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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Yajing Shen Chin To Wong Wenfeng Wan Masahiro Nakajima Toshio Fukuda Department of Mechanical and Biomedical Engineering City University of Hong Kong Kowloon Hong Kong Center for Micro-nano Mechatronics Nagoya University Japan School of Mechatronic Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479987313

Cell culture is a basic and significant task in biological engineering. Many cell culture works have been studied up to now. However, the cell is always cultured in a 2D plate in current techniques. Thus, the cells can only growth on a flat plate, which condition is far from that in vivo. Hydrogel is a kind of biocompatible material, inside with the cell can spread and growth. It provides us a method to study the cell's property in real 3D environment. Thus, how to control the shape of the gel is an important topic. In this paper, we proposed a method to control the gel's shape and position based on the manipulation of the anode electrode. The gel generation is based on the electrodeposition of calcium alginate. The reaction speed is controlled by the applied current. Three examples were demonstrated to show how our system is working. The result shows that straight gel line, arbitrary gel shape on substrate and multi-layer gel structure can be obtained by this proposed method.

关键词： Three-dimensional displays Shape Anodes Substrates Assembly Sodium

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In situ Nanomanipulation with 3D SEM-CT Observation inside Environmental SEM

In situ Nanomanipulation with 3D SEM-CT Observation inside E...

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International Symposium on Micro-Nanomechatronics and Human Science

作者： Masahiro Nakajima Masaru Takeuchi Toshio Fukuda Yasuhisa Hasegawa Qiang Huang Center For Micro-nano Mechatronics Nagoya University Department of Micro-Nano Systems Engineering Nagoya University Institute for Advanced Research Nagoya University Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology

ISBN: (纸本)9781467382182

In situ nanomanipulation system is presented with 3D scanning electron microscope - computed tomography (SEM-CT) system integrated with inside an environmental - SEM (E-SEM). The E-SEM was used to achieve a real-time high resolution imaging for high precision nanomanipulation. The SEM-CT system was used for obtaining 3D cross-sectional image with sub-micron high resolution. In this paper, Caenorhabditis elegans (C. elegans) was used as a target of biological sample to demonstrate a nanoinjection operation. The nanoinjection was determined by the SEM-CT system with its 3D information.

关键词： Scanning Electron Microscope Caenorhabditis elegans Biological samples Three Dimensions Integrated system High resolution imaging

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Inversion-free feedforward dynamic compensation of hysteresis nonlinearities in piezoelectric micro/nano-positioning actuators

Inversion-free feedforward dynamic compensation of hysteresi...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Omar Aljanaideh Mohammad Al Janaideh Micky Rakotondrabe Department of Automatic Control and Micro-Mechatronic Systems. (AS2M) CNRS - University of Franche-Comt at Besanon (UFC) Besanon France Department of Mechatronics Engineering University of Jordan Amman Jordan

ISBN: (纸本)9781479969241

A new methodology that employs the rate-dependent Prandtl-Ishlinskii model (RDPI) as a model and a compensator is suggested in this study for modeling and compensation of rate-dependent hysteresis nonlinearities of a piezoelectric actuator. The technique employs a restructuration of the model that ignores the need to derive an inverse model, which avoids the additional calculations required to formulate a compensator. The simulation results are presented to demonstrate the effectiveness of the strategy on modeling and compensation of hysteresis nonlinearities at various frequencies. The simulation results were followed by experimental study on a piezoelectric actuator that exhibits rate-dependent hysteresis nonlinearities. The results demonstrate that the proposed methodology can be employed effectively for compensation of rate-dependent hysteresis nonlinearities without developing an inverse model.

关键词： Hysteresis Mathematical model Piezoelectric actuators Feedforward neural networks Time-frequency analysis Predictive models

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The Determination of the Shelf Mass in the Universal Shelving Stacker by Measuring the Frequency Converter Torque Generating Current of the Main Drive

Manufacturing Technology

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Manufacturing Technology 2015年第3期15卷 30-30页

作者： Kollár, Pavol Nikitin, Yuri Straka, Martin Department of Electrical Engineering and Mechatronics Faculty of Electrical Engineering and Informatics Technical university of Kosice Letna 9 Kosice042 00 Slovakia Department of Mechatronic Systems Kalashnikov Izhevsk State Technical University "Mechatronic Systems" Department Izhevsk Russia Logistics Institute of Industry and Transport Faculty of Mining Ecology Process Control and Geotechnology Technical university of Kosice Park Komenskeho 14 Kosice043 84 Slovakia

The correct determination of the shelf mass including content is very important for the proper function of a universal shelf stacker (USS) drives life and construction USS so that these elements were not overloaded. Weighing can be done by direct methods using various sensors tension and compression but also the indirect method, by the torque sensing of current frequency converter, which controls the speed of the three-phase asynchronous motor. This method does not require any additional construction or adaptation or additional sensors or electronic evaluation system power operation. Weighting method of shelf in USS is based on the fact that the torque converter current is proportional to the sum of the weight of the shelf and the extractor and its value provides almost every frequency converter. In contrast to the direct weighing method of the shelf it is obvious economic advantage of this method and the accuracy is sufficient for the operation of USS. Copyright © 2015. Published by Manufacturing Technology. All rights reserved.

