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International Symposium on mechatronics and Its Applications, ISMA

作者： Kamal Saadeddin Mamoun F. Abdel-Hafez Mohammad Amin Jarrah Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE

In this paper, a low-cost navigation system with high integrity and reliability is proposed for enhancing highway traffic safety in adverse weather situations, such as a foggy or rainy weather. A high-integrity, 15-state, estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes a vehicle velocity constraint measurement to enhance the accuracy of the estimate. Two estimations filters, the Kalman filter (KF) and the information filter (IF), are designed and compared to obtain the estimate of the vehicle state. An instrumentation system that consists of a microcontroller, a GPS receiver, an IMU, encoders, and a Zigbee transceiver is constructed. The microcontroller provides a vehicle navigation solution at 50 Hz by fusing the measurements of the IMU, the GPS receiver and the digital compass using the proposed filter design. Experimental tests, using the proposed system, are conducted and the obtained results are presented. These results are processed with and without the velocity constraints. The estimation accuracy improvement with the addition of the velocity constraints is demonstrated. Also, results of a static test are used to assess the accuracy of the low-cost navigation systems against a commercial solution.

关键词： Compass Accidents Velocity measurement Quaternions

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A solution to the state estimation problem of systems with unknown inputs

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Recent Patents on Mechanical engineering 2012年第2期5卷 102-112页

作者： Bolandhemmat, Hamidreza Clark, Christopher Golnaraghi, Farid MicroPilot Inc 72067 Road 8E Sturgeon Rd. Stony Mountain Manitoba R0C 3A0 Canada Computer Science Program Cal Poly State University San Luis Obispo CA 93407 United States Mechatronics Systems Engineering Simon Fraser University Surrey BC Canada

A solution to the state estimation problem of systems with unmeasurable non-zero mean inputs/disturbances, which do not satisfy the disturbance decoupling conditions, is given using the Kalman filtering and Bayesian estimation theory. The proposed estimation algorithm, named Supervisory Kalman Filter (SKF), consists of a Kalman filter with an extra update step which is inspired by the particle filtering technique. The extra step, called supervisory layer, numerically solves the measurement equations for the portion of the state vector that cannot be estimated by the Kalman filter. First, it produces N randomly generated state vectors, the particles, which are distributed based on the Kalman filter's last updated estimate. Then, the estimated measurement vector associated with each particle is compared to the actual measurement vector to identify the particle's probability to be a solution. Finally, a so-called resampling stage is implemented to refine the particles with higher likelihoods. The effectiveness of the SKF is demonstrated by comparing its estimation performance with that of the standard Kalman Filter and the particle filter for a vehicle state estimation problem. The estimation results confirm that the SKF precisely estimates those states of the vehicle that cannot be estimated by either the Kalman filter or the particle filter, regardless of the unknown disturbances from the road. The filtering methodology offered in the article has a potential to improve performance of the systems presented in the patents WO2011115960, WO2010024751, US8073528, and US20110299730. © 2012 Bentham Science Publishers.

关键词： State estimation

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Nonlinear AutoRegressive eXogenous Artificial Neural Networks for predicting Buckling restrained braces force

Nonlinear AutoRegressive eXogenous Artificial Neural Network...

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International Symposium on mechatronics and Its Applications, ISMA

作者： Ibrahim Choudhary Khaled Assaleh Mohammad AlHamaydeh Mechatronics Graduate Program American University of Sharjah UAE Department of Electrical Engineering American University of Sharjah UAE Department of Civil Engineering American University of Sharjah UAE

This paper proposes a novel approach for modeling the nonlinear dynamic behavior of Buckling-Restrained Braces (BRBs). The proposed approach is based on a combination of two architectures of Artificial Neural Networks (ANN) namely, Nonlinear AutoRegressive eXogenous (NARX) ANN and feed forward back propagation (FFBP) ANN. The proposed model predicts (outputs) the brace force at a certain time from the brace deflection and its history and the history of the brace force. The data used in training and testing of the model is acquired from the experimental testing of four BRB specimens. The proposed model is trained on data from one specimen while tested against the rest to demonstrate its learning and generalization capability. Optimum values for various network parameters are selected empirically to obtain the best network performance. The results show that the prediction error for the peak response (maximum tensile/compressive force) lies within ±5% confidence interval for all cycles.

