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International Workshop on Advanced Motion Control (AMC)

作者： Fumiaki Yamada Kohei Suzuki Tatsuo Toda Gan Chen Isao Takami Faculty of Science and Engineering Nanzan University Aichi Japan Graduate Program of Mechatronics Nanzan University

This paper proposes the robust H2 controller with constraints for the active suspension using the half car model. The purpose of this study is to improve the ride comfort with satisfying the structural constraints. According to International Organization for Standardization 2631, there exist the uncomfortable frequency bands of the human body. The uncomfortable frequency bands are 4–8[Hz] for the vertical acceleration and 0.63–0.8[Hz] for the pitch angular acceleration. In this paper, the acceleration in the specific frequency bands is suppressed by using frequency shaping. On the other hand, the active suspension has the structural constraints which are constraints on the vertical force of the wheel, the suspension stroke, and the control input. They are expressed as the time-domain constraints. In addition, the robust stability for the perturbation of the front and rear weights of the car body is guaranteed. The perturbation of the weights of the car body affects the pitch motion of the car body and the vertical force of the wheels. The robust stability for the perturbation is guaranteed by using the polytopic representation. The robust H2 controller is designed by solving a finite set of LMIs to achieve the purposes. The effectiveness of proposed controller is evaluated by simulations and experiments.

关键词： Suspensions Wheels Acceleration Force Robustness Mathematical model Robust stability

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Correction to: Material Mapping of QCT-Derived Scapular Models: A Comparison with Micro-CT Loaded Specimens Using Digital Volume Correlation

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Annals of biomedical engineering 2019年第11期47卷 2342页

作者： Nikolas K Knowles Jonathan Kusins Mohammadreza Faieghi Melissa Ryan Enrico Dall'Ara Louis M Ferreira School of Biomedical Engineering The University of Western Ontario London ON Canada. nknowle@uwo.ca. Roth|McFarlane Hand and Upper Limb Centre St. Josephs Health Care London ON Canada. nknowle@uwo.ca. Collaborative Training Program in MSK Health Research and Bone and Joint Institute The University of Western Ontario London ON Canada. nknowle@uwo.ca. Roth|McFarlane Hand and Upper Limb Centre Surgical Mechatronics Laboratory St. Josephs Health Care 268 Grosvenor St. London ON Canada. nknowle@uwo.ca. Department of Mechanical and Materials Engineering The University of Western Ontario London ON Canada. Roth|McFarlane Hand and Upper Limb Centre St. Josephs Health Care London ON Canada. Collaborative Training Program in MSK Health Research and Bone and Joint Institute The University of Western Ontario London ON Canada. School of Biomedical Engineering The University of Western Ontario London ON Canada. Department of Oncology and Metabolism and INSIGNEO Institute for In Silico Medicine University of Sheffield Sheffield UK.

The article Material Mapping of QCT-Derived Scapular Models: A Comparison with Micro-CT Loaded Specimens Using Digital Volume Correlation, written by Knowles et al, was originally published electronically on the publisher's internet portal (currently SpringerLink) on 11 July 2019 without open access. With the author(s)' decision to opt for Open Choice the copyright of the article changed on [August 30] to © The Author(s) 2019 and the article is forthwith distributed under the terms of the Creative Commons Attribution 4.0 International License (http://***/licenses/by/4.0/), which permits use, duplication, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Manufacturing and flight tests of a quadrotor UAS with tiltable rotors

Manufacturing and flight tests of a quadrotor UAS with tilta...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： A. Fatih Şenkul Ş. Yaren Gelbal Erdinç Altuğ Mechatronics Graduate Program İstanbul Technical University İstanbul Turkey Department of Mechanical Engineering İstanbul Technical University İstanbul Turkey

Multi-rotor air vehicles are controlled by varying the rotor speeds. The variation of the rotor speeds enable the altitude change, yaw motion as well as pitch and roll motions of the vehicle. Pitch and roll motion leads to translation motions along x and y axes. When the air vehicle is used for surveillance type missions, the tilting of the vehicle is not desired, since the camera will also be tilted with the vehicle as it moves. In this work, the design and manufacturing of a quadrotor with tiltable rotors that can move without tilting the vehicle has been described. Firstly the proposed system has been designed, and then it was manufactured. The rotor tilting amount is measured with an IMU, and the required value can be set with two servos for each rotor. Successful experiments show the benefits of the proposed system over regular multi-rotor vehicles.

