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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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Low cost ROS based semi-autonomous drone with position and altitude lock

Low cost ROS based semi-autonomous drone with position and a...

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2017 IEEE International Conference on Power, Control, Signals and Instrumentation engineering, ICPCSI 2017

作者： Abhishek, B. Keshav, K. Gautham, S. Samuel, D. Varun Rufus Raj Nair, Shyam R. Mechatronics Engineering Hindustan Institute of Technology and Science Chennai India Centre for Automation and Robotics Hindustan Institute of Technology and Science Chennai India

ISBN: (纸本)9781538608135

In this paper, we have designed a quad copter which is cost effective and powered by ROS. The drone is capable of maintaining a constant altitude during hovering and a constant position for monitoring or surveillance. Robotic Operating System is implemented for trajectory tracking and telemetry. A low cost compact on-board embedded system powers the drone. Different controllers were implemented for position and altitude lock including PI and PID. The performance were compared and the results are also discussed in this paper. © 2017 IEEE.

关键词： Drones

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Dismantling strategy for capacitors placed on printed circuits boards: challenges and preliminary results

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IOP Conference Series: Materials Science and engineering 2020年第1期997卷

作者： S Cazan D Chirita C Stamate D Irimia A Burlacu I Doroftei Department of Mechanical Engineering Mechatronics and Robotics 'Gheorghe Asachi' Technical University of Iasi Iasi Romania Department of Energy Utilisation Electrical Drives and Industrial Automation 'Gheorghe Asachi' Technical University of Iasi Iasi Romania Department of Automation Control and Applied Informatics 'Gheorghe Asachi' Technical University of Iasi Iasi Romania

The present paper describes the challenges and preliminary results obtained during the design and implementation of a disassembly system for capacitors placed on printed circuits boards. This research is included in an attempt to reduce the impact of the electronic waste. The proposed architecture includes a six axis multipurpose industrial robot, dedicated sensors and a custom built tool. An originally designed rotary tool, with a specific type of drill bit, was used to dismantle each capacitor on the board. A sensor triggers the tool for the drill rotation when the perforation is accomplished accordingly, so that the friction force is big enough to initiate the dismantling procedure. Using the rotation movement of the drill, at a calculated number of rotations, the capacitors are successfully dismantled from the printed circuits board. An artificial vision system composed from a stereo camera and an image-processing algorithm, provides data with regard to the position of each capacitor on the printed circuit board. A vacuum cleaner was integrated in the scheme to recover the capacitors after dismantling. The scheme design was perpetually optimized using dedicated simulation software. Also, preliminary results obtained on the physical system underline the potential advantages of the proposed approach.

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ROS based stereo vision system for autonomous vehicle

ROS based stereo vision system for autonomous vehicle

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2017 IEEE International Conference on Power, Control, Signals and Instrumentation engineering, ICPCSI 2017

作者： Abhishek, B. Gautham, S. Varun Rufus Raj Samuel, D. Keshav, K. Vignesh, U.P. Nair, Shyam R. Mechatronics Engineering Hindustan Institute of Technology and Science Chennai India Centre for Automation and Robotics Hindustan Institute of Technology and Science Chennai India

ISBN: (纸本)9781538608135

In this paper, we have designed a autonomous vehicle which is cost effective and powered by Robotic Operating System (ROS). The vehicle is capable of maintaining a constant speed and distance for monitoring or surveillance. ROS is implemented for trajectory tracking and telemetry. A low cost compact on-board embedded system powers the vehicle. Various image processing techniques are been implemented for navigation and obstacle detection. Artificial Neural Network which helps in finding the shortest path by using the acquired data from image processing. Different controllers were implemented for movement and obstacle avoidance including PI and PID. The performance were compared and the results are also discussed in this paper. © 2017 IEEE.

关键词： Neural networks

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Thin liquid film formation on hemispherical and conical substrate

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PAMM 2019年第1期19卷

作者： Markus Scholle Florian Marner Philip H. Gaskell Heilbronn University Department of Mechatronics and Robotics D-74081 Heilbronn Germany Department of Engineering Durham University Department of Engineering Durham DH1 3LE UK

The deposition and coating of thin films onto curved rigid substrate, involving displacement of air by a liquid, has numerous applications within the technology sectors but faces two major challenges: (i) control of the local film thickness; (ii) ensuring that the coating remains stable. The work reported here investigates the full coverage of three-dimensional curved geometries, of hemispherical and conical shape, by a continuously fed, gravity-driven, thin liquid layer. The modelling approach adopted utilises a first integral formulation [1,2] of the Navier-Stokes equations leading to a variational formulation in the case of steady flow and an advantageous re-formulation of the dynamic boundary condition at the free surface [3]. Asymptotic analysis, underpinned by the long-wave approximation, enables analytic solutions for the local film thickness to be obtained.

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Transfer of Synchronized Signal using Haptic Interface

Transfer of Synchronized Signal using Haptic Interface

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France-Japan and Europe-Asia Congress on mechatronics

作者： Takashi Asakawa Noriyuki Kawarazaki Department of Electronic-Mechanical Engineering National Institute of Technology Oshima College NITO Suo-Oshima Yamaguchi Japan Department of Robotics and Mechatronics Kanagawa Institute of Technology KAIT Atsugi Kanagawa Japan

We propose a method for using a haptic interface for vision or hearing to present alternative information to a disabled person. Till date, an acceleration sensor, wireless transfer equipment, and equipment using a vibration device have been developed. This paper describes the transfer of information, employing the characteristic efficiently, using a linear vibration actuator as the vibration device. The objective is to transmit the accent of the first beat of an important rhythm by music. In this study, a method for combining two vibration frequencies and its dependence on a vibration pattern are verified by experiment. Consequently, a method depending on a vibration pattern is adopted, the verification experiment is conducted, and the same characteristic as the case where vision is used is acquired.

