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International Conference on Magnetics (INTERMAG)

作者： D. Yun H. Park J. Koo S. Ham S. Lee Department of Robotics and Mechatronics Korea Institute of Machinery & Materials (KIMM) Daejeon Korea Department of Mechanical and Manufacturing Engineering Miami University Oxford OH

This paper presented the simulation and experiment of gear hardening using the SDF induction technology . Using a thermal-electromagnetic coupled 2D FE model, it performed simulations on heating various gears and selected “optimal” input parameters of SDF induction heating . After constructing a 1 MW-scale SDF inducting heating system, gear hardening performances were evaluated . The trends of the experimental results matched with those of simulations . This study demonstrated the feasibility of 2-D FE modeling for reducing computational costs and accurately predicting gear hardening results “simultaneously” .

关键词： Gears Heat treatment Electromagnetic heating Iron Time-frequency analysis

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Comparative vibration analysis of a slender beam in gravity compensation test and zero-gravity environment

Comparative vibration analysis of a slender beam in gravity ...

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International Conference on Fluid Power and mechatronics (FPM)

作者： Mo Lidong Zhen Liu GuanXin Chi Vitalii Morkovin Haibo Gao National Key Laboratory of Robotics and System (Harbin Institute of Technology) Harbin China School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

The Space Station mission require an exhaustive engineering study before a manned mission can be put into space. Since the dynamic behavior of an entire assembly cannot be tested on earth, computer models are used as an engineering tool to be able to predict what might happen in space. The main goal of this research is to find a new mathematical model to calculate the first natural frequency of a slender beam in gravity compensation test and in zero-gravity environment. It means that the model should work correctly on the ground and in space. It can help engineers understand the behavior of a beams in space. Theoretical model describes the first natural frequency of a slender beam. The major issues in the beam development are: determine the governing differential equation, obtaining the eigenfunctions from governing equation. These issues apply to both Euler-Bernoulli and energy transfer theories. To get compare analyze for this two environments we are to model the element of Space Station Remote Manipulator System (SSRMS) in gravity compensation test and in zero-gravity environment, using Distributed - Parameter Models use Maple Software. We also use ANSYS Workbench software with normal mode analysis to simulate the beam behavior due to dynamic vibration. In the end, the modern mathematics solution is close to classic model and simulation data. As a result, the modern model can be applied to determine vibrations in gravity compensation test.

关键词： Mathematical model Vibrations Gravity Earth Space stations Robots

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Depth-based tracking with physical constraints for robot manipulation

Depth-based tracking with physical constraints for robot man...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tanner Schmidt Katharina Hertkorn Richard Newcombe Zoltan Marton Michael Suppa Dieter Fox Dept. of Computer Science & Engineering University of Washington Seattle USA Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

This work integrates visual and physical constraints to perform real-time depth-only tracking of articulated objects, with a focus on tracking a robot's manipulators and manipulation targets in realistic scenarios. As such, we extend DART, an existing visual articulated object tracker, to additionally avoid interpenetration of multiple interacting objects, and to make use of contact information collected via torque sensors or touch sensors. To achieve greater stability, the tracker uses a switching model to detect when an object is stationary relative to the table or relative to the palm and then uses information from multiple frames to converge to an accurate and stable estimate. Deviation from stable states is detected in order to remain robust to failed grasps and dropped objects. The tracker is integrated into a shared autonomy system in which it provides state estimates used by a grasp planner and the controller of two anthropomorphic hands. We demonstrate the advantages and performance of the tracking system in simulation and on a real robot. Qualitative results are also provided for a number of challenging manipulations that are made possible by the speed, accuracy, and stability of the tracking system.

