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2015 IEEE Advanced Information Technology,Electronic and Automation Control Conference(IAEAC 2015)

作者： Maha Saeed Mohamed Fanni Abdelfatah M.Mohamed Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUST Mechanical Design Dep. Faculty of EngineeringMansoura University Electrical Engineering Dep. Faculty of EngineeringAssuit University

ISBN: (纸本)9781479919819

This paper presents the design and implementation of the control system for the transformation/manipulation system that is used in a new Hybrid Ground Aerial Robot(HGAR).The transformation mechanism is used to transform the robot from flying configuration to ground motion configuration and vice *** manipulator is attached to one of the four propeller arms to manipulate objects during ground *** controller is designed based on feedback linearization method.A simple algorithm is implemented on Arduino board for controlling the angle of the propeller arm with and without *** angle of the arm is controlled by propeller *** angle of the arm is measured by inertial measurement unit(IMU).The manipulator is controlled by *** configuration of the manipulator is determined using the joint-angles data and fed to the propeller arm controller to estimate the compensated *** addition,an integral term is added to the controller to introduce robustness against payload variation and parameters *** set up is built to apply the proposed controller on the system and test its ***,the experimental results showed the effectiveness and accuracy of the proposed controller.

关键词： Feedback Linearization Propeller Thrust Inertial Measurement Unit Manipulator Ground Aerial Robot Transformation Mechanism

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The influence of excitation frequency on the effectiveness of vibrothermographic testing

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Diagnostyka 2014年第4期15卷 47-51页

作者： Pieczonka, Lukasz Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. A. Mickiewicza 30 Kraków30-059 Poland

The paper investigates the influence of excitation frequency on the effectiveness of vibrothermographic testing. Vibrothermography is a nondestructive testing method that monitors heat produced by damage under vibrational excitation in order to evaluate the structural health. Layered carbon fiber reinforced polymer plate with polytetrafluoroethylene (PTFE) insert, simulating delamination, was analyzed for a range of excitation frequencies. It was found that some of the frequencies generate much higher thermal response from the simulated delamination and should be therefore preferable for vibrothermographic testing. The paper contains the description of the experimental procedure together with presentation and discussion of the results.

关键词： Damage detection

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Novel approach of IPMC actuated finger for micro-gripping

Novel approach of IPMC actuated finger for micro-gripping

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International Conference on Informatics, Electronics & Vision (ICIEV)

作者： Srijan Bhattacharya Bikash Bepari Subhasis Bhaumik Applied Electronics & Instrumentation Engineering RCC Institute of Information Technology Kolkata INDIA Department of Production Engineering Haldia Institute of Technology Haldia INDIA School of Mechatronics & Robotics Indian Institute of Engineering Science & Technology Howrah INDIA

With the advent of robotic gripping devices pertinent to manipulation science, micro-object manipulation has become the most challenging one. In this research paper a novel technique is introduced in the field of smart actuator based finger design, for micro gripping and soft object handling. The finger were fabricated by silicon rubber (Resibond GP Sealant 1010) substrated with Ionic Polymer Metal Composite (IPMC), were totally placed within the fingers which seems to be a new approach introduced in this research report. The electrical connection of these fingers was made in a unique method and IPMCs are actuated with a satisfactory actuation result.

关键词： Thumb Grippers Silicon Rubber Polymers Actuators

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Designing of 3-Dimensional Underwater Fish Observation System and Experimental Research

Designing of 3-Dimensional Underwater Fish Observation Syste...

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International Conference on Information Sciences,Machinery,Materials and Energy（ICISMME 2015）

作者： Minhui Zheng Junyi Yang Dinghao Feng Dongqin Cheng Xi Zhang Faculty of Resource China University of GeosciencesWuhan Second Institute of Oceanography SOA School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics

Underwater imaging is an important method to discover and study deep sea ***,the information obtained from the 2-dimensional imaging materials acquired by the current technological method is too limited to meet the requirements of scientific *** this article,a package of underwater lighting and stereo vision measurement hardware system is designed that could be carried by underwater *** feasibility and accuracy of the proposed methods is proved by the pool principle *** system could provide technological support for the deep sea biology study and the exploitation of deep sea biological resources,and also be used for the 3D reconstruction and measurement of underwater micro topography and targets.

关键词： deep sea 3D vision calibration refraction

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Determining independent contacts regions to immobilize 2D articulated objects

Determining independent contacts regions to immobilize 2D ar...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Noé Alvarado Raúl Suárez Máximo A. Roa the Institute of Industrial and Control Engineering (IOC) - Universitat Politècnica de Catalunya (UPC) Barcelona Spain the Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

ISBN: (纸本)9781479969241

This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a force-closure (FC) immobilization, independently of the exact position of the finger. These regions allow a robust finger or fixture placement on the links of the articulated object, despite of possible errors in the position of the contacts. The proposal defines a generalized wrench space for articulated objects and then computes the ICRs starting from an initial FC grasp, considering frictional contacts. The approach has been implemented, and some illustrative examples are provided.

关键词： Joints Friction Robots Three-dimensional displays Force Shape Grasping

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Versatile Intelligent Portable Robot Platform for flexible robotic cells with AGV

Versatile Intelligent Portable Robot Platform for flexible r...

