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IEEE International Conference on robotics and Biomimetics

作者： Muhammad Rusydi Muhammad Razif Ahmad 'Athif Mohd Faudzi Mahrokh Bavandi Ili Najaa Aimi Mohd Nordin Elango Natarajan Omar Yaakob Universiti Teknologi Malaysia Skudai Johor MY Department of Mechatronics and Robotics Engineering Universiti Teknologi Malaysia Skudai Malaysia Marine Technology Center Universiti Teknologi Malaysia Skudai Malaysia

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 the bending angles produced are computed. Eleven designs are proposed and compared which differ in separating wall thickness, actuator thickness, fiber location, fiber materials, and rubber materials to analyze the optimal bending angle produced by the actuator. Two actuators are then fabricated and embedded at the ends of soft actuator fin to produce a traveling wave along the soft actuator fin. Soft actuator fin propels like gymnotiform swimmers and shows good linear motion.

关键词： Actuators Rubber Solid modeling Optical fiber testing Optical fiber sensors Fabrication Robot sensing systems

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Requirements Analysis and Preliminary Design of a Robotic Assistant for Reconstructive Microsurgery

Requirements Analysis and Preliminary Design of a Robotic As...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： L. Vanthournhout B. Herman J. Duisit F. Chateau J. Szewczyk B. Lengelé B. Raucent the Center for Reserach in Energy and Mechatronics Institute of Mechanics Materials and Civil Engineering Université catholique de Louvain Louvain-la-Neuve Belgium Morphology Research Group and with Experimental Surgery and Transplantation Group Institute of Experimental and Clinical Research Université catholique de Louvain Bruxelles Belgium Department of Plastic and Reconstructive Surgery Cliniques universitaires Saint-Luc Université catholique de Louvain Bruxelles Belgium Institute for Intelligent Systems and Robotics Universit Pierre et Marie Curie Paris 06 - CNRS Paris France Morphology Research Group Institute of Experimental and Clinical Research Université catholique de Louvain Bruxelles Belgium

ISBN: (纸本)9781424492695

Microanastomosis is a microsurgical gesture that involves suturing two very small blood vessels together. This gesture is used in many operations such as avulsed member auto-grafting, pediatric surgery, reconstructive surgery - including breast reconstruction by free flap. When vessels have diameters smaller than one millimeter, hand tremors make movements difficult to control. This paper introduces our preliminary steps towards robotic assistance for helping surgeons to perform microanastomosis in optimal conditions, in order to increase gesture quality and reliability even on smaller diameters. A general needs assessment and an experimental motion analysis were performed to define the requirements of the robot. Geometric parameters of the kinematic structure were then optimized to fulfill specific objectives. A prototype of the robot is currently being designed and built in order to providing a sufficient increase in accuracy without prolonging the duration of the procedure.

关键词： Requirements Analysis Preliminary Design Reconstructive Microsurgery

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Research on the voice control and its audio signal processing in flexible manufacturing cell

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Sensors and Transducers 2013年第SPEC.12期25卷 91-97页

作者： Jing, Li Ting, Xu Nanyan, Shen Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and Automation Shanghai University 200072 Shanghai China

On the voice development platform of Microsoft Speech SDK, speech recognition and speech synthesis modules based on command control mode is built in this paper. Ethernet-based remote voice control system of intelligent flexible manufacturing cell is developed for machine tools and industrial robots. This paper designs an intelligent voice control system based on LabVIEW development environment, which realizes the human-machine voice interaction of flexible manufacturing cell and remote voice control. Audio signal processing is also designed in this paper based on MATLAB platform which largely reduces the effects caused by environmental noises. The mixing programming of LABVIEW and MATLAB can realize audio signal acquisition and processing easily and finally achieve reliable speech recognition system. Experimental studies have shown that intelligent voice control system has high speech recognition rate and system reliability both in quiet and adverse environments. © 2013 IFSA.