关键词： Artificial neural networks Force Training Testing Mathematical model Computational modeling

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A microassembly process to realize angular vertical comb electrodes for a gimbal-less two-axis electrostatic scanner

A microassembly process to realize angular vertical comb ele...

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IEEE International Conference on Micro Electro Mechanical Systems

作者： Min-Ho Jun Seunghwan Moon Jong-Hyun Lee Graduate School of Information and Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Graduate-program of Medical System Engineering Gwangju Institute of Science and Technology Gwangju South Korea

This paper proposes a microassembly process that easily realizes a gimbal-less two-axis electrostatic MEMS scanner with fixed angular vertical comb electrodes (FAVCs). The fabrication steps can be remarkably reduced by employing a microassembly, as there is no need to add an insulation layer and conduct a multi-step etching process for SVCs. The reduction in the number of fabrication steps also improves the device yield and reduces fabrication errors. The proposed scanner can be readily applied to various optical applications, as the slow axis is driven by quasi-static operation, allowing the amplitude of the scanning angle to remain constant within a specific frequency range.

关键词： Microassembly Springs Electrostatics Silicon Optical device fabrication Mirrors

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Comparison of circular flexure hinge compliance modeling methods

Comparison of circular flexure hinge compliance modeling met...

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IEEE International Conference on mechatronics

作者： Acer, Merve Sabanovic, Asif Mechatronics Engineering Program Sabanci University Orhanli Tuzla stanbul Turkey

ISBN: (纸本)9781612849836

This paper presents the analytical in-plane compliance calculation methods for single axis circular flexure hinges and compares the methods with Finite Element Analysis (FEA). These comparisons are also made for varying geometric parameters not only for b (the width of the flexure) but also t (the shortest distance of the flexure) parameter. The analyses give us the selectable calculation methods for certain b and t parameters besides they show which geometric parameter (b or t) have more influence on in which direction of compliances. Thus, while designing a flexure based mechanism this work gives us the advantage of selecting right in-plane compliance calculation methods which are less time consuming and easier than FEA and it also helps us to choose the right geometric parameters by showing the effects of them on the compliances. © 2011 IEEE.

关键词： Finite element method

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Reactive navigation algorithm for wheeled mobile robots under non-holonomic constraints

Reactive navigation algorithm for wheeled mobile robots unde...

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IEEE International Conference on mechatronics

作者： Al-Sagban, Madam Dhaouadi, Rached Mechatronics Program College of Engineering American University of Sharjah Sharjah United Arab Emirates

ISBN: (纸本)9781612849836

This paper presents a reactive navigation algorithm for wheeled mobile robots in an unknown environment populated by obstacles. The presented approach incorporates the dimensions and shape of the robot to determine the set of all possible collision-free steering angles. The steering angle that falls in the widest gap and is dosest to the target is selected. The next stage in the algorithm takes into account the non-holonomic constraints of differentially steered robots by computing circular trajectories with adaptive radius of curvature. Actual experimental tests on a real mobile robot are presented. The results demonstrate the algorithm capabilities of driving a mobile robot safely through different obstacles arrangements. © 2011 IEEE.

关键词： Mobile robots

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Stress analysis during micro-coil deployment in membranous model of saccular aneurysm with bleb

Stress analysis during micro-coil deployment in membranous m...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Carlos R. Tercero Masahiro Kojima Seiichi Ikeda Katsutoshi Ooe Toshio Fukuda Fumihito Arai Makoto Negoro Ikuo Takahashi Guiryong Kwon Global COE program for Research of Micro-Nano Mechatronics University of Nagoya Nagoya Japan Department of Mechanical Engineering University of Nagoya Nagoya Japan Department of Neurosurgery Fujita Health University Toyoake Japan Department of Neurosurgery Anjo Kosei Hospital Anjo Japan Product Development Division Terumo Clinical Supply Company Limited Kakamigahara Gifu Japan

For the development of medical micro-robotics and robotic manipulation of catheter it is necessary to ensure tissue integrity. In-vitro evaluation of tissue manipulation can be achieved using photoelastic stress analysis and vasculature modeling with photoelastic materials. In this research we propose epoxy resin as photoelastic material for vasculature modeling as it has a larger photoelastic coefficient than previously studied materials and it has a young modulus similar to human vasculature. A model of a saccular aneurysm with bleb was built with the purpose of measuring stress overshoots that enable to differentiate embolization techniques according to the respect for tissue integrity. During embolization using a coil with smaller size than the aneurysm dome diameter, an average area of 0.72 mm 2 with stress above 90 kPa was measured. This area increased to 0.77 mm 2 when the dome was touched with the release mechanism of the coil, and to 0.74 mm 2 for embolization with larger size coil. The presented modeling material and measurement technique is useful for tissue respect quantification for micro-mechanisms evaluation.

