The paper deals with a soft computing state control method for multi input - multi output (MIMO) non-linear dynamic model of a robot. Soft methods based on neural networks and genetic algorithms have proven their effe...
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Tactile display is recently attracting much attention in the field of human computer interaction. There is a strong need for such a device especially for application in which the touch feeling is lost, such as surgeon...
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Tactile display is recently attracting much attention in the field of human computer interaction. There is a strong need for such a device especially for application in which the touch feeling is lost, such as surgeons willing to feel the tissue hardness during laparoscopic surgeries. In this paper, a novel multi-modal tactile display device which can display both surface shape and stiffness of an object is introduced. The conceptual design is built upon using two springs, made of Shape Memory Alloys-SMA, to control both shape and stiffness. The design parameters of this device are selected based on the spatial resolution of human finger and the stiffness range of the soft tissue. The display device is simulated using Finite Element Method, FEM, to study the effect of design parameters on the resulting stiffness. The results showed that the device can display stiffness of an object independent of its shape display. Simulation results confirmed that the stiffness display is stable when applying force by the finger during indentation for feeling stiffness, since the total stiffness error does not exceed 1.2%.
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 ...
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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.
Sampling-based motion planning algorithms have been successfully applied to various types of high-dimensional planning tasks. Recently an extension of PRM algorithm called PRM* planner has been proposed which guarante...
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Sampling-based motion planning algorithms have been successfully applied to various types of high-dimensional planning tasks. Recently an extension of PRM algorithm called PRM* planner has been proposed which guarantees asymptotic optimal solutions in terms of path length. However, the high runtime of sampling-based algorithms is still a serious disadvantage. In this paper, a new extension of PRM planner is proposed which incorporates the variable neighborhood radius feature of PRM* and the sampling radius of low-dispersion sampling in order to improve the cost of the generated solutions in terms of path length and runtime. The performance of the proposed algorithm is tested in different planning environments. Furthermore, the proposed planner is compared to the original PRM and the PRM* approaches and shows significant improvement.
The paper concerns a research into dynamic properties of the steel suspension bridge across Opolska Street in Krakow, Poland. Parameter identification was carried out with the application of the nonlinear system ident...
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The paper concerns a research into dynamic properties of the steel suspension bridge across Opolska Street in Krakow, Poland. Parameter identification was carried out with the application of the nonlinear system identification method on the basis of system responses to exploitational excitation resulting from pedestrian traffic. In order to verify obtained results, on the basis of the geometrical and material properties of the considered system, the FEM （finite elements model） was created. Created FEM model was updated through the comparison with the model determined by the use of experimental modal analysis method and then applied to analytical evaluation of the considered suspension bridge natural frequencies.
This paper shows a study on two chambers soft actuator development and its application to an artificial soft actuator fin. Simulations of two chambers actuator are conducted using finite element method software and th...
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Initial calibration tests of a novel hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism is presented in this paper. Experimental validation of the kinematics along with the experimental test set-...
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The vibration analysis aims to extract features from the measurements in order to be used for fault detection and diagnosis. Vibration response measurement is an important and effective technique for the detection of ...
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To realize an efficient car suspension control (for instance in technical inspection) it is important to use easy measurable variables. This is the reason for developing optimization techniques in order to simplify an...
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This paper addresses the design of instrumented single joint and multi-joints active orthoses for musculoskeletal and neuromuscular disorder exploration and functional rehabilitation. The use of these multi-contact ex...
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