关键词： Cells

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Gesture based control of IPMC actuated gripper

Gesture based control of IPMC actuated gripper

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Recent Advances in engineering and Computational Sciences (RAECS)

作者： Ritwik Chattaraj Srijan Bhattacharya Ankur Roy Abhra Mazumdar Bikash Bepari Subhasis Bhaumik School of Mechatronics & Robotics Bengal Engineering & Science University Shibpur Howrah INDIA Applied Electronics & Instrumentation Engineering Department RCC Institute of Information Technology Beliaghata Kolkata INDIA Department of Production Engineering Haldia Institute of Technology Haldia INDIA

Robotic grippers and its control is always a challenging and an interesting topic for the researcher. In the present scenario the most advanced gripping devices which are commercially available are of macro size. But the real challenge comes when we think for micro gripping or micro assembly. This paper represents a novel technique of gripping with Ionic Polymer Metal Composite (IPMC) actuated finger and advance communication process with the help of joystick and data glove. This technique gives an advantage to control a micro gripping device from a remote location. End effectors are made of IPMC. IPMC is one of the Electro Active Polymer (EAPs) which holds an excellent bending property at low actuation voltage resulting in high force output, thus it is capable of doing work as good as human finger tip when the same is employed as an actuator for micromanipulation. This device can manipulate micro object less than 1 mm in diameter as well as macro sized object within 10 mm diameter. This finger design is compliant in nature. In this article the underlying principle based on which the gripper operates and its fabrication process are explained in detail. It involves miniature part handling, integration and assembly operation.

关键词： Grippers Data gloves Thumb Polymers Actuators Power supplies

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Proposed surface to air anti stealth technology for homeland security

Proposed surface to air anti stealth technology for homeland...

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International Conference on engineering and Technology (ICET)

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Aswan University Aswan Egypt Minia University El Minia EG

This paper handles a proposed algorithm of surface to air anti stealth technology for homeland security. The paper approach is anti stealth theory and it's application by using fuzzy logic control. the anti stealth is done by exposing stealth EM 3500 wave absorber with non lethal pulsed ND YAG 532 then the electric permittivity enhanced and consequently reflection. The application of surface to air is done by determining important parameters as the borders range and creating virtual shape of laser beam hunter for the target through expecting it's degree of freedom in the free space, fuzzy logic control can control the proposed system by inserting expected range of laser hunter beams finally the desired angle can be obtained for get more contact points on it's surface to be visible of microwave radar.

关键词： Aircraft Reflection Permittivity Materials Impedance Lasers

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A sonar image mosaicing algorithm based on improved SIFT for USV

A sonar image mosaicing algorithm based on improved SIFT for...

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IEEE International Conference on mechatronics and Automation

作者： Hengyu Li Yi Dong Xudong He Shaorong Xie Jun Luo School of Mechatronics Engineering and Automation Shanghai University Shanghai P.R. China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai P.R. China

ISBN: (纸本)9781479939800

As the USV (Unmanned Surface Vehicles) works in offshore waters whose operating environment is complex, sonar images obtained are low-resolution, noisy and narrow overlap region, and ultimately led to the sonar image cannot be stitched or get a serious distortion after image mosaicing. In response to these problems, this paper proposes a sonar image mosaicing algorithm based on improved SIFT for USV. For sonar image registration, we applies RANSAC (RANdom Sample Consensus) algorithm to check feature points to improve the accuracy of image registration. For the problem that the distribution of original image brightness is different, this paper conducts brightness normalization algorithms for brightness adjustment. To avoid empty points in stitched image and the problem that mapping coordinates may not be an integer, this paper respectively take inverse mapping method and image interpolation algorithm to solve the problem. In order to improve the sonar image borders and edge fusion effect, this paper proposes a weighted fusion algorithm based on threshold and edge. Finally, the experiments show that the algorithm has a certain practicality.

关键词： Image edge detection Sonar applications Brightness Algorithm design and analysis Sonar equipment Image fusion

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A proposal of an education system for manufacturing technology using M2M prototyping and its practice

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IEEJ Transactions on Fundamentals and Materials 2015年第11期135卷 655-665页

作者： Ohe, Nobuhiro Kitagami, Shinji Yonemori, Hironobu Inoue, Masahiro Shiotsuki, Tetsuo Koizumi, Hisao Melco Techno Yokohama 325 Kamimachiya Kamakura247-8520 Japan Global Information and Telecommunication Institute Waseda University 1-3-10 Nishi-Waseda Shinjuku-ku Tokyo169-0051 Japan Department of Mechanical and Electronic Engineering Salesian Polytechnic 4-6-8 Oyamagaoka Machida194-0215 Japan Department of Electronic Information Systems Shibaura Institute of Technology 307 Fukasaku Minuma-ku Saitama337-8510 Japan Department of Robotics and Mechatronics Tokyo Denki University 5 Senju-asahi-cho Adachi-ku Tokyo120-8551 Japan M2M Study Group NPO Organization 388 Fujisawa Fujisawa251-0052 Japan

In recent years, industry has come to require manufacturing systems that provide greater added value. Therefore, education systems for manufacturing technology have been attracting attention of concerned professionals. Machine-to-machine (M2M) system technology creates new added value by combining technologies such as sensors, networks, and information processing. It also provides wider application ranges. This paper proposes an education system for manufacturing technology using M2M prototyping. The proposed system encourages students to learn manufacturing technologies with combined composition elements. Students of the science and engineering course and the IT course used this proposed system, which enables creation of ideas and needs through manufacturing. This paper also describe the results of the evaluations. Copyright © 2015 The Institute of Electrical Engineers of Japan.

