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2019 World Congress on engineering and Computer Science, WCECS 2019

作者： Nnodim, Chiebuka T. Fath El-Bab, Ahmed M.R. Ikua, Bernard W. Sila, Daniel N. Department of Mechatronic Engineering Pan African University Institute for Basic Sciences Technology and Innovation Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Mechatronic Engineering Jomo Kenyatta University of Agriculture and Technology Kenya Department of Food Science and Technology Jomo Kenyatta University of Agriculture and Technology Kenya

ISBN: (纸本)9789881404879

Mechanical damages have been caused by the process of pressing mango fruits to check for it's ripeness. In order to reduce this damage, two varieties of mangoes namely Totapuri and Tommy Atkins were tested by an advanced universal testing machine (UTM). Each of these varieties had 5 samples of different ripeness levels to test for their elastic modulus. The mangoes were loaded radially and the results of the elastic modulus obtained, falls between 0.5MPa and 3.5MPa. This paper aims at presenting a detailed design procedure for developing a tactile sensor that can differentiate between different ripeness levels in mango fruit. The tactile sensor is based on two springs configuration, each of these springs having different stiffness. These design procedures were carried to achieve high sensitivity and linearity in the sensor output. The measuring range of the sensor was selected based on the modulus of elasticity of mango fruit chosen from the compression tests carried out on the mango fruit. The performance of the tactile sensor was studied by developing a finite element model using the ANSYS Mechanical ANSYS Parametric Design Language (APDL) software. The simulation results gotten from the performance of the tactile sensor shows that the sensor can differentiate between different mango fruits based on their elastic modulus within the specified range of the sensor. © Newswood *** right reserved.

关键词： Elastic moduli

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Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots

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Journal of Central South University 2020年第9期27卷 2673-2686页

作者： SHEN Wei Lü Xiao-bin MA Chen-jun Department of Mechatronics Engineering University of Shanghai for Science and TechnologyShanghai 200093China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310000China Libin Technology R&D Center Shanghai Electric Hydraulic&Pneumatics Co.Ltd.Hangzhou 310000China

In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is ***,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory ***,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental *** simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.

关键词： hydraulic quadruped robot impedance control backstepping sliding mode control virtual damping control

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Robust Backstepping Sliding Mode Controller Investigation for a Port Plate Position Servo System Based on an Extended States Observer

Robust Backstepping Sliding Mode Controller Investigation fo...

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作者： Shen, Wei Huang, Honglei Wang, Jiehao Department of Mechatronics Engineering University of Shanghai for Science and Technology Shanghai200093 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou310000 China

For reducing throttling loss in a pilot oil pipe in a hydraulic system based on common pressure rail, this paper proposes a solution that increases efficiency by reducing the relieving pressure. In order to compensate for the resulting control performance degradation, the paper takes a valve controlled swing motor system under low pressure as the research aim. Considering the uncertainty of external disturbance and flow parameters, the mathematical model of the system is established, using an extended state observer to estimate the external disturbances in real time to increase the compensation value and state feedback for the robust backstepping sliding mode controller. Finally, the simulation results confirm the control algorithm proposed is effective for keeping control performance in decreasing pressure conditions. © 2018 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd

关键词： Backstepping

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Evaluating the linearized feedback controller for regulation of aided sit-to-stand in subjects with spinal cord injuries 7

Evaluating the linearized feedback controller for regulation...

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7th IEEE Conference on Systems, Process and Control, ICSPC 2019

作者： Ahmed, Mohammed Huq, M.S. Ibrahim, B.S.K.K. Jalo, Salihu Abdulmumini Elhassan, Garba Department of Electrical and Electronics Engineering Abubakar Tafawa Balewa University Bauchi Nigeria Advanced Mechatronics Research Group Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja Malaysia Institute of Technology Department of Mechatronic Engineering Sligo Ireland School of Mechanical Aerospace and Automotive Engineering Coventry University Coventry United Kingdom Adamawa State Polytechnic Yola Department of Electrical and Electronics Engineering Adamawa State Nigeria Universiti Tun Hussein Onn Malaysia Parit Raja Malaysia National Space Research and Development Agency Abuja Nigeria