关键词： Visualization Joints Robot sensing systems Cameras Calibration

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VLR: Cockroach millirobot with load decoupling structure

VLR: Cockroach millirobot with load decoupling structure

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Dongwon Yun Ronald S. Fearing Department of Robotics and Mechatronics University of California Berkeley CA USA Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

This paper presents the development of Very Large RoACH (VLR), which is a rapidly-prototyped folded cardboard cockroach-like robot for carrying relatively heavy loads. To increase load capacity, a vertically movable platform is designed, which can decouple an internal payload from loading the robot hips. Based on the previous VelociRoACH design, VLR is designed for greater load capacity, by 160% size scaling. After building a prototype, experiments are performed. The speed and traction force are measured to validate the performance of the proposed robot. Through these experiments, it was found that the speed of the robot increases by 2.2 times and the traction force increases by 1.4 times using the proposed mechanism compared to the design without load decoupling.

关键词： Legged locomotion Force Friction Joints Hip Springs

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Issues to be considered on obtaining plant models for formal verification purposes

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IOP Conference Series: Materials Science and engineering 2016年第1期147卷

作者： R Pacheco L Gonzalez M Intriago J Machado G Prisacaru D Olaru Mechanical Engineering Department University of Minho Guimarães Portugal MEtRICs Research Center University of Minho Guimarães Portugal Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania

The development of dependable software for mechatronic systems can be a very complex and hard task. For facilitating the obtaining of dependable software for industrial controllers, some powerful software tools and analysis techniques can be used. Mainly, when using simulation and formal verification analysis techniques, it is necessary to develop plant models, in order to describe the plant behavior of those systems. However, developing a plant model implies that designer takes his (or her) decisions concerning granularity and level of abstraction of models; approach to consider for modeling (global or modular); and definition of strategies for simulation and formal verification tasks. This paper intends to highlight some aspects that can be considered for taking into account those decisions. For this purpose, it is presented a case study and there are illustrated and discussed very important aspects concerning above exposed issues.

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Ultralight mobile drilling system - Design and analyses of a robotic platform intended for terrestrial and space applications 10

Ultralight mobile drilling system - Design and analyses of a...

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10th International Workshop on Robot Motion and Control, RoMoCo 2015

作者： Ciszewski, M. Buratowski, T. Uhl, T. Giergiel, M. Seweryn, K. Teper, W. Zwierzyński, A.J. Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland Space Research Centre Polish Academy of Sciences ul. Bartycka 18A Warszawa00-716 Poland Department of Drilling and Geoengineering Faculty of Drilling Oil and Gas AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9781479970438

In this paper the design of the ultralight mobile drilling system (UMDS) dedicated for environment difficult to explore is presented. The main goal of the system is to extract soil probes from hardly accessible places, thus appropriate mobility must be a significant feature of the system. A special design of a rover is described. The main objectives are related to weight reduction of particular components, preserving demanded durability. The rover features obstacle passing capabilities by an ultralight rocker design with four wheels and central differential mechanism. Additionally, the platform provides tilt angle compensation by adjustments of rocker arms height. Tests of the mobile platform are presented in actual operating conditions. © 2015 IEEE.

关键词： Space applications

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Piezoelectric shunt damping for alpine ski traction improvement

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Diagnostyka 2014年第1期15卷 3-9页

作者： Rajek, Marcin Lubieniecki, Micha Pieczonka, Ukasz Uhl, Tadeusz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Al. Mickiewicza 30 30-059 Kraków Poland

The paper investigates the problem of improving driveability of alpine skis. That properties depend largely on the vibration behavior of a ski under different snow conditions. There is a broad range of methods to deal with vibration damping, both active and passive, that have been described in the literature. In this paper the passive approaches were taken into consideration. It is due to the specific nature of the sport where use of external sources of energy may be impractical. Passive shunt damping system has been designed for a commercially available model of an alpine ski. The performance of the designed system has been evaluated on a numerical model of the ski. Piezoelectric patches have been included in the model by means of a generalized impedance that complies both the mechanical properties and shunted circuit electrical properties. The fraction of strain energy stored in a piezoelectric element at particular vibration modes were used to evaluate the maximum damping coefficient for first three resonant modes that have the largest influence on the ski properties. The damping system is based on piezoelectric patches that can be easily embedded in the laminated structure of a ski.