关键词： Frequency converters

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UavisBug: Vision-based 3D motion planning and obstacle avoidance for a mini-UAV in an unknown indoor environment

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Canadian Aeronautics and Space Journal 2014年第1期60卷 9-21页

作者： Ebrahimi, Amir Janabi-Sharifi, Farrokh Ghanbari, Ahmad School of Engineering Emerging Technology Department of Mechatronics Tabriz University Tabriz Iran Department of Mechanical and Industrial Engineering Ryerson University 350 Victoria Street TorontoONM5M 2K3 Canada School of Engineering Emerging Technology Department of Mechanical Engineering and Mechatronic Engineering Head of Mechatronic Research Laboratory Tabriz University Tabriz Iran

This paper introduces a new class of Bug algorithm that combines local planning with global information to guarantee convergence. Existing Bug algorithms are typically designed for 2D robot navigation in 2D environments and do not integrate vision information within their planning algorithm. In this paper a new algorithm, uavisBug, is proposed for small quadrotor UAV navigation in a 3D environment. On-board vision perception is incorporated to enable 3D way-finding behaviors in an initially unknown environment. The proposed algorithm shows non-oscillatory behaviors in the UAV's flight in proximity of obstacles. It is also immune to potential local minima exhibited by artificial force field approaches. In addition to system and sensors modeling, UAV control, UAV pose estimation, and fast environment mapping are also included. Simulation results are used to validate the proposed approach. © 2014 CASI.

关键词： Unmanned aerial vehicles (UAV)

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H_∞ Control for a Smart Micro-Positioning System with an Analytical Model for the Output of the Inverse Compensation

H_∞ Control for a Smart Micro-Positioning System with an An...

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American Control Conference

作者： Micky Rakotondrabe Omar Aljanaideh Mohammad Al Janaideh Department of Automatic Control and Micro-Mechatronic Systems department (AS2M) FEMTO-ST Institute CNRS - University of Franche-Comt at Besanon (UFC) - ENSMM - UTBM Besanon France Department of Mechanical Engineering The University of Jordan Amman 11942 Jordan Department of Mechatronics Engineering The University of Jordan Amman 11942 Jordan

ISBN: (纸本)9781479917730

An experimental study was carried out on a piezoelectric actuator in order to explore the benefits of a mathematical formula [1], that describes the output of the inverse compensation when an inverse Prandtl-Ishlinskii hysteresis model is applied as a feedforward compensator. The inverse Prandtl-Ishlinskii was first formulated and applied for compensation of hysteresis nonlinearities of a piezoelectric actuator. The theoretical formula was afterwards employed to construct an H_∞ feedback control. The controller was calculated and applied to the piezoelectric actuator with the inverse feedforward model. The experimental results verify the effectiveness of the controller and the benefits that the theoretical formula of the inverse compensation can contribute.

关键词： Hysteresis Piezoelectric actuators Feedforward neural networks Adaptive control Standards

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Two chambers soft actuator realizing robotic gymnotiform swimmers fin

Two chambers soft actuator realizing robotic gymnotiform swi...

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2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

作者： Razif, Muhammad Rusydi Muhammad Faudzi, Ahmad Athif Mohd Bavandi, Mahrokh Nordin, Najaa Aimi Mohd Natarajan, Elango Yaakob, Omar Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai81310 Malaysia Department of Control and Mechatronic Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai81310 Malaysia Marine Technology Center Universiti Teknologi Malaysia Skudai81310 Malaysia

ISBN: (纸本)9781479973965

This paper shows a study on two chambers soft actuator development and its application to an artificial soft actuator fin. Simulations of two chambers actuator are conducted using finite element method software and the bending angles produced are computed. Eleven designs are proposed and compared which differ in separating wall thickness, actuator thickness, fiber location, fiber materials, and rubber materials to analyze the optimal bending angle produced by the actuator. Two actuators are then fabricated and embedded at the ends of soft actuator fin to produce a traveling wave along the soft actuator fin. Soft actuator fin propels like gymnotiform swimmers and shows good linear motion. © 2014 IEEE.

关键词： Actuators

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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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Harvesting Energy from Ship Rolling Using an Eccentric Disk Revolving in a Hula-hoop Motion

Harvesting Energy from Ship Rolling Using an Eccentric Disk ...

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International Power Electronics Conference

作者： Yu-Jen Wang Yu-Ti Hao Department of Mechanical Engineering and Institute of Mechatronics Engineering National Taiper University of Technology Department of Systems and Naval Mechatronic Engineering National Cheng Kung University

ISBN: (纸本)9781479927067

This research developed an eccentric disk and novel circular Halbach array to harvest wave energy from the rolling motion of a ship. The designed eccentric disk revolves in a motion that mimics a hula-hoop at higher angular speeds than eccentric disks oscillate normally having. The produced kinetic energy was converted into electrical energy through electromagnetic induction. To enhance electromagnetic efficiency, this study presents a novel circular Halbach array. The wave energy harvesting device, composed of the eccentric disk and the circular Halbach array, was mounted in a ship's cabin. The simulated power output of the eccentric disk was approximately 2.34 W. The proposed energy harvester can serve as a back-up power source during emergencies.

关键词： Energy harvester Hula-hoop motion and Ship rolling

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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