ISBN: (纸本)9781728118260

Presented was an investigation on the performance of the feedback linearization control (FLC) method for the FES induced STS movement application in paraplegia. Improving the operation condition of the FES induced movement is one of the challenges currently receiving attention by so many scholars in the field. The Newton-Euler and Euler-Lagrange methods are utilised to check its correctness together with the muscle model proposed by Ferrarin and Pedotti. The FLC was evaluated for the system with and without fatigue disturbance. Although the fatigue disturbance was introduced in the system, results revealed that the cumulative current, cumulative rate of change in current the cumulative rate of change in current, RMSE, tracking error, cumulative tracking error and the level of the control signal, were by far better for the FL than that of the PID control technique with wide margins. Therefore, results portrayed that the FL control system the tendency to annul the effects of the effect of fatigue with higher capability over the gain scheduling based PID control method. It also indicates superiority in terms of system stability. © 2019 IEEE.

关键词： Three term control systems

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Design and Fabrication of High Resolution Diffractive Optical Encoder

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Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2018年第3期39卷 311-317页

作者： Chen, Yi-Cheng Shen, Sheng-Chih Department of Systems and Naval Mechatronic Engineering National Cheng Kung University Tainan701 Taiwan Intelligent Mechatronics Department Smart Micro-systems Technology Center Industrial Technology Research Institute China

Rotary encoders are angular measurement devices that are used in many industrial applications. High-precision angle measurement technology is the basis for servomotor functionality;it determines the capabilities of semiconductor processing, ultra-precision machining, and precision alignment. The present study adopted an optical pickup scheme and, by generating an incident beam on a grating’s narrow structure, used the diffraction phenomenon to develop a high-precision absolute optical encoder for solving the problem of signal to noise ratio (SNR) reduction due to code disc shrinkage in geometric optical designs. Experimental results prove that the structure of the diffractive optical encoder proposed in the present study can achieve a resolution of 14 bit/rev;with the addition of a two-dimensional or binary sine-wave grating design, signal subdivision technology can be used to further improve the signal resolution to 10-12 bit/rev, thus achieving ultra-high precision measurement. © 2018, Chinese Mechanical engineering Society. All right reserved.

关键词： Diffraction gratings

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A Multi Degree of Freedom Motion Platform with Micro-pusher using Additive Manufacture Technology

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Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2018年第5期39卷 471-475页

A novel multi-degree-of-freedom (MDOF) motion platform was developed using symmetric piezoelectric plate and a Ni alloy micro-pusher element. An additive manufacturing (AM) technique was employed to manufacture a Ni alloy micro-pusher, which was then attached at the midpoint of the long side of a piezoelectric plate with dual electrodes to construct a symmetric piezoelectric actuator (SPA). The research integrated the concept of bricks, and three different vibration modes of the SPA were designed to develop a MDOF motion platform, which was able to rotate a hemisphere device along three perpendicular axes. The experiment demonstrated the MDOF motion platform working frequencies along the X, Y, and Z axes to be 223. 6, 223. 2, and 225 kHz and the rotation speeds to reach 76 rpm, 71 rpm, and 192 rpm, respectively, at a driving voltage of 30Vpp. In the future, this MDOF motion platform may be used for a number of applications, such as portable mobile devices and sun-tracking systems in green energy harvesters. © 2018, Chinese Mechanical engineering Society. All right reserved.

关键词： 3D printers

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Research on Bending and Torsion Properties of Bionic Square Continuum Robot

Research on Bending and Torsion Properties of Bionic Square ...

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IEEE International Conference on Robotics and Biomimetics

作者： Jiaorong Liu Tao Jin Long Li Fei Yang Yingzhong Tian Yang Xian Fengfeng Xi School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China School of Mechatronics Engineering Harbin Institute of Technology Harbin China Department of Mechanical Ryerson University Toronto ON Canada

ISBN: (纸本)9781728103785;9781728103778

Continuum robot, often taking inspiration from biomimetics, is an exciting novel research field and has great capability. The higher stiffness continuum robot may be inspired by the biology, such as seahorse, pipefish and pipehorse, which has both strong skeleton and great dexterity. In this paper, we present a novel square continuum robot (SCR), according to the simplified model of those square shape fish, in which both the bending curvature and torsional angle are controllable. The idea is to employ square components to mimic the armor and connected those components with ball pair and soft skin. The bending and twisting capabilities of SCR are explored in both numerical model and prototype, while a comparison has been done to analysis the dexterity difference in different situations. Based on the numerical model, relationship between angle-moment in pure bending and angle-torque in pure torsion are shown respectively in simulation curve. This topic is expected to provide a type of new structure for continuum robot, which not only expands the dexterity, but also make the robot stiffer, and provide basic for the further study.

