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A Poisson-based methodology for deformable object simulation

International Journal of Modelling and Simulation 2008年第2期28卷 156-164页

作者： Zhong, Y. Shirinzadeh, B. Alici, G. Smith, J. Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University VIC 3800 Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong 2522 NSW Australia Department of Surgery Monash Medical Centre Monash University VIC 3800 Australia

This paper presents a new methodology for the deformation of soft objects by drawing an analogy between Poisson equation and elastic deformation. The potential energy stored in a soft body as a result of a deformation caused by an external force is propagated among mass points by Pwoisson equation. The novelty of the methodology is that Poisson-based techniques are established to propagate the energy generated by the external force and to extrapolate the internal forces of a deformed object. A cellular neural network model is established to solve the Poisson model for the real-time requirement of soft object deformation. This proposed methodology not only deals with large-range deformations, but also accommodates isotropic, anisotropic and inhomogeneous materials by simply modifying constitutive coefficients.

关键词： Poisson equation

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Multicast tree configuration with bandwidth reservation in overlay networks

Multicast tree configuration with bandwidth reservation in o...

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2008 International Conference on Parallel and Distributed Processing Techniques and Applications, PDPTA 2008

作者： Obata, Hirokazu Higaki, Hiroaki Department of Computers and Systems Engineering Tokyo Denki University Japan Department of Robotics and Mechatronics Tokyo Denki University Japan

ISBN: (纸本)1601320841

Multicast service of multimedia data messages are attractive network application. In conventional TCP/IP computer network, all functions of group membership management, routing and bandwidth reservation are required to be supported by all intermediate routers and availability of the multicast service is not always enough for network users. The overlay multicast is an expected solution where only logical configuration, i.e. routing in a logical network, is required and is supported by computers engaged to the multicast service. However, for support multimedia data transmission, bandwidth reservation in physical communication links is required and cooperation of overlay network layer and physical network layer is required. This paper proposes a novel bandwidth reservation method for overlay multicast where bandwidth are correctly reserved even if multiple logical communication links share a physical communication link.

关键词： Overlay networks

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Posture analysis of a dual-crawler-driven robot

Posture analysis of a dual-crawler-driven robot

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2008

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

ISBN: (纸本)9781424424955

This paper introduces a tracked robot composed of the proposed crawler mechanism, which uses a planetary gear reducer as the power transmission device and provides two types of output in different form with only one actuator. The robot that has two crawler modules can generate several postures by 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 outputs are given by the same number of actuators with the outputs. To And what postures can be generated by the introduced dual-crawler robot or all possible postures of this robot, the static analysis of the robot has been conducted and the possible postures are derived numerically in this paper. © 2008 IEEE.

关键词： Robots

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Closed-form equations for the vibrations of a flexure-based Scott-Russell mechanism

Closed-form equations for the vibrations of a flexure-based ...

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2008

作者： Tian, Yanling Shirinzadeh, Bijan Zhong, Yongmin Zhang, Dawei 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

ISBN: (纸本)9781424424955

This paper presents the closed-form equations for the vibrations of a flexure-based Scott-Russell mechanism driven by a piezoelectric actuator. This mechanism is used for the nanomanipulation. To overcome the displacement limitation of the piezoelectric actuator, the proposed Scott-Russell mechanism is also used to enlarge the working range of the entire system with high positioning accuracy. With consideration for the effect of the driving circuit, the dynamic model of the flexure-based Scott-Russell mechanism is established. The closed-form transient response of the flexure-based Scott-Russell mechanism to the slope command signal is derived based on the Laplace transform method. The influence of the rising time on the dynamic characteristics of the mechanism is investigated. Compared with the step signal, the slope command signal can generate vibration-free motion and thus improve the dynamic performance of the flexure-based Scott-Russell mechanism. © 2008 IEEE.

关键词： Piezoelectric actuators

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Learning Of Biologically Inspired Behaviors For Autonomous Robots By A Navigational Network

Learning Of Biologically Inspired Behaviors For Autonomous R...

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, Pages 477-948

作者： Paulo A. Jimenez Bijan Shirinzadeh Yongmin Zhong Robotics and Mechatronics Research Laboratory (RMRL) Department of Mechanical and Aerospace Engineering Monash University

ISBN: (纸本)9781424424948

Many animals can navigate by means of Path Integration (PI), in which an animal keeps a continuously updated record of its current direction and distance from some reference point as it moves away from that place. Equipped with such knowledge, a navigational network learned how to maintain a vector pointing to the home base, with a precision that depends on the number of neurons used to encode the vector. As PI systems are prone to cumulative navigational errors, the robot must perform a systematic search for the home base once it has reset its path integration system and yet not arrived at the home base.

关键词： Autonomous robots reference station Learning Current direction Domestic architecture Alkali Base of a number system Respiratory Inspiration Bases Base Polyimides productivity indexes Proportional integral Animals

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Towards fully-automated micrograsping for microassembly

Towards fully-automated micrograsping for microassembly

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Mohd Nashrul Mohd Zubir Bijan Shirinzadeh Yanling Tian Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia

Fully automated microassembly procedure has become an essential subject of interest among microsystem researchers due to the promising potential of the establishment of fully functional Micro Electro Mechanical System (MEMS) devices and significant cost reduction on large number of consumer based products once the system is realized. In the heart of microassembly, the development of high precision micrograsping technique for dexterous manipulation of minute parts becomes the key factor which determines the success of microassembly process. This paper presents the development of a microgripper for the purpose of manipulating micro sized objects in precision environment. The gripper is realized based on compliant mechanism concept that uses flexure hinge to replace the traditional rigid hinge due to its favorable advantages of eliminating the backlash and coulomb friction problems. Modeling of this gripper was performed utilizing a combination of Pseudo Rigid Body Model (PRBM) and Finite Element Analysis (FEA) which effectively accelerates the prototyping procedure. The gripper was cut out of aluminum plate using electro-discharge machining (EDM) technique and experimental studies were conducted to investigate the performance as well as for model verification. The result between experiment and computational analysis has shown high degree of agreement. High displacement amplification was successfully recorded and maximum stroke of 100 mum can be achieved.

