This paper presents the control of biomimetic structures, using the PID regulation algorithm and the Arduino ATMEGA microcontroller. By controlling of the Chimpanzee Alive biomimetic structure, the following emotional...
This paper presents the control of biomimetic structures, using the PID regulation algorithm and the Arduino ATMEGA microcontroller. By controlling of the Chimpanzee Alive biomimetic structure, the following emotional states can be obtained: joy, sadness and anger. The biomimetic structure has 8 DC motors that control the following elements: eyebrows, eyelids, nose, mouth, eyes and neck. These emotional states are obtained by requiring reference to the position of the eyerbrows, eyelids and mouth. An expressive state of the human face is mainly duet of the effective position of the eyebrows, eyelids and mouth.
The paper presents a Biomimetic Structures Reactive to Voice Commands (BSRVC). By sending voice commands the BSRVC will achieve the different emotional states. These states are controlled by a negative feedback contro...
The paper presents a Biomimetic Structures Reactive to Voice Commands (BSRVC). By sending voice commands the BSRVC will achieve the different emotional states. These states are controlled by a negative feedback control system with changed reference for each emotional state. Analyzing voice commands by comparing them with those stored in the phone database and sending the corresponding commands wireless to the biomimetic structure they determines the achievement these emotional states. Since contemporary information-retrieval systems rely heavily on the content of titles and abstracts to identify relevant articles in literature searches, great care should be taken in constructing both. Keywords: reactive biomimetic structure, emotional states, control system, vocal command, PID control
Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ central lines are mounted at a certain angle which is...
Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers’ output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator’s structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers’ output and the reflector) on the transportation trajectory.
This paper aims to implement 2 applications for the regulation of the inverted pendulum in the Matlab/Simulink programming environment, the first with the simple fuzzy regulator and the second with the adaptive fuzzy ...
This paper aims to implement 2 applications for the regulation of the inverted pendulum in the Matlab/Simulink programming environment, the first with the simple fuzzy regulator and the second with the adaptive fuzzy regulator. Both applications use at the input 2 sizes: the regulation error and the variation of the regulation error, resulting in a quasi-PD fuzzy regulator with dynamics. For the design of fuzzy regulators, 3 linguistic variables were considered: error, error variation (error derivation) and force (command). The linguistic values attached to the three linguistic variables are: high negative, small negative, zero, positive low, high positive. For the theta angles that are made by the inverted pendulum in its motion, we will have positive for the movement to the right of the vertical axis and negative for the movement to the left of the vertical axis. The rules base for fuzzy regulators contains 25 rules made up of combinations of the five linguistic values. The fuzzy regulators are Mamdani type, and defuzzification is done by the center of gravity method. The analysis of the two control systems reveals the superiority of the adaptive techniques, since they not only compensate for the nonlinearities present in the process, but also have the extra capacity of learning from the unfolded events.
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...
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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.
Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric to obtain a tree-like structure where the roots of the tree (anchoring poin...
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Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric to obtain a tree-like structure where the roots of the tree (anchoring points) serve as coordinating locus for the joint transport of information, goods and people. Route bundling is a relevant conceptual construct in a number of path-planning scenarios where the resources and means of transport are scarce/expensive, or where the environments are inherently hard to navigate due to limited space. In this paper we propose a method for searching optimal route bundles based on a self-adaptive class of Differential Evolution using a convex representation. Rigorous computational experiments in scenarios with and without convex obstacles show the feasibility and efficiency of our approach.
In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories o...
In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories of the particles within an acoustic field. Then the experiments are carried out to demonstrate those obtained using COMSOL-based simulations. Finally, the separation experiments of the mixed powder of iron and dioxide silica are achieved, including the mixed powder both in the same diameter and the different diameter respectively.
This paper presents two methods, non-contact low frequency ultrasound method and fiber Bragg gratings, and their application to nondestructive testing of glass fiber reinforced composites used in wind turbine blades. ...
This paper presents two methods, non-contact low frequency ultrasound method and fiber Bragg gratings, and their application to nondestructive testing of glass fiber reinforced composites used in wind turbine blades. Theoretical models are used and experimental results are in good concordance with destructive testing results.
CFRP have applications among most different domains due their low density, high elastic modulus and high ultimate strength along the carbon fibers direction, no fatigue and the expansion coefficient is small. This pap...
CFRP have applications among most different domains due their low density, high elastic modulus and high ultimate strength along the carbon fibers direction, no fatigue and the expansion coefficient is small. This paper presents the behavior of carbon fiber woven-PPS composites at low velocity impacts. The transversal electrical conductivity is modified due to the plastic deformation following the impacts, and thus electromagnetic procedures can be used for assessment of CFRP using a high resolution sensor with metamaterials lens and comparing the results with those obtained from ultrasound testing with phased array sensor. The area of the delamination is overestimated when the method of phased array ultrasound is used and substantially underestimated by the electromagnetic testing. There were a good agreement between the simulations with finite element method and experimental measurements.
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