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9th International Workshop on Structural Health Monitoring (IWSHM)

作者： Klepka, A. Straczkiewicz, M. Staszewski, W. J. Aymerich, F. Department of Robotics and Mechatronics AGH University of Science and Technology Al. Mickiewicza 30 Krakow 30-059 Poland Department of Mechanical Engineering University of Cagliari Piazza d'Armi Cagliari 09123 Italy

ISBN: (纸本)9781605951157

This paper reports the Triple Correlation Coefficient technique for impact damage detection in composite structures. Low-frequency modal vibration is used to excite a composite plate. A surface-bonded piezoceramic stack actuator is applied for excitation. Non-contact laser vibrometry is used for response measurements. The method correlates the fundamental frequency of signal response with higher harmonics appearing in the signal as a result of damage.

关键词： Damage detection

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Study about formation mechanism of red spark discharge of micro-arc oxidation

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Advanced Materials Research 2013年 764卷 21-25页

作者： Pan, Ming Qiang Wang, Yan Gjun Chen, Tao Liu, Ji Zhu Chen, Li Guo Di, Shi Chun Robotics and Microsystems center Soochow University Suzhou 215021 Jiangsu China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 Heilongjiang China The State Key Lab of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 Zhejiang China

ISBN: (纸本)9783037857694

Formation mechanism of the micro-arc oxidation spark discharge is always a research problem;so far there isn't a theoretical model for analyzing the spark discharge formation which is widely recognized. Based on analyzing the reaction phenomena and the coating feature in the different periods of the red spark discharge, the formation model of the red spark discharge was established. The spark discharge formation mechanism is shown that it causes the spark discharge formation that the electron bombards the gas layer wrapping the coating in the infancy of red spark discharge stage;at the later period the area of strong electric field generates the spark discharge where the coating of excessive polarization turns out easily. © (2013) Trans Tech Publications, Switzerland.

关键词： Coatings

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AltBOC navigation signal quality assessment and measurement

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Journal of Measurement Science and Instrumentation 2013年第3期4卷 289-293页

作者：孟庆丰焦国太薛强强 Robotics Research Center North University of China College of Mechatronics Engineering North University of China

In order to ensure that Chinese BeiDou satellite navigation system runs smoothly,the assessment of signal quality has become a significant *** binary offset carrier(AltBOC)is BeiDou B2 frequency *** acquisition of BeiDou signal is processed in off-line mode and the evaluation is performed by taking signal power spectrum,eye diagram,constellation,correlation,loss and s-curve deviation on AltBOC as signal quality evaluation *** results illustrate that the new system signal,namely AltBOC signal,has the best performance in code tracking precision,anti-jamming and anti-multipath.

关键词： TN911.7signal quality assessment alternative binary offset carrier（Alt-BOC） correlation loss s-curve biasCLC number：TN911.7 Document code：AArticle ID：1674-8042（2013）03-0289-05

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Modeling of WalkMECH: a Fully-Passive Energy-Efficient Transfemoral Prosthesis Prototype

Modeling of WalkMECH: a Fully-Passive Energy-Efficient Trans...

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IEEE International Conference on Rehabilitation robotics

作者： R. Unal F. Klijnstra B. Burkink S.M. Behrens E.E.G. Hekman S. Stramigioli H.F.J.M. Koopman R. Carloni Robotics and Mechatronics Engineering Laboratory Biomechanical Engineering Laboratoty University of Twente Enschede The Netherlands

ISBN: (纸本)9781467360210

In this paper we present the port-based model of WalkMECH, a fully-passive transfemoral prosthesis prototype that has been designed and realized for normal walking. The model has been implemented in a simulation environment so to analyze the performance of the prosthetic leg in walking experiments and so to enhance the mechanics of the system. The accuracy of the model has been validated by experimental tests with a unilateral amputee participant.

关键词： WalkMECH Prosthesis Prototype

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Development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor

Development of an Elbow-Forearm Interlock Joint Mechanism To...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yuya Matsumoto Motoyuki Amemiya Daisuke Kaneishi Yasutaka Nakashima Masatoshi Seki Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Creative Science and Engineering Waseda University Tokyo 169-8555 Japan Graduate School of Advanced Science and Engineering Waseda University Tokyo Japan Graduate School of Creative Science and Engineering Waseda University Tokyo Japan Graduate School of Advanced Science and Engineering Waseda University Japan MONOZUKURI Mechatronics Laboratory KIKUCHI SEISAKUSHO Co. Ltd. Tokyo Japan Robotics Development Center Corporate Manufacturing Innovation Division Panasonic Corporation Osaka Japan Faculty of Science and Engineering Waseda University Japan Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Japan Department of Rehabilitation Medicine Juntendo University Graduate School Japan

ISBN: (纸本)9781479969357

An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism.

关键词： Essential Tremor Elbow Joint Movement of shoulder PROTOTYPE Wearable Robot Tremor compensated INTERLOCKS Patients

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Stable Dynamic Walking Gait Humanoid

Stable Dynamic Walking Gait Humanoid

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16th FIRA RoboWorld Congress, FIRA 2013

作者： Daut, Mohamad Noraffandi Azyze, Nur Latif Sanhoury, Ibrahim M.H. Nafis, Mohamad Lukman Amin, Shamsudin H.M. Control and Mechatronics Engineering Dept Universiti Teknologi Malaysia Malaysia Universiti Teknikal Malaysia Melaka Malaysia Centre for Artificial Intelligence and Robotics Manufacturing and Materials Research Alliance Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)9783642404085