关键词： Damping

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A haptic display for tactile and kinesthetic feedback in a CHAI 3D palpation training scenario

A haptic display for tactile and kinesthetic feedback in a C...

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IEEE International Conference on robotics and Biomimetics

作者： Jan Hergenhan Jacqueline Rutschke Michael Uhl Stefan Escaida Navarro Bjorn Hein Heinz Worn Institute of Anthropomatics and Robotics (IAR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Mechanical Engineering and Mechatronics (MMT) University of Applied Sciences Karlsruhe Germany

ISBN: (纸本)9781467396769

Robot-assisted minimally invasive surgery generally prevents the use of an important diagnostic tool in medicine: palpation. There are various approaches to reestablish the haptic feedback for the surgeon, including tactile displays and haptic input devices. We present a novel haptic display that features seven pins mounted on compression springs that can be pre-loaded with servo motors. Each pin has a stroke of 10 mm and a maximum counterforce of 1.1 N. An additional force of 0.7 N per pin can be applied with the motors. This technique allows for simultaneous stimulation of kinesthetic as well as tactile perception. The control of the haptic display has been implemented in the open-source haptics library CHAI 3D. We extended the framework with a multi interaction point tool to represent the hardware. This eventually lead to a palpation training program where bodies with multiple adjustable parameters encapsulated in a virtual soft tissue can be simulated. We evaluated this software in a user study with 15 participants in order to demonstrate the usability of the haptic display. With 90 % of successful hits, we are confident that sensible haptic feedback can be generated with the presented device. Furthermore, we are currently extending the scope of the haptic display to make use of a novel capacitive tactile proximity sensor in exploration scenarios.

关键词： Haptic interfaces Force Servomotors Robot sensing systems Pins Springs Three-dimensional displays

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Method of wireless passive temperature measurement for diagnostic purposes

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Diagnostyka 2014年第2期15卷 3-6页

作者： Lisowski, Mateusz Gonek, Przemyslaw Uhl, Tadeusz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Al. Mickiewicza 30 30-059 Krakow Poland

This paper presents the method of wireless passive temperature measurement by using the battery-free sensing platform based on RFID technology. Described platform serves as an interface between any sensor and standard RFID reader connected to the host computer. Utilizing the RFID technology working in high frequency band results in the possibility of providing energy from the reader to the sensing platform via magnetic coupling between their antennas and wireless data transmission of the measured data, even in the proximity of metal objects. Investigation related to the wireless temperature measurements of bearing supporting a rotating shaft are presented in this paper. Comparison with the measurements performed by using of an infrared camera shows high compliance of data obtained by using those two methods. The result demonstrates that presented wireless temperature measurement method could be attractive in many diagnostic purposes. © DIAGNOSTYKA 2014.

关键词： Temperature measurement

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Biomimetics of throwing at basketball

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IOP Conference Series: Materials Science and engineering 2016年第1期147卷

作者： E Merticaru E Budescu R M Iacob Mechacal Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania Physical Education and Sports Faculty 'Al. I. Cuza' University of Iasi Iasi Romania

The paper deals with the inverse dynamics of a kinematic chain of the human upper limb when throwing the ball at the basketball, aiming to calculate the torques required to put in action the technical system. The kinematic chain respects the anthropometric features regarding the length and mass of body segments. The kinematic parameters of the motion were determined by measuring the angles of body segments during a succession of filmed pictures of a throw, and the interpolation of these values and determination of the interpolating polynomials for each independent geometric coordinate. Using the Lagrange equations, there were determined the variations with time of the required torques to put in motion the kinematic chain of the type of triple physical pendulum. The obtained values show, naturally, the fact that the biggest torque is that for mimetic articulation of the shoulder, being comparable with those obtained by the brachial biceps muscle of the analyzed human subject. Using the obtained data, there can be conceived the mimetic technical system, of robotic type, with application in sports, so that to perform the motion of ball throwing, from steady position, at the basket.

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