This paper presented a method of growing metallic nanowires by using electron beam technology under scanning electron microscopy (SEM). The metallic nanoparticles were dispersed evenly on Indium-Tin Oxide (ITO) by the...
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This paper presented a method of growing metallic nanowires by using electron beam technology under scanning electron microscopy (SEM). The metallic nanoparticles were dispersed evenly on Indium-Tin Oxide (ITO) by the spin coater. The ITO sample was experimentally prepared by the spin coating technique. The electron beam was focused on a metallic nano particle inside SEM, which were dispersed on the ITO. The growth of metallic nanowires was controlled by the movement of the electron beam. The method this paper presented can be employed for different kinds of metallic and can be used to fabricate metallic nanowires with different length.
In many industrial fields, the mass information of a moving system is important and necessary to prevent undesired motion or failure and to control the system in its desired trajectory. One simple solution could be di...
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In many industrial fields, the mass information of a moving system is important and necessary to prevent undesired motion or failure and to control the system in its desired trajectory. One simple solution could be direct measurement of the mass using a sensor such as force sensor and accelerometer. However, it requires additional cost increase. In addition, it is not easy to measure the mass of a moving part in many cases. For those reasons, in this research, an online varying mass estimation algorithm is designed using an Extended Kalman Filter (EKF) without any additional sensors. Furthermore, the lumped disturbance compensating algorithm, which was designed by the authors in the previous research using EKF, is combined to obtain further position tracking performance. The effectiveness of the suggested method is validated through simulations. Additional verification with experiments is planned for future work.
One of the biggest challenges for measuring soft tissue stiffness using tactile sensors is to have an output independent of the contact conditions. Although the approach of using two springs with different stiffness i...
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ISBN:
(纸本)9781509006663
One of the biggest challenges for measuring soft tissue stiffness using tactile sensors is to have an output independent of the contact conditions. Although the approach of using two springs with different stiffness is used, the output of sensor is usually unstable because of the soft tissue surface irregularity. This irregularity creates an inclination angle between the sensor tips and the tissue. By scanning some real organs of a chicken using laser microscope, it is found that the angle value does not exceed 3 degrees. A modification on the original sensor is proposed to compensate that error. A finite element analysis for the two sensors is carried out to compare their behavior. The error of the original approach is about 55% and 103% with an inclination angle 3 degrees on the left and right direction, respectively. However, the modified sensor output is stable up to 8 degrees with an error not exceeding 4%. Furthermore, it could differentiate between different soft tissues stiffness within the specified range.
In order to improve the performance of thin film devices, it is necessary to characterize their mechanical, as well as electrical, properties. In this work, a model is developed for analysis of the mechanical and elec...
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Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric to obtain a tree-like structure where the roots of the tree (anchoring poin...
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Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric to obtain a tree-like structure where the roots of the tree (anchoring points) serve as coordinating locus for the joint transport of information, goods and people. Route bundling is a relevant conceptual construct in a number of path-planning scenarios where the resources and means of transport are scarce/expensive, or where the environments are inherently hard to navigate due to limited space. In this paper we propose a method for searching optimal route bundles based on a self-adaptive class of Differential Evolution using a convex representation. Rigorous computational experiments in scenarios with and without convex obstacles show the feasibility and efficiency of our approach.
This paper presents modeling, simulation and control architecture for implementing biped gait in an active lower limb exoskeleton. A lower body biped structure has been modeled in MATLAB Sim Mechanics according to ant...
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This paper addresses the topic of industrial robots built for handling processes used in cutting machining applications. The study discourses the machining of a globe calotte made of komatex using a Yamaha YK 400 SCAR...
This paper addresses the topic of industrial robots built for handling processes used in cutting machining applications. The study discourses the machining of a globe calotte made of komatex using a Yamaha YK 400 SCARA robot. Are presented aspects regarding the capabilities of Yamaha YK 400 robot, the development of the robot program, analyses of the proposed system and methods of improvement. A set of experimental analyses was conducted in order to identify correlations between the robot speed variation and distance between the points that describe the trajectory of the motion.
The original version of this article unfortunately contained a mistake. In Eqs. (1) to (3), the gas constant 'R' should be replaced with Boltzmann constant 'k .' This change accompanies the change in t...
The original version of this article unfortunately contained a mistake. In Eqs. (1) to (3), the gas constant 'R' should be replaced with Boltzmann constant 'k .' This change accompanies the change in the paragraph following Eq. (3) as below.
Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of ...
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Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform's stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design.
A locomotion control of a snake-like robot on geometrically smooth surface is developed. To design the motion control, a mathematical model of the snake-like robot is derived by Projection Method (PJ method). Utilizin...
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