关键词： Microassembly Grippers Fasteners Mechanical systems Micromechanical devices Cost function Heart Friction Finite element methods Performance analysis

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Study of neural network motion control of piezoelectric actuation systems for micro/nano manipulation

Study of neural network motion control of piezoelectric actu...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Hwee Choo Liaw Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia

This paper investigates the feasibility of a neural network motion control methodology applied in the piezoelectric actuation systems for micro/nano manipulation. This control methodology is proposed for tracking desired motion trajectories in the presence of unknown system parameters, non-linearities including the hysteresis effect, and external disturbances in the micro/nano manipulation systems. The advantage of this control methodology is that no prior knowledge of the system parameters, or of the initial estimates of the neural networks, is required for the physical realisation of the control system. Simulation results of the control methodology for tracking a desired motion trajectory are presented. This control methodology can be utilised to realise high performance micro/nano manipulation systems driven by piezoelectric actuators.

关键词： Neural networks Motion control Control systems Hysteresis Piezoelectric actuators Tracking Trajectory robotics and automation Robot control Robot vision systems

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Modeling and identification of man-machine interface using myoelectricity

Modeling and identification of man-machine interface using m...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： M. Iwase T. Tajiri M. Andoh K. Ura Department of Robotics and Mechatronics Tokyo Denki University Japan Department of Computers and Systems Engineering Tokyo Denki University Japan

This study focuses on the stabilizing operation of a pendulum by using myoelectricity as the control signal. Recently myoelectricity is highlighted in the control application fields such as artificial hands and powered suits. However, even expert operators fail in stabilization of the pendulum because controlling of the target system by using myoelectricity is a difficult task. To deal with such a situation, introducing of an operation assistance by an automatic control is one of useful solutions, however, in general, the design of such automatic control system requires the model of myoelectricity. Thus it is still challenging task to achieve modeling and identification of myoelectricity. This paper tries to make a model of the dynamical system of the myoelectricity by utilizing the nonlinear ARX models proposed by Furuta and verifies the effectiveness of the model through some experiments.

关键词： Control systems USA Councils Conferences

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Control Strategies and Feedback Information in Mobile Robot Teleoperation

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IFAC Proceedings Volumes 2008年第2期41卷 14681-14686页

作者： I. Farkhatdinov J-H. Ryu J. Poduraev School of Mechanical Engineering Korea University of Technology and Education Cheonan Korea Robotics and Mechatronics Department Moscow State University of Technology “STANKIN” Moscow Russia

In this paper several control strategies and feedback information for teleoperation of a mobile robot are described and analyzed. Main objective is to verify the role of different types of feedback information and command strategies. Three control strategies which combined position-speed and position-position control modes are analyzed. Position-speed and position-position command strategies are used for mobile robot teleoperation. In position-speed strategy, desired speed of a mobile robot is defined by a master manipulators position. In position-position command strategy, robots position is controlled by position of master device. Hybrid command strategy, combining position-speed and position-position strategy, is introduced. Three types of feedback are provided to human-operator. Described human-robot teleoperation interfaces were tested by performing experiments. First, unilateral teleoperation was studied. Experiments with position-speed, position-position and hybrid command strategies were evaluated. Second, bilateral teleoperation of a mobile robot was studied using two types of force feedback: force feedback related to obstacle range information, and force feedback including information about the state of the robot. For experiments with bilateral teleoperation different command strategies were applied. The role of visual and sound feedback was verified also. Navigation time and positioning accuracy were measured during experiments. For each type of human-robot interaction interface advantages and disadvantages, and possible applications were described.

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A vision-based approach for surface roughness assessment at micro and nano scales

A vision-based approach for surface roughness assessment at ...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Ghassan A. Al-Kindi Bijan Shirinzadeh Yongmin Zhong Department of Mechanical Engineering University of Technology Baghdad Iraq Robotics & Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Malaysia

This paper presents a vision-based approach for valid assessment of surface roughness in both micro-scale and nano-scale regions. To enable data comparisons, three sets of surface data in the micro and nano regions are acquired by using a CCD camera, a video-based optical microscope and a stylus instrument. Data filtering and analysis procedures are applied to the acquired data. Results for computation of roughness parameters by using vision data provide adequate values for assessment of surface roughness in the manner as similar as stylus based technique. No obvious changes in the computed roughness parameter values are resulted from the micro and nano regions. In the nano region, a cavity graphs technique provides distinguishable forms of graphs that tend to more gradual increase of the cavity percentage to denote the collection of the macro surface details. In addition, an auto correlation technique applied in the nano region succeeds to discriminate the surface irregularities relationship with respect to their periodicity and randomness. The overall acquired results indicate that vision systems are a valid source of data for reliable surface roughness evaluation in both micro/nano-scale regions. The results are very useful in achieving commercial 3D vision based micro-nano roughness measurement systems for industrial applications.

关键词： Rough surfaces Surface roughness Optical filters Optical microscopy Charge coupled devices Charge-coupled image sensors Instruments Filtering Data analysis Computer vision

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