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1st International and 16th National Conference on Machines and Mechanisms, iNaCoMM 2013

作者： Chattaraj, Ritwik Bhattacharjee, Anirudha Bepari, Bikash Bhaumik, Subhasis School of Mechatronics and Robotics Bengal Engineering and Science University Shibpur Howrah India Departmentof Production Engineering Jadavpur University Kolkata India Departmentof Production Engineering Haldia Institute of Technology Haldia India

The human hand with more than twenty seven Degrees of Freedom (DoFs) has a unique musco-skeletal structure with neuro-sensory attributes under control of CNS, is a quintessence to construct a robotic hand. The fingers are connected to the palm with metacarpophalangeal (MCP) joints. These joints have two DoFs i.e. flexion-extension and abduction-adduction whereas the remaining two joints of the digits have only one DoF. Literature survey divulges that, while constructing a robotic hand, mostly the abduction-adduction at MCP joint is discarded for simplicity. This paper is aimed at development of a mechanism that encompasses both flexion-extension and abduction-adduction for all the three fingers located on the palm opposite to the thumb, whereas the thumb has been separately designed to impart both the radial and palmer movements with respect to the palm as well as flexion and extension, thereby imparting greater compliance to the system, to cope up with wide variety of tasks.

关键词： Robotic arms

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Variable impedance actuator with exponential elasticity for flexible-joint-robot and estimation of the joint impedance 1

Variable impedance actuator with exponential elasticity for ...

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1st International and 16th National Conference on Machines and Mechanisms, iNaCoMM 2013

作者： Sen, Soumen Har, Chandan Chatterjee, Sananda Robotics and Automation Division CSIR - Central Mechanical Engineering Research Institute Durgapur India Bengal Engineering and Science University Shibpur India CSIR CMERI Mechatronics Programme Durgapur India

New generation robots, meant for physical human robot interactions, are no longer rigid;it has become soft in terms of introduction of considerable flexibility at the actuated joints, flexibility of the links and in terms of compliant coverings. Safety requirement becomes primary in situations where physical interactions occur, calling for compliance;but accuracy and control bandwidth get compromised. While it has been established in literature that flexible-link-robots are difficult to control, it is found feasible to recover some of the lost bandwidth by varying stiffness in flexible-joint-robots, maintaining safety of human during interaction. This article addresses development of such a flexible robot joint actuation system with stiffness/impedance variability. This variability of stiffness is achieved passively by the flexible transmission interposed between the prime mover and the actuated link, and in doing so, nonlinearity in the elastic transmission characteristic becomes essential. The Variable Stiffness Actuation (VSA) system of this article employs an elastic element having an exponential force-displacement characteristic, which has the property of stiffness varying linearly with transmission force. This property is favourably utilized in the estimation of stiffness, and in turn can be used in control of stiffness. The variable stiffness actuation is realized here by assembling two transmissions in agonist-anatagonistic arrangement in order to achieve simultaneous control of both joint-motion and stiffness, resembling biological musculoskeletal system. By adding nonlinear damping elements in parallel to the elastic transmission, variability in mechanical impedance has been achieved. Joint stiffness is computed with the estimated stiffness of individual transmissions, which are obtained experimentally. Extended Kalman Filter is employed for the estimation of stiffness and other impedance components. Results are reported in support of the effectiveness of

关键词： Stiffness

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

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

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IEEE Conference on Nanotechnology

作者： Masahiro Nakajima Masaru Takeuchi Naoki Hisamoto Toshio Fukuda Yasuhisa Hasegawa 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 Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute Beijing Institute of Technology Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

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.

关键词： Nanobioscience X-ray imaging Apertures Scanning electron microscopy Electron beams

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Formations Strategies for Obstacle Avoidance with Multi Agent Robotic System

Formations Strategies for Obstacle Avoidance with Multi Agen...

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16th FIRA RoboWorld Congress, FIRA 2013

作者： Norrazi, M.Azrai M. Yap, Wee Yang Ricky Sanhoury, Ibrahim M.H. Tousizadeh, Mahdi Mahmood, Mohd.Muhaimin Amin, Shamsudin H.M. Control and Mechatronics Engineering Dept Universiti Teknologi Malaysia Malaysia Centre for Artificial Intelligence and Robotics Manufacturing and Materials Research Alliance Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)9783642404085

In this paper we aim to introduce the multi agent robotic systems (MARS) to make a good understanding of how it works. Multi-agent systems consisting lot type class of mobile which can communicate between each other and maintain a desired formation. Task become more challenging when group of multi agent change the formation when facing the obstacles. Three non-holonomic robots - "MYbots" will performs some demonstrations which first experiment to maintaining triangular formation while moving and second experiment focus on two type leader face obstacle and follow face obstacle avoidance. Method that used in this research is a leader follower method. Follower MYbot will follow the path commanded by the Leader MYbot to avoid obstacle. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Multipurpose robots

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Reconfiguring a modular robot into a humanoid formation: A multi-body dynamic perspective on motion scheduling for modules and their assemblies

Reconfiguring a modular robot into a humanoid formation: A m...