关键词： Rotors Vehicles Actuators Brushless DC motors Sensors

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Quantitative Computed Tomography (QCT) derived Bone Mineral Density (BMD) in finite element studies: a review of the literature

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Journal of Experimental Orthopaedics 2016年第1期3卷 1-16页

作者： Knowles, Nikolas K. Reeves, Jacob M. Ferreira, Louis M. Graduate Program in Biomedical Engineering The University of Western Ontario 1151 Richmond St London ON Canada Roth|McFarlane Hand and Upper Limb Centre Surgical Mechatronics Laboratory St. Josephs Health Care 268 Grosvenor St London ON Canada Collaborative Training Program in Musculoskeletal Health Research and Bone and Joint Institute The University of Western Ontario 1151 Richmond St London ON Canada Department of Mechanical and Materials Engineering The University of Western Ontario 1151 Richmond St London ON Canada

Background: Finite element modeling of human bone provides a powerful tool to evaluate a wide variety of outcomes in a highly repeatable and parametric manner. These models are most often derived from computed tomography data, with mechanical properties related to bone mineral density (BMD) from the x-ray energy attenuation provided from this data. To increase accuracy, many researchers report the use of quantitative computed tomography (QCT), in which a calibration phantom is used during image acquisition to improve the estimation of BMD. Since model accuracy is dependent on the methods used in the calculation of BMD and density-mechanical property relationships, it is important to use relationships developed for the same anatomical location and using the same scanner settings, as these may impact model accuracy. The purpose of this literature review is to report the relationships used in the conversion of QCT equivalent density measures to ash, apparent, and/or tissue densities in recent finite element (FE) studies used in common density-modulus relationships. For studies reporting experimental validation, the validation metrics and results are presented. Results: Of the studies reviewed, 29% reported the use of a dipotassium phosphate (K₂HPO₄) phantom, 47% a hydroxyapatite (HA) phantom, 13% did not report phantom type, 7% reported use of both K₂HPO₄ and HA phantoms, and 4% alternate phantom types. Scanner type and/or settings were omitted or partially reported in 31% of studies. The majority of studies used densitometric and/or density-modulus relationships derived from different anatomical locations scanned in different scanners with different scanner settings. The methods used to derive various densitometric relationships are reported and recommendations are provided toward the standardization of reporting metrics. Conclusions: This review assessed the current state of QCT-based FE modeling with use of clinical scanne

关键词： Bone density Finite element analysis Mechanical properties QCT

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Investigation of change in surface morphology of heated surfaces upon pool boiling of magnetic fluids under magnetic actuation

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Materials Research Express 2016年第9期3卷

作者： Shojaeian, Mostafa Yildizhan, Melike-Mercan Cokun, Ömer Ozkalay, Ebrar Teken, Yiit Gulgun, Mehmet Ali Acar, Havva Funda Yagci Koar, Ali Mechatronics Engineering Program Faculty of Engineering and Natural Sciences Sabanci University Tuzla Istanbul34956 Turkey Materials Science and Nanoengineering Program Faculty of Engineering and Natural Sciences Sabanci University Tuzla Istanbul34956 Turkey Departmet of Chemistry Faculty of Natural Sciences Koc University Sariyer Istanbul34450 Turkey

