wrist Rehabilitation Device 48

Design and Hybrid Impedance Control of a Compliant and Balan...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yellewa, Mwayi E Mohamed, Abdelfatah Ishii, Hiroyuki Assal, Samy F. M. Department of Mechatronics and Robotics Engineering Egypt Waseda University Japan Tanta University Faculty of Engineering Department of Production Engineering and Mechanical Design Egypt

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Wrist rehabilitation robotic devices have delivered the repetitive and gradual training necessary to rehabilitate individuals with wrist impairments properly. Generally, there are two approaches for the design of the wrist rehabilitation devices. In one approach, the motors are placed on the forearm with complex transmission mechanisms to reduce the weight and inertia. In the other approach, rotary motors are placed close to the wrist joints with simple design, and this leads to high weight and inertia. In this paper, a simple design of two-degrees of freedom compliant and balanced wrist rehabilitation device is proposed. It can provide the radial-ulnar deviation and flexion-extension rehabilitation motions. In the proposed design, the servomotors that are placed close to the wrist joints are counterweight balanced to reduce the inertia and the required torques. The balancing is carried out by optimizing the center of mass of the device in the SolidWorks model. A custom design series elastic unit is proposed to be coupled to the servomotor to achieve the compliance for safe human-robot interaction. Based on the device dynamics modeled by ADAMS software, hybrid position and force tracking impedance control is developed for position and force tracking through the different therapeutic exercises. The device is shown to be capable of achieving the different therapeutic exercises compliantly such as the passive, active-assisted and isometric exercises. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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