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2013 IEEE International Conference on Automation Science and engineering, CASE 2013

作者： Moubarak, Paul M. Alvarez, Eric J. Ben-Tzvi, Pinhas Department of Mechanical and Aerospace Engineering George Washington University Washington DC United States Robotics and Mechatronics Lab George Washington University Washington DC United States

ISBN: (纸本)9781479915156

In this paper, we study the scheduling architecture that enables an assembly of mobile modules to reconfigure into a humanoid formation with a manipulator arm. The investigated problem arises from the articulated nature of the formation which involves multiple degrees of freedom, thus requiring a control approach that synchronizes the actuators' motion during shape metamorphosis. Using the principles of motion kinematics and caterpillar tracks modeling, we present a coherent solution which we further validate on a sample three-module formation of STORM (Self-configurable and Transformable Omni-directional Robotic Modules). Simulation results on MSC ADAMS CAR validate the feasibility of the synchronization architecture, and offer further insight into the dynamic dependencies of coupled motions. © 2013 IEEE.

关键词： Scheduling

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Vibration signals processing by cellular automata for wind turbines intelligent monitoring

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Diagnostyka 2013年第2期14卷 31-36页

作者： Barszcz, Tomasz Bielecki, Andrzej Wójcik, Mateusz Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Cracow Poland Department of Applied Computer Science Faculty of Electric Engineering Automation Computer Science and Biomedical Engineering AGH University of Science and Technology Al. Mickiewicza 30 30-059 Cracow Poland Faculty of Physics Astronomy and Applied Computer Science Jagiellonian University Reymonta 4 30-059 Cracow Poland

In recent years wind energy is the fastest growing branch of the power generation industry. The largest cost for the wind turbine is its maintenance. A common technique to decrease this cost is a remote monitoring based on vibration analysis. Growing number of monitored turbines requires an automated way of support for diagnostic experts. As full fault detection and identification is still a very challenging task, it is necessary to prepare an early-warning tool, which would focus the attention on cases which are potentially dangerous. There were several attempts to develop such tools, in most cases based on various classification methods. The techniques that have been used so far are based on the vibration signals analysis in which the signals are considered as time series. However such approach has crucial limitations. Therefore, new approaches for wind turbines intelligent monitoring are worked out. Artificial intelligence systems are ones of promising. In this paper such approach is proposed - a vibration signal spectrum is considered as a pixel matrix which is processed using deterministic cellular automaton (DCA). It turns out that such processing allows us to detect pre-failure states.

关键词： Wind turbines

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Design Methodology of a Micro-Scale 2-DOF Energy Harvesting Device for Low Frequency and Wide Bandwidth

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Journal of Sensor Technology 2014年第2期

作者： Mahmoud M. Magdy Ahmed M. R. Fath El-Bab Samy F. M. Assal Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Mechanical Engineering Department Faculty of Engineering Assiut University Production Engineering and Mechanical Design Department Faculty of Engineering Tanta University

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Experimental verification of effectiveness for a combination of a power steering and a gyroscopic flywheel to stablize a bike

Experimental verification of effectiveness for a combination...

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2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013

作者： Sadahiro, Teruyoshi Nagai, Rintaro Iwase, Masami Department of Mechanical Engineering Sasebo National College of Technology Nagasaki Japan Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Tokyo Japan

Bikes are one of the familiar vehicles and have a lot of strong points. However, bikes have a stability problem. To overcome the problem, our research group has proposed a power steering system for bikes. In this study, to improve the stability problem of bikes more directyly, a new stabilizing system for bikes that is combined the power steering system and a gyroscopic flywheel is proposed. A purpose of this paper is to confirm the idea from results of experiments using the developed system. An experimental setup is described and some results are shown. The results are suggested that the gyroscopic flywheel makes the system stable.

关键词： Flywheels

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Estimation of mechanical impedance of a flexible transmission using partial knowledge of elastic characteristic and its validation 13

Estimation of mechanical impedance of a flexible transmissio...

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1st International Conference on Advances in robotics, AIR 2013

作者： Chatterjee, Sananda Sen, Soumen Nandy, Sambhunath Bengal Engineering and Science University CSIR-CMERI Mechatronics Programme India Robotics and Automation Div. CSIR-CMERI: Central Mechanical Engineering Research Institute Govt. of India Durgapur 713209 India

ISBN: (纸本)9781450323475

Use of flexible joints in robotic system is the recent trend in applications involving physical human robot interaction. A compliant transmission introduces the flexibility for intrinsically safe robots, whereas the ability to vary Impedance recovers some of the lost performance due to presence of compliance. Stiffness/impedance variability needs presence of nonlinearity in the passive elastic and/or damping characteristic. In controlling robot joint impedance knowledge of stiffness/impedance of transmission becomes necessary. Obtaining a predetermined model of the transmission always introduces inaccuracies and uncertainties with varying characteristics of the transmission with time and ambiance. It proves almost indispensable to estimate the joint stiffness/ impedance during operation for reliable control of variable impedance. It also proves to be a difficult task to estimate impedance/stiffness online on the basis of sensory information of differential motion and differential force. In this article, in order to estimate stiffness of the transmission, a favourable characteristic of the transmission has been exploited. The flexible transmission is designed with a first principle obtained from property of biological muscle so that it maintains an affine relationship between the stiffness and the force being transmitted. This article implements an Extended Kalman Filter algorithm for on-the-fly estimation of stiffness (along with impedance) exploiting the linearity property for applicability of EKF and to reduce complexity of the procedure. The effectiveness of the proposed estimator is examined through experiments on the mechanical transmission designed from the above biological principle. The results are further validated by comparing with the results of estimation using full parameter identification of specified model of the transmission. © 2013 ACM.

关键词： Extended Kalman filters

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