Nanofluids are becoming a significant candidate for new generation coolants to be used in industrial applications. In order to reduce clustering and sedimentation of nanoparticles and improve the heat transfer performance simultaneously, magnetic fluids prepared with magnetic Fe3O4 nanoparticles dispersed in water, which were placed in a pool and were exposed to varying magnetic fields to actuate nanoparticles in the system. The effect of magnetic actuation on boiling heat transfer characteristics and on the surface morphology of the pool was examined. An average enhancement of 29% in boiling heat transfer was achieved via magnetic actuation with rather low magnetic field (magnetic flux densities up to 11 mT) densities. Furthermore, it was observed that magnetic actuation significantly prevented the deposition and sedimentation of the nanoparticles in the pool. Otherwise, significant destabilization of nanoparticles causing aggregation and heavy sedimentation was present as a result of the performed surface analysis. Even though magnetic actuation reduced the sedimentation on the macroscale, the deposition of a thick and porous film occurred onto the pool floor, increasing the surface roughness. © 2016 IOP Publishing Ltd.

关键词： Nanoparticles

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Development of bionic invasion membrane for the study of multiple sclerosis

Development of bionic invasion membrane for the study of mul...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Chia-Yi Lee Kin Fong Lei Cheng-Lung Ku Chia-Hao Huang Ph.D. Program in Biomedical Engineering Chang Gung University Taiwan Department of Mechanical Engineering Chang Gung University Taiwan Graduate Institute of Clinical Medical Science Chang Gung University Taiwan Graduate Institute of Medical Mechatronics Chang Gung University Taiwan

ISBN: (纸本)9781509019489

Multiple sclerosis (MS) is an autoimmune disease and leads to many inflammations. Cause of this disease is autoreactive T cells invade the blood-brain-barrier and attack the myelin sheath. Because MS infringes upon young human and has gradual loss of bodily functions, the disease has a burden on society and economy. Traditional treatment is to use immune-suppressant, but it has many side effects. Currently, the most effective treatment of MS is to use Natalizumab. Target molecule of this agent is α4-integrin of T cells. The mechanism is to prevent invasion of activated lymphocytes across the blood-brain-barrier. However, this agent affects the overall immune response and easily generates side effects of progressive multifocal leukoencephalopathy (PML). Transwall systems are often used to investigate cell invasion, but there is no specific protein immobilizing on the isolation membrane of these systems. In this work, we have successfully developed a bionic invasion membrane for the study of MS. Different chemokines were applied to the system for the demonstration of drug screening application. The bionic invasion membrane was a PP/PTEE membrane coated with VCAM-1 protein. Jurkat T cell was used to evaluate the feasibility of using the membrane for the study of MS. Results indicated that the invasion ability of T cells was reduced by VCAM-1 protein. The current work provides bionic invasion membrane for the study of MS in vitro.

关键词： Biomembranes Proteins Multiple sclerosis Immune system Microfluidics Color

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Hardware Architecture of the EKF Prediction Stage applied to mobile robot localization 6

Hardware Architecture of the EKF Prediction Stage applied to...

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6th IEEE Latin American Symposium on Circuits and Systems, LASCAS 2015

作者： Contreras, Luis Cruz, Sérgio Motta, J.M.S.T. Llanos, Carlos H. Graduate Program in Mechatronics Systems Department of Mechanical Engineering University of Brasilia Brasilia D.F.70910-900 Brazil

ISBN: (纸本)9781479983322

This work presents an FPGA-based Hardware Architecture to implement the Prediction Stage of the Extended Kalman Filter (EKF) applied to the localization problem in mobile robotics. The algorithm has been implemented and run on an Altera Cyclone IV FPGA with a Nios II processor, being adapted and applied to the mobile platform Pioneer 3AT (P3AT). The prediction stage was based on a dead-reckoning system model and its architecture was designed for floating-point representation. In this project the complete EKF was also implemented considering an estimation stage hardware architecture previously developed using a Laser Range Finder (LRF) sensor, producing an overall balanced implementation. Finally, it was evaluated the system performance and suitability, measuring FPGA resources consumption and comparing execution time with a software solution. © 2015 IEEE.