关键词： Skeleton Conferences Robots Biomimetics Manufacturing

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Corrections to “STAT: Spatial-Temporal Attention Mechanism for Video Captioning”

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IEEE Transactions on Multimedia 2020年第3期22卷 830-830页

作者： Chenggang Yan Yunbin Tu Xingzheng Wang Yongbing Zhang Xinhong Hao Yongdong Zhang Qionghai Dai School of Information Science and Technology University of Science and Technology of China Hefei China Institute of Information and Control Hangzhou Dianzi University Hangzhou China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Graduate School at Shenzhen Tsinghua University Shenzhen China Science and Technology on Mechatronic Dynamic Control Laboratory Beijing Institute of Technology Beijing China Department of Automation Tsinghua University Beijing China

Presents corrections to affiliations in the above named paper.

关键词： Feature extraction Convolutional neural networks Benchmark testing Streaming media Semantics

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燃爆弹跳驱动器仿真与试验研究（英文）

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2017年第10期18卷 831-840页

作者： Yun-guang LUAN Hua-ming WANG Dong-biao ZHAO Yang WANG Feng-hong CHEN College of Mechanical and Electronical Engineering Nanjing University of Aeronautics and Astronautics Department of Mechatronics Suzhou Vocational Institute of Industrial Technology State Key State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University

目的:研究燃爆弹跳驱动器热-动力学模型,分析驱动器的输出性能,并通过试验验证驱动器热-动力学模型的正确性。创新点:1.建立了燃爆弹跳驱动器热-动力学模型,得到燃爆弹跳驱动器的相关输出参数随时间的变化规律;2.通过理论仿真与试验测... 详细信息

目的:研究燃爆弹跳驱动器热-动力学模型,分析驱动器的输出性能,并通过试验验证驱动器热-动力学模型的正确性。创新点:1.建立了燃爆弹跳驱动器热-动力学模型,得到燃爆弹跳驱动器的相关输出参数随时间的变化规律;2.通过理论仿真与试验测试分析了驱动器的输出性能。方法:1.根据对燃爆弹跳机器人工作过程分析,推导出燃爆弹跳驱动器工作过程中的动力学模型,并对锁紧力与弹簧刚度参数进行测试;2.根据热-动力学模型推导出燃烧室内压力随时间变化的函数;3.通过试验测试驱动器驱动弹跳过程中压力和位移随时间的变化曲线,将测试结果与热-动力学模型仿真的结果进行比较。结论:1.建立了燃爆弹跳驱动器的热-动力学模型,得到了驱动器的输出性能参数;2.试验测试结果与仿真计算结果吻合,证明了驱动器热-动力学模型的正确性。

关键词：热-动力学模型燃爆驱动器仿真分析试验分析输出性能

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High-precision microinjection of microbeads into C. elegans trapped in a suction microchannel

High-precision microinjection of microbeads into C. elegans ...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Nakajima, Masahiro Ayamura, Yuki Takeuchi, Masaru Hisamoto, Naoki Pastuhov, Strahil Hasegawa, Yasuhisa Fukuda, Toshio Huang, Qiang Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi 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 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)9781509046331

This study presents the high-precision microinjection of fluorescent micro-gel beads into Caenorhabditis elegans trapped in a suction microchannel. In our previous works, we demonstrated survival microinjection by a conventional micromanipulation technique. However, the focal planes differed between the tip of the microinjection tool and the target axon inside the C. elegans body. To resolve this problem, we here propose a suction microchannel that traps C. elegans during the microinjection operation. The focal plane of the target nerve axon matches that of the fluorescent microbead in the microinjection tool, enabling high-precision microinjection into the interior of the C. elegans body under a microscopic view. In an experimental evaluation, the positioning accuracy of the injection into C. elegans was within the target accuracy (15 μm). The head-flrst navigation alignment of C. elegans along the microchannel was controlled by electrotaxis. Injection of the fluorescent micro-gel bead into the C. elegans body was quantitatively confirmed by confocal microscopy. © 2017 IEEE.

关键词： Microchannels

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