关键词： Vibrations Conductors Rhythm Actuators Haptic interfaces Accelerometers Acceleration

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Quasi-Static Modelling of a Redundant Knee Prosthesis

Quasi-Static Modelling of a Redundant Knee Prosthesis

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IEEE International Conference on Biomedical robotics and Biomechatronics

作者： Sophie Heins Louis Flynn Joost Geeroms Dirk Lefeber Renaud Ronsse Center for Research in Mechatronics Institute of Mechanics Materials and Civil Engineering Institute of Neuroscience and Louvain Bionics Universite catholique de Louvain Robotics and MultiBody Mechanics Research Group Vrije Universiteit Brussels

ISBN: (纸本)9781538681848

Developing mechanical devices to restore natural locomotion for transfemoral amputees still raises many challenges. One of them is the development of an efficient control strategy for the prosthesis active joints, with the objective of making it flexible and intuitive to use. This paper reports the modelling of the knee joint of the transfemoral CYBERLEGs Beta-Prosthesis, an actuated elastic ankle-knee prosthesis designed with the objective to minimize its total power consumption. More precisely, we report the static model of the prosthetic knee that was used to build its low-level controller, converting the desired torque into a reference position for the joint actuator. Bench testing of the prosthetic knee was performed to show that this static model is able to accurately predict the actual behaviour of the device.

关键词： static models reference station Knee Prosthesis control strategy Knee Joint level controller Machinery and equipment Modeling Intuitive Redundant Prosthesis BENCH TESTS knee FLEXIBLE

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Correction: Dynamic response study of Ti3C2-MXene films to shockwave and impact forces

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RSC advances 2021年第12期11卷 6448页

作者： Shreyas Srivatsa Pavithra Belthangadi Shivakarthik Ekambaram Manu Pai Prosenjit Sen Tadeusz Uhl Saurabh Kumar Krzysztof Grabowski M M Nayak Academic Center for Materials and Nanotechnology (ACMiN) AGH University of Science and Technology (UST) Krakow Poland sshreyas@agh.edu.pl. Centre for Nano Science and Engineering (CeNSE) Indian Institute of Science (IISc) Bangalore India saurabh2203@iisc.ac.in. Atomic Molecular and Optical Physics Division Physical Research Laboratory Ahmedabad India. Instrumentation and Applied Physics Indian Institute of Science (IISc) Bangalore India. Department of Robotics and Mechatronics AGH University of Science and Technology Krakow Poland.

[This corrects the article DOI: 10.1039/D0RA04879H.].

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Micro/macro-positioning control of a novel contactless active robotic joint using active magnetic bearing

Micro/macro-positioning control of a novel contactless activ...

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2017 IEEE International Conference on Industrial Technology, ICIT 2017

作者： Selmy, Mohamed Fanni, Mohamed Mohamed, Abdelfatah M. Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology E-JUST New Borg El Arab City Alexandria Egypt

ISBN: (纸本)9781509053209

In this paper the micro/macro-positioning control of a novel contactless active robotic joint using active magnetic bearing (AMB) is presented. In clean environments, such as surgery or clean rooms, the use of robots with this novel joint is useful to avoid friction, dust generation, and oil lubrication. Moreover, this kind of robots can be used in the applications that need high precision micropositioning control such as semiconductor wafers manipulation to form semiconductor devices. The novel robotic joint used in this paper is designed using finite element method. This joint has 6 degrees-of-freedom (DOFs), 1-DOF for robot joint roll angle and 5-DOF for AMB. The robot joint roll angle is controlled in macro-scale accuracy. The macro-scale positioning of the joint roll angle is needed for gross motion like normal robot revolute joint. The other 5-DOF of the joint are controlled like AMB with the different that the target pitch and yaw angles as well as the axial, vertical and horizontal movements are different than zero but in micro-scale range. The robot joint roll angle is controlled using a PID-based Feedback linearization controller, while a state feedback controller with integral term is used for controlling the AMB 5-DOFs. The micro/macro-positioning control of the novel robotic joint is implemented using MATLAB/Simulink. The robustness of the controllers is tested against payload variations. The results demonstrate that the proposed novel robotic joint is feasible and valid in the applications that need high precision micro-macro-positioning control. © 2017 IEEE.

关键词： Controllers

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Variable interface dynamic adjustment (VIDA) technique: A novel approach to adjust lagrangian frame and eulerian frame at flattering interface 8th

Variable interface dynamic adjustment (VIDA) technique: A no...

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8th AIAA Theoretical Fluid Mechanics Conference, 2017

作者： Zanj, Amir He, Fangpo Breedveld, Peter C. College of Science and Engineering Advanced Control Systems Research Group Flinders University Adelaide Australia Department of Mechanical engineering Robotics and Mechatronics Group University of Twente Enschede Netherlands

ISBN: (纸本)9781624104978

In the current study to address the incompatibility issue of the Eulerian and Lagrangian frame at FSI problems, a novel physical approach is proposed. According to this approach, the motion of the Lagrangian frame is physically translated to a virtual volumetric flow for the Eulerian frame. As thus, the shared spatial boundary of the two frame at the interface remains unique in spite of the motion of the interface. This capability provides the possibility of dynamic data transactions between the two frames, which guarantees the continuity of these transformation (e. g., the power interactions of the system on the interface). The obtained capability can be a desirable tool in multiple-field dynamic investigations. Also, the proposed method by elimination of mesh regeneration in FSI transient solutions can open a new window in dynamic mesh techniques which leads to reducing the time cost of the solution. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Lagrange multipliers

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