关键词： Extended Kalman filters

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Hardware-in-the-loop simulations and control design for a small vertical axis wind turbine

Hardware-in-the-loop simulations and control design for a sm...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Ugur Sancar Aykut Ozgun Onol Ahmet Onat Serhat Yesilyurt Mechatronics Engineering Program Sabanci University Istanbul Turkey

Control design plays an important role in wind energy conversion systems in achieving high efficiency and performance. In this study, hardware-in-the-loop (HIL) simulations are carried out to design a maximum power point tracking (MPPT) algorithm for small vertical axis wind turbines (VAWTs). Wind torque is calculated and applied to an electrical motor that drives the generator in the HIL simulator, which mimics the dynamics of the rotor. To deal with disturbance torques in the HIL system, a virtual plant is introduced to obtain an error between the speeds in the HIL system and virtual plant. This error is used by a proportional-integral (PI) controller to generate a disturbance torque compensation signal. The MPPT algorithm is tested in the HIL simulator under various wind conditions, and the results are compared with numerical simulations. The HIL simulator successfully mimics the dynamics of the VAWT under various wind conditions and provides a realistic framework for control designs.

关键词： Torque Rotors Generators Wind turbines Friction Mathematical model Maximum power point trackers

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Vision Based Cone Angle Estimation of Bubbly Cavitating Flow and Analysis of Scattered Bubbles using Micro Imaging Techniques

Vision Based Cone Angle Estimation of Bubbly Cavitating Flow...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Gokhan Alcan Morteza Ghorbani Ali Kosar Mustafa Unel Mechatronics Engineering Program Faculty of Engineering and Natural Sciences Sabanci University

ISBN: (纸本)9781479917631

Hydrodynamic cavitation is an effective and alternative treatment method in various biomedical applications such as kidney stone erosion, ablation of benign prostatic hyperplasia tissues and annihilation of detrimental cells. In order to effectively position the orifice of bubbly cavitating flow generator towards the target and control the destructive cavitation effect, cone angle of multi-phase bubbly flow and distributions of scattered bubble swarms around main flow must be determined. This paper presents two vision based solutions to determine these quantities. 3D Gaussian modeling of multi-phase flow and edge slopes of cross-section are used to estimate the cone angle in a Kalman filter framework. Scattered bubble swarm distributions around main flow were assumed as a normal distribution and analyzed with the help of covariance matrix of the bubble position data. Hydrodynamical cavitating bubbles were generated from 0.45 cm long micro probe with 152μm inner diameter under 10 to 120 bars pressures and monitored via Particle Shadow Sizing technique. Proposed methods enabled to quantize the increasing inlet pressure effect on bubbly cavitating multi-phase flow.

关键词： cone angle Sparkling wine Sight multiphase flow bubbles supercavitating flow Scattering Gaussian distribution variance covariance matrix

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Using Finite Element Analysis and Experimental Analysis on Vibration of a Piezoelectric Micro Pump

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Journal of Applied Mathematics and Physics 2015年第8期3卷 1038-1043页

作者： Bo-Wun Huang Jung-Ge Tseng Chien-Hua Chang Chen-Yuan Li Graduate Institute of Mechatronics Engineering Cheng Shiu University Kaohsiung Taiwan Medical Mechatronics Engineering Program Cheng Shiu University Kaohsiung Taiwan Department of Mechanical Engineering Chinese Culture University Taipei Taiwan

Due to the rise of biological and MEMS technology in recent years, some micro flow system components have drawn attention and been developed by many investigators. The importance of micro-pumps manufactured is higher than the other part of micro flow system since it is the power source of the entire micro-flow system and responsible for driving working fluid in the microfluidic system. In actual operation, the instability and bad dynamic characteristics of the micro-pump will cause larger fluid flow mobility error, such as transport behavior and response procedures failure, etc., and even damage the microfluidic system. Therefore, to investigate the stability and dynamic characteristics of a micro pump is necessary. The Finite element analysis (FEA), ANSYS Workbench, is employed to analyze the dynamic characteristics of this micro pump, and experiment is also considered in this study.

关键词： Component Micro Pump Finite Element Analysis Piezoelectric

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