This research introduces the formulation of humanoid robot walking gait in dynamic form. The formula is generated based on three point location at each ankle and at the hip of the robot. Then the inverse kinematic geometric method was used to locate the entire joints angle trajectory for each link on the biped leg. The robot foot was equipped with the force sensor to determine the Zero Moment Point and the Centre of pressure of the robot foot during the walking. The robot was tested with the three variations of walking gait with different speed. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Inverse kinematics

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A new algorithm for wireless sensor network based on NS-2

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Journal of Measurement Science and Instrumentation 2013年第3期4卷 272-275页

作者：焦国太孟庆丰 State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechatronics Engineering North University of China Robotics Research Center North University of China

Considering wireless sensor network characteristics,this paper uses network simulator,version2(NS-2)algorithm to improve Ad hoc on-demand distance vector(AODV)routing algorithm,so that it can be applied to wireless sensor *** studying AODV routing protocol,a new algorithm called Must is brought *** paper introduces the background and algorithm theory of Must,and discusses the details about how to implement Must *** last,using network simulator(NS-2),the performance of Must is evaluated and compared with that of *** results show that the network using Must algorithm has perfect performance.

关键词： wireless sensor networks routing protocol network simulator, version 2 （NS-2） Must algorithmCLC number：TN926 Document code：AArticle ID：1674-8042（2013）03-0272-04

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Investigation of low-frequency excitation amplitude on the effectiveness of nonlinear vibro-acoustic method used for damage detection

Investigation of low-frequency excitation amplitude on the e...

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20th International Congress on Sound and Vibration 2013, ICSV 2013

作者： Pieczonka, Lukasz Klepka, Andrzej Staszewski, Wieslaw J. Aymerich, Francesco Department of Robotics and Mechatronics AGH University of Science and Technology Al. A. Mickiewicza 30 30-059 Krakow Poland Department of Mechanical Engineering University of Cagliari Piazza d'Armi 09123 Cagliari Italy

ISBN: (纸本)9781629931500

The paper discusses an application of nonlinear vibro-acoustic testing for the detection of a barely visible impact damage in laminated composites. The testing method is based on a combined vibro-acoustic modulation of a low-frequency (modal) vibration and a high-frequency ultrasonic wave. These two types of excitation are introduced to the structure simultaneously. Nonlinearities, related to the presence of damage, cause nonlinear modulations of the response signal. These can be observed in the response spectra and used for the assessment of structural health. One of the practical issues related to nonlinear vibro-acoustic testing is the choice of excitation amplitudes. This paper investigates the effect of low-frequency vibration amplitude on nonlinear vibro-acoustic wave modulations. Two composite plates were used as a test case for the present study. One plate was impacted with known energy to develop an internal delamination whereas the second plate was intact. Two low-profile piezoceramic transducers were used for low and high-frequency excitation. The response signal was acquired by a scanning laser vibrometer. The study shows that it is possible to identify a range of low-frequency vibration amplitudes that are favorable for practical applications.

关键词： Damage detection

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Implementation of Multi Robot Communication via Bluetooth

Implementation of Multi Robot Communication via Bluetooth

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16th FIRA RoboWorld Congress, FIRA 2013

作者： Mahmood, Mohd.Muhaimin Hong, Ober Choo Sui Sanhoury, Ibrahim M.H. Norrazi, M.Azrai M. Amin, Shamsudin H.M. Control and Mechatronics Engineering Dept Universiti Teknologi Malaysia Malaysia Cytron Technologies Sdn Bhd Skudai Johor Malaysia Centre for Artificial Intelligence and Robotics Manufacturing and Materials Research Alliance Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)9783642404085

In multi robot system where two or more robot will be working together to complete a task given, it is fundamental to have a good communication between robots. This paper will discuss communication strategy by providing Personal Area Network (PAN) using Bluetooth method in multi robot area. Bluetooth is a suitable communication between mobile robots because low cost, low power consumption and communication range between 10m to 100m. This network is purpose to able to support real time control. Another advantage is the robot will able to communicate through the wall or obstacle. Bluetooth Protocol Stack and mobile robot control architecture is implemented on a single microcontroller chip. Result from the experiments show that the mobile robot named BlueBot, with programmed microcontroller able to perform a Bluetooth PAN and communicate with each other. One of the objectives of the project is to design and build three autonomous mobile robots which can establish PAN automatically via Bluetooth transceiver for wireless communication (hardware and software). © Springer-Verlag Berlin Heidelberg 2013.

关键词： Bluetooth

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Surface roughness of titanium alloys TA2 and TC4 in high-speed cylindrical grinding

Surface roughness of titanium alloys TA2 and TC4 in high-spe...

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2013 3rd International Conference on Advanced Materials and Information Technology Processing (AMITP 2013)

作者： Nanyan Shen Yakai Jia Jing Li Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and AutomationShanghai University

ISBN: (纸本)9781845648534

The grindability of titanium alloys that are classified as "hard-to-machine" materials is studied in high-speed cylindrical grinding by cubic boron nitride(CBN) grinding *** research emphasis is surface roughness,including the simulation of empirical model of surface roughness and the orthogonal experiments using CBN grinding wheel with the speed from 45 to 150 m/*** results of surface roughness obtained by the grinding experiments and the simulation analysis under nine groups of grinding parameters are compared,which show that the empirical model is partially applicable for titanium(TA2) and titanium alloy(TC4) under the grinding conditions in this *** make the calculation results of empirical model close to the actual measurement results,the modified empirical model which illustrates the relationship between surface roughness and three key grinding parameters under the certain grinding conditions is built up by experimental data fitting.

关键词： titanium alloy high-speed cylindrical grinding orthogonal experiment surface roughness empirical model

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