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Microstructural comparison and analysis of bone scaffold prepared by FDM and SLS process

Microstructural comparison and analysis of bone scaffold pre...

World Congress on Medical Physics and Biomedical engineering: Biomaterials, Cellular and Tissue engineering, Artificial Organs

作者： Liulan, Lin Bin, Rong Qingxi, Hu Minglun, Fang Shanghai Key Laboratory of Mechanical Automation and Robotics College of Mechatronics Engineering and Automation Shanghai University NO.99 Shangda Road Shanghai China

ISBN: (纸本)9783642038990

Three-dimensional (3D) micro-structure of bone scaffold played an important role in cell adhesion and reproduction. The introduction of 3D measuring techniques in bone research made it possible to capture the actual architecture of bone scaffold without assumptions of the structure type. Two bone scaffolds fabricated by FDM and SLS were reconstructed and analyzed, then were compared with 3D structure indices of canine femur specimens. Based on the direct 3D analysis, there were obvious differences between two scaffolds in structural characteristics. Scaffolds prepared by FDM showed a denser and plate structure, a lower porosity, the trabecular bone was thinner. While scaffolds prepared by SLS showed a rod-shaped structure, were closer to real canine femur specimens, had a higher inter-connectivity. Scaffolds prepared by these two methods had no significant anisotropy. © 2009 Springer-Verlag.

关键词： Microstructure

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The direct teaching and playback method for robotic deburring system using the adaptive-force-control

The direct teaching and playback method for robotic deburrin...

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2009 IEEE International Symposium on Assembly and Manufacturing, ISAM 2009

作者： Lee, SeungHoon Li, ChengJie Kim, DongHyung Kyung, JinHo Han, ChangSoo CIM and Robotics Laboratory Department of Mechanical Engineering Hanyang University Seoul Korea Republic of CIM and Robotics Laboratory Department of Mechatronics Engineering Hanyang University Seoul Korea Republic of Department of Robotics and Intelligent Machinery Korea Institute of Machinery and Materials Daejeon Korea Republic of CIM and Robotics Laboratory Department of Mechanical and Information Management Engineering Hanyang University Ansan Korea Republic of

ISBN: (纸本)9781424446278

Industrial robots are widely used and should be able to easily treat various work pieces. Therefore, a teaching and playback method is effective in small-quantity batch production. This paper suggests the mathematical modeling of the robotic deburring system, a complex target workpiece, and an uneven environment. First, a method is proposed that simplifies the teaching path for automated robotic deburring for efficient teaching, to generate a feasible trajectory that traces out a playback reference, and then an artificial disturbance on its playback motion is set. The recorded path is compressed using the Douglas-Peuker (DP) algorithm, which is for smoothing curves. Next, the simulation results based on the realization algorithm for effective direct teaching are introduced. Through this process, fundamental dynamic parameters are estimated and the adaptive force control strategies that were implemented in the simulation are verified. ©2009 IEEE.

关键词： Adaptive control systems

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A comparative study of indirect and direct workspace representation in human-robot interaction

A comparative study of indirect and direct workspace represe...

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作者： Farkhatdinov, Ildar Balashov, Vadim Ryu, Jee-Hwan Poduraev, Jury School of Mechanical Engineering Korea University of Technology and Education Cheonan Korea Republic of Department of Robotics and Mechatronics Moscow State University of Technology STANKIN Moscow Russia

ISBN: (纸本)9783902661432

This paper presents a comparative study of indirect and direct workspace representation in human-robot interaction. Most of previous researches were using indirect workspace representation or were restricted to mobile robot applications. We extended human-robot interface with direct workspace representation for control of manipulator. Touch screen with representation of manipulators' task space was used as an input/output device with direct workspace representation. Experimental study showed that usage of direct workspace representation significantly improves accuracy and productivity of control in human-robot interaction. Proposed human-robot interface was tested with manipulator. Possible application areas were described. © 2009 IFAC.

关键词： Human robot interaction

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Enhancement of infrared-based image identification system for security robots by image decomposition

Enhancement of infrared-based image identification system fo...