关键词： Stress Aneurysm Embolization Coils Materials Stress measurement Wires

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Path planning of mobile robots using potential fields and swarms of Brownian particles

Path planning of mobile robots using potential fields and sw...

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IEEE Congress on Evolutionary Computation

作者： Espitia, Helbert Eduardo Sofrony, Jorge Iván Systems Engineering Program Universidad Distrital Francisco José de Caldas Bogotá Colombia Department of Mechanical Engineering and Mechatronics Universidad Nacional de Colombia Bogotá Colombia

ISBN: (纸本)9781424478347

This paper proposes an algorithm for trajectory planning based on the motion of Brownian particles. One of the most popular approaches in path planning is to use the artificial potential fields method which, due to its easiness in implementation, might attract the robot towards a local minimum configuration, thus preventing it from reaching the desired final destination. Although there are different approaches to deal with this drawback, their modeling lacks the simplicity of the potential fields, adding thus an extra complexity to the problem. The solution proposed here combines the strengths of both approaches: it is easy to analyze and to implement, just like in the potentials method, while it preserves the robustness against local minima of more complex particle swarm models. An approximate analysis for the deterministic version of the selected model was performed and it was observed, via simulations, that the results obtained after this simplification were consistent with the behavior of the stochastic system. © 2011 IEEE.

关键词： Motion planning

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Long-lasting superhydrophiilic PDMS surface by atmospheric-pressure plasma polymerization

Long-lasting superhydrophiilic PDMS surface by atmospheric-p...

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15th International Conference on Miniaturized Systems for Chemistry and Life Sciences 2011, MicroTAS 2011

作者： Lee, Donghee Hyun, Ji-Chul Hong, Sung A. Yang, Sung Graduate-program of Medical System Engineering Korea Republic of School of Mechatronics Korea Republic of Department of Nanobio Materials and Electronics GIST Korea Republic of

ISBN: (纸本)9781618395955

In this study, a method to modify hydrophobic PDMS (Polydimethylsiloxane) surface to be long-lasting hydrophilic surface by applying atmospheric-pressure plasma polymerization is proposed. To enhance the sustainability of the modified hydrophilic PDMS, two kinds of plasma polymerized layers were implemented on the surface of the PDMS block sequentially. The highly cross-linked hydrocarbon layer deposited by atmospheric-pressure plasma polymerization from CH 4 plays a role as a physical barrier layer (PBL) to prevent hydrophobic recovery of the hydrophilic layer deposited from TEOS (Tetraethylorthosilicate) and O2. The modified PDMS surface shows long-lasting superhydrophilic wetting property over 28 days of aging time. Copyright © (2011) by the Chemical and Biological Microsystems Society.

关键词： Surface treatment

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Comparison of circular flexure hinge compliance modeling methods

Comparison of circular flexure hinge compliance modeling met...

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International Conference on mechatronics (ICM)

作者： Merve Acer Asif Sabanovic Mechatronics Engineering Program Sabanci University Orhanli Tuzla Istanbul Turkey

This paper presents the analytical in-plane compliance calculation methods for single axis circular flexure hinges and compares the methods with Finite Element Analysis (FEA). These comparisons are also made for varying geometric parameters not only for “b” (the width of the flexure) but also “t” (the shortest distance of the flexure) parameter. The analyses give us the selectable calculation methods for certain “b” and “t” parameters besides they show which geometric parameter (b or t) have more influence on in which direction of compliances. Thus, while designing a flexure based mechanism this work gives us the advantage of selecting right in-plane compliance calculation methods which are less time consuming and easier than FEA and it also helps us to choose the right geometric parameters by showing the effects of them on the compliances.

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