关键词： Manufacture

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Cross-sectional imaging of C. elegans by SEM-CT using environmental SEM for nanomanipulation 14

Cross-sectional imaging of C. elegans by SEM-CT using enviro...

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2014 14th IEEE International Conference on Nanotechnology, IEEE-NANO 2014

作者： Nakajima, Masahiro Takeuchi, Masaru Hisamoto, Naoki Fukuda, Toshio Hasegawa, Yasuhisa Huang, Qiang Center For SEM-Nano Mechatronics Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 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)9781479956227

A novel technique was presented for a cross-sectional imaging of Caenorhabditis elegans (C. elegans) by Scanning Electron Microscope - Computed Tomography (SEM-CT) using Environmental-SEM (E-SEM) for nanomanipulation applications. In our previous works, a nanorobotic manipulation system was established inside the E-SEM for water-contained samples including biological organism with a real-time high resolution observation. However, the SEM image is two dimensional (2D) and surficial information from the secondly electrons. Hence, it is not able to evaluate the targeted structure inside the sample. In this research, we presented the cross-sectional observation of the sample by SEM-CT system which is used the X-ray generated by the electron beam of SEM. To improve the signal-to-noise ratio of CT imaging, we evaluated the following ways, 1) apertures for X-ray before/after irradiating the sample, 2) adjustment of emission currents of the electron beam, 3) iteration processing of captured images. To reduce the damage of C. elegans during observation, a method was used to immerse the C. elegans by a liquid oil. The proposed 3D imaging technique is useful to evaluate the 3D manipulation of the C. elegans, such as nano-injection application with functional micro-nano beads inside the C. elegans. © 2014 IEEE.

关键词： Electron beams

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Head Behavior Detection Method Based on Optical Flow Theory

Head Behavior Detection Method Based on Optical Flow Theory

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International Conference on Intelligent Environments (IE)

作者： Hui Shao Qijie Zhao Dawei Tu School of Mechatronics Engineering and Automation Shanghai University Shanghai P. R. China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai P. R. China

In order to make the intelligent virtual classroom distinguish out the rotation direction of the user's head, a method for head behavior detection based on optical flow is proposed in this paper. Firstly, we select the key feature points of user's facial area. Then we calculate the user's head movement parameter through the data of feature points which have been recorded. Secondly, a kind of head direction sensing model has been provided for detecting the head identified parameters. Finally, according to the interaction mechanism of the interaction scenario, intelligent virtual classroom will respond to the user's head movement based on the result of the head direction judgment. By online tests, the results show that the method is of high recognition rate and quick real-time.

关键词： Head Magnetic heads Image motion analysis Computer vision Optical imaging Real-time systems Feature extraction

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Investigation on high-order harmonic generation of guided waves using local computation approaches: Theory and comparison with analytical modelling 7

Investigation on high-order harmonic generation of guided wa...

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7th European Workshop on Structural Health Monitoring, EWSHM 2014

作者： Radecki, Rafal Leamy, Michael J. Uhl, Tadeusz Staszewski, Wieslaw J. Su, Zhongqing Cheng, Li Packo, Pawel Department of Mechanical Engineering Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong G. W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332 United States Department of Robotics and Mechatronics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland Hong Kong Polytechnic University Shenzhen Research Institute Shenzhen518057 Hong Kong

The paper presents numerical modelling approaches for computing wave propagation and high-order harmonic generation in nonlinear media. This approach is based on two local computational methods, i.e. the Local Interaction Simulation Approach and the Cellular Automata for Elastodynamics. Discretized numerical dispersion curves are calculated and used for the entire analysis. A quantitative study of velocity matching between the fundamental and high-order harmonic waves is performed. The influence of propagation distance on the magnitude of high-order harmonics is evaluated for various excitation frequencies. Numerical analyses show divergence from analytical models for dispersion curves, especially for high-order harmonics. These preliminary investigations demonstrate that the numerical modelling approaches applied can be used effectively for nonlinear wavefield analysis;however, numerical instead of analytical spectral characteristics should be considered. Copyright © Inria (2014).

关键词： Cellular automata

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