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4th International Conference on Autonomous Robots and Agents, ICARA 2009

作者： Abas, Khairul Hamimah Ono, Osamu Ibrahim, Zuwairie Department of Electronics and Bioinformatics Faculty of Science and Technology Meiji University Kanagawa Japan Department of Mechatronics and Robotics Faculty of Electrical Engineering University Technology Malaysia Johar Malaysia

ISBN: (纸本)9781424427130

In this paper, a new infrared-based face identification system based on an input image decomposition is presented. The proposed image decomposition is a novel approach to transform an infrared image into a multilayer infrared image based on energy levels. Image decomposition is done by firstly applying false-color palette to the input image which will then be decomposed according to each of the false-color layer. The proposed approach is able to identify correct images from manifold poses by using frontal view of the infrared images and its decomposition layers as training images. In this work, the proposed method was verified through the implementation on a face recognition system, which was based on wavelet and neural network classification. The application of this finding is substantial, for security and rescue robots, for example, where a single image is acquired and should be critically identified. ©2009 IEEE.

关键词： Face recognition

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Setting up MATX-based laboratory experimental systems - A pendulum system with windows OS

Setting up MATX-based laboratory experimental systems - A pe...

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作者： Iwase, Masami Kojima, Shingo Sadahiro, Teruyoshi Hatakeyama, Shoshiro Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Graduate School of Computers and Systems Engineering Tokyo Denki University Saitama Japan

ISBN: (纸本)9783902661562

This paper presents setting up experimental systems based on MATX in laboratories and undergraduate school. This configuration has advantages of introduction cost, maintenance fee, easy reconstruction compared with commercial equipments. The advantages and effectiveness of the proposed experimental system configuration are demonstrated in this paper by using a Furuta pendulum system as an example.

关键词： Pendulums

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Controllable Postures of a Dual-crawler-driven Robot

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IFAC Proceedings Volumes 2009年第16期42卷 209-214页

作者： Qiquan Quan Shugen Ma Rongqiang Liu Department of Robotics Ritsumeikan University Japan School of Mechatronics Engineering Harbin Institute of Technology China

Abstract This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as transmission device and provides two outputs in different forms with only one actuator. The robot that contains two crawler modules can generate several configurations through controlling cooperatively the two actuators. This tracked robot, which uses two actuators to give four outputs, however could have less realizable postures than that where each output is provided by one actuator exactly. To figure out what postures can be generated by the introduced dual-crawler robot, the quasi-static analysis of the robot has been conducted in case of taking the rolling resistance into consideration, and its realizable postures are obtained numerically. The posture transition of the robot is also discussed in this paper.

关键词： Crawler mechanism Quasi-static analysis Realizable postures Posture transition

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Kinematics and its solution methodology of A 3-PRR flexure-based parallel mechanism

Kinematics and its solution methodology of A 3-PRR flexure-b...

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IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009

作者： Tian, Y. Shirinzadeh, B. Zhang, D. Fatikow, S. Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia School of Mechanical Engineering Tianjin University Tianjin 300072 China Division of Microrobotics and Control Engineering University of Oldenburg Oldenburg 26111 Germany

ISBN: (纸本)9780889868106

This paper presents the mechanical design and kinematic analysis methodologies of a 3-PRR flexure-based parallel mechanism, which can be utilized to conduct planar precision positioning as required for automating micro/ nano manipulation tasks. Flexure hinges are used as the revolute joints to provide smooth motion in the range of micrometers. Three high performance piezoelectric actuators are utilized to drive the flexure-based mechanism. The kinematics of the proposed flexure-based parallel mechanism is established. Finite element analysis is conducted to validate the performance of the 3-PRR flexure-based parallel mechanism. Two simplified methodologies are proposed to improve the computational efficiency of the kinematics of the developed mechanism.