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International Conference on Advanced Mechatronic Systems, ICAMechS 2015

作者： Vladareanu, Luige Spirleanu, Cristian Iliescu, Mihaiela Yu, Hongnian Deng, Mingcong Guo, Weizhong Gao, Feng Romanian Academy Institute of Solid Mechanics of Romanian Academy IMSAR Dept. Robotics and Mechatronics Bucharest Romania School of Design Engineering and Computing Bournemouth University DorsetBH12 5BB United Kingdom Graduate School of Engineering Tokyo University of Agriculture and Technology 2-24-16 Nakacho Koganei Tokyo184-8588 Japan School of Mechanical Engineering Shanghai Jiao Tong University Dongchuan Road Shanghai China

ISBN: (纸本)9781467379960

The paper studies the flexible robotic cells in cooperation with automated guided vehicle (AGV), in the presence of obstacles, at constant or variable speed and variable load, aiming to optimizing the interaction between AGV and flexible robotic cell components. Overall system performance is analyzed by using modeling tools for discrete event systems like Generalized Stochastic Petri Net (GSPN). The interaction between AGV and flexible robotic cell components is implemented through communication messages using serial data received from an optical XY encoder, communication protocol receive function is modeled with GSPN. Improving of the stability performances and real time motion control are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results, validated on the experimental RTOS robotic platform and DMQX language extension for robotic applications, lead to higher performance in relation to interaction optimization, decrease the flexible cell's cycle time, increase mobility and stability of the AGV and also the development of new technological capabilities of the control systems. © 2015 IEEE.

关键词： Discrete event simulation

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Survival microinjection into C. elegans with in vivo observation based on micromanipulation

Survival microinjection into C. elegans with in vivo observa...

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IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

作者： Nakajima, Masahiro Ayamura, Yuki Takeuchi, Masaru Hisamoto, Naoki Pastuhov, Strahil Hasegawa, Yasuhisa Fukuda, Toshio Qiang, Huang Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Graduate School of Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China

ISBN: (纸本)9781479999941

This study presents the survival microinjection into Caenorhabditis elegans (C. elegans) with in vivo observation based on micromanipulation. The microinjections were achieved with micro-gel beads which are enable to encapsulate chemicals for injection. In this study, a fluorescent material was used to evaluate the injection positional precision inside the C. elegans. The fluorescent microbead was picked up at the tip of a micropipette injection tool and injected by a piezo actuated microinjector. The distance between the injected micro-gel bead and closest nerve axon was measured as 20.3 μm and 16.5 μm by in vivo observation of a confocal microscopy. The two types of pipette tools were used to evaluate the success and survival rates of microinjection, and the smaller pipette (pipette A, 0.8 μm in diameter) showed higher rates as 50 % and 67 % respectively. © 2015 IEEE.

关键词： Intelligent robots

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The Knee Wear Prediction of UHMWPE Tibial Insert Using VIPRO Platform

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Journal of Mechanics engineering and Automation 2015年第11期5卷 591-600页

作者： Lucian Capitanu Luige Vladareanu Virgil Florescu Tribology Department Institute of Solid Mechanics of the Romanian Academy Bucharest 010141 Romania Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy Bucharest 010141 Romania Mechanical Department Institute of Civil Engineering Bucharest 050236 Romania

The failure mechanism was postulated as a combination of the high level of loading during normal activities and a non-conforming contact mechanism between the femoral condyles and the tibial insert. The question that arises is： could be this phenomenon evaluated quantitatively a priori, e.g., could be the failure due to delamination wear predicted？ In order to do some finite element simulations were performed to dynamically determinate the contact area and contact pressure for three different activities. The results obtained using VIPRO platform lead to the conclusion that many clinically reported failures of the tibial tray are caused by the adhesive and fatigue wear.

关键词： Total knee prosthesis wear experimental methods experimental trials knee simulator programmable logical controller VIPRO platform.

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Fabrication of Hepatic Lobule Model based on Electrodeposition

Fabrication of Hepatic Lobule Model based on Electrodepositi...

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International Symposium on Micro-Nanomechatronics and Human Science

作者： Zeyang Liu Masaru Takeuchi Masahiro Nakajima Toshio Fukuda Yasuhisa Hasegawa Qiang Huang Department of Micro-Nano Systems Engineering Nagoya University Center for Micro-nano Mechatronics Nagoya University Institute for Advanced Research Nagoya University Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology

ISBN: (纸本)9781467382182

This paper proposes an electrodeposition-based method to generate Alginate-Poly-L-lysine (PLL) microcapsules for 3D cell structures. Hepatic lobule shaped microcapsules of RLC-18 cells were produced for long-term culture to obtain desired morphologies of cell aggregates. The fabricated hepatic lobule models with high cell density are important to be applied for 3D assembly of biological cells for tissue engineering applications.

关键词： Hepatic Lobule Electrolytic deposition Cell Density fabrication cytology Microcapsules alginate-poly-L-lysine

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In situ Nanomanipulation with 3D SEM-CT Observation inside Environmental SEM

In situ Nanomanipulation with 3D SEM-CT Observation inside E...

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International Symposium on Micro-Nanomechatronics and Human Science

作者： Masahiro Nakajima Masaru Takeuchi Toshio Fukuda Yasuhisa Hasegawa Qiang Huang Center For Micro-nano Mechatronics Nagoya University Department of Micro-Nano Systems Engineering Nagoya University Institute for Advanced Research Nagoya University Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology

ISBN: (纸本)9781467382182

In situ nanomanipulation system is presented with 3D scanning electron microscope - computed tomography (SEM-CT) system integrated with inside an environmental - SEM (E-SEM). The E-SEM was used to achieve a real-time high resolution imaging for high precision nanomanipulation. The SEM-CT system was used for obtaining 3D cross-sectional image with sub-micron high resolution. In this paper, Caenorhabditis elegans (C. elegans) was used as a target of biological sample to demonstrate a nanoinjection operation. The nanoinjection was determined by the SEM-CT system with its 3D information.

关键词： Scanning Electron Microscope Caenorhabditis elegans Biological samples Three Dimensions Integrated system High resolution imaging

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