关键词： Kinematics

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Nanorobot for Brain Aneurysm (vol 28, pg 558, 2009)

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2009年第7期28卷 927-927页

作者： Cavalcanti, Adriano Shirinzadah, Bijan Fukuda, Toshio Ikeda, Seiichi CAN Center for Automation in Nanobiotech Melbourne VIC 3168 Australia Monash University Department of Mechanical Engineering Robotics and Mechatronics Research Laboratory Clayton Melbourne VIC 3800 Australia Nagoya University Dept. of Micro-Nano Systems Eng. Nagoya Aichi 464-8603 Japan -u.ac.jp

In this paper we present how nanoelectronics should advancemedicine, providing details on the teleoperated techniques andequipment design methodology necessary for the effective developmentof nanorobots. The platform architecture describes how to usea nanorobot for intracranial prognosis, and shows how it shouldbe integrated for medical instrumentation. Furthermore, thecurrent study establishes proteomics, nanobioelectronics, andelectromagnetics as the basis to advance medical nanorobotics.To illustrate the proposed approach, the nanorobots must searchfor protein overexpression signals in order to recognize initialstages of aneurysm. An advanced nanomechatromics simulator,using a three-dimensional task-based environment, is implementedto provide an effective tool for device prototyping and medicalinstrumentation analysis. Thus, based on clinical data and nanobioelectronics,the proposed model offers details about how a nanorobot shouldhelp with the early detection of cerebral aneurysm.

关键词： architecture biochip medical nanorobotics nanobioelectronics nanobiosensor.

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Numerical simulations for impact damage detection in composites using vibrothermography

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IOP Conference Series: Materials Science and engineering 2010年第1期10卷

作者： L J Pieczonka W J Staszewski F Aymerich T Uhl M Szwedo AGH University of Science and Technology Department of Robotics and Mechatronics Al. Mickiewicza 30 30-059 Krakow Poland Sheffield University Department of Mechanical Engineering Mappin Street Sheffield S1 3JD UK University of Cagliari Department of Mechanical Engineering 09123 Piazza d'Armi Cagliari Italy

Composite materials are widely used in many engineering applications due to their high strength-to-weight ratios. However, it is well known that composites are susceptible to impact damage. Detection of impact damage is an important issue in maintenance of composite structures. Various non-destructive image-based techniques have been developed for damage detection in composite materials. These include vibrothermography that detects surface temperature changes due to heating associated with frictional energy dissipation by damage. In the present paper numerical simulations are used to investigate heat generation in a composite plate with impact damage in order to support damage detection analysis with vibrothermography. Explicit finite elements are used to model ultrasonic wave propagation in the damaged plate. Simulated delamination and cracks induce frictional heating in the plate. Coupled thermo-mechanical simulations are performed in high frequencies using commercial LS-Dyna finite element code. Very good qualitative agreement between measurements and simulations has been obtained. The area of increased temperature corresponds very well with the damaged area in both experiments and simulations. Numerical model has to be further refined in order to quantitatively match the experiments. The main issues of concern are frictional and thermal properties of composites. The final goal of these research efforts is to predict damage detection sensitivity of vibrothermography in real engineering applications based on numerical models.

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Stereo matching in the presence of sub-pixel calibration errors

Stereo matching in the presence of sub-pixel calibration err...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Heiko Hirschmuller Stefan Gehrig Institute of Robotics and Mechatronics Oberpfaffenhofen Germany Group Research & Advanced Engineering Daimler AG

Stereo matching commonly requires rectified images that are computed from calibrated cameras. Since all underlying parametric camera models are only approximations, calibration and rectification will never be perfect. Additionally, it is very hard to keep the calibration perfectly stable in application scenarios with large temperature changes and vibrations. We show that even small calibration errors of a quarter of a pixel are severely amplified on certain structures. We discuss a robotics and a driver assistance example where sub-pixel calibration errors cause severe problems. We propose a filter solution based on signal theory that removes critical structures and makes stereo algorithms less sensitive to calibration errors. Our approach does not aim to correct decalibration, but rather to avoid amplifications and mismatches. Experiments on ten stereo pairs with ground truth and simulated decalibrations as well as images from robotics and driver assistance scenarios demonstrate the success and limitations of our solution that can be combined with any stereo method.

关键词： Calibration Cameras Robot vision systems Temperature Robot sensing systems Filtering theory Filters Lenses Image reconstruction Layout

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