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Structural Health Monitoring in Cylindrical Structures Using Helical Guided Wave Propagation

Physics Procedia 2015年 70卷 686-689页

作者： A. Baltazar E. Rojas R. Mijarez Robotics and Advanced Manufacturing Program. CINVESTAV – Unidad Saltillo. Ramos Arizpe Coahuila 25903 México Instituto de Investigaciones Eléctricas Gerencia de Control e Instrumentación Cuernavaca Morelos 62490 México

Defect detection and characterization are critical tasks for structural health monitoring of pipe-like engineering structures. Propagation and detection of ultrasonic helical Lamb waves using macro fiber composite (MFC) sensors is studied. Experiments for defect detection and characterization on an aluminum hollow cylinder (114 mm in outer-diameter and 6 mm of wall thickness) were carried out. An experimental setup using MFC sensors coupled to the cylinder's surface in a pitch-catch configuration is presented. Time-frequency representation (TFR) using wavelets is employed to accurately perform mode identification of the ultrasonic captured signals. The initial results indicate that the use of helical waves could allow the monitoring of damage in difficult to access critical areas by locating the sensors only on a small region of the periphery of the cylindrical structure under inspection.

关键词： Helical propagation Guided waves Cylinders Entropy

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Development of medical ruby laser power supply using LLC resonant converter

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Transactions of the Korean Institute of Electrical Engineers 2014年第7期63卷 924-928页

作者： Kim, Dong-Hyun Jung, Jae-Hun Kim, Hee-Je Dept. of Electrical Engineering Pusan National University Korea Republic of Dept. of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

LLC resonant converter is used to control laser power density in ruby laser power supply. Zero voltage switching(ZVS) is implemented to minimize the switching loss by the LLC resonant converter. Laser output power is investigated and experimented by changing the output current. That current is controled by the charging voltage of capacitor. From those results, we obtained the maximum laser output of 1.94J at the discharge current of 860A and the pulse repetition rate of 1Hz.

关键词： Power converters

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Reaction force estimation of hydraulic servo system using sliding perturbation observer

Reaction force estimation of hydraulic servo system using sl...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Keum-Gang Cha Sung-Min Yoon Hyun-Hee Kim Ki-Yeon Gim Min-Cheol Lee Department of Mechanical Engineering Pusan National University Busan Republic of Korea Interdisciplinary Program in Robotics Pusan National University Busan Republic of Korea School of Mechanical Engineering Pusan National University Busan Republic of Korea

ISBN: (纸本)9781467391085

In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust observer technique. Before estimating reaction force, the modeling of electro-hydraulic servo system is processed. Before the fine modeling parameters of electro-hydraulic servo system, modeling equation is obtained through cylinder equation using expansion and shrinkage stroke process. After finding modeling equation, the obtaining accurate modeling parameter is carried out from signal compression method. After defining modeling parameter, reaction force estimation is operated by sliding perturbation observer. The analysis result of estimation for reaction force will be used for bilateral control with master-slave structure.

关键词： Force Mathematical model Observers Damping Dynamics Uncertainty Valves

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The Role of Relative Spinal Motion during Feline Galloping for Speed Performance

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Journal of Bionic Engineering 2014年第4期11卷 517-528页

作者： Young Kook Kim Jongwon Park Byungho Yoon Kyung-Soo Kim Soohyun Kim Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon 305-701 Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon 305-701 Republic of Korea

Felines use their spinal column to increase their running speed at rapid locomotion performance. However, its motion profile behavior during fast gait locomotion has little attention. The goal of this study is to examine the relative spinal motion profile during two different galloping gait speeds. To understand this dynamic behavior trend, a dynamic motion of the feline animal （Felis catus domestica） was measured and analyzed by motion capture devices. Based on the experiments at two different galloping gaits, we observed a significant increase in speed （from 3.2 m.s-1 to 4.33 m.s-1） during the relative motion profile synchronization between the spinal （range： 118.86~ to 168.00~） and pelvic segments （range： 46.35~ to 91.13~） during the hindlimb stance phase （time interval： 0.495 s to 0.600 s）. Based on this discovery, the relative angular speed profile was applied to understand the possibility that the role of the relative motion match during high speed locomotion generates bigger ground reaction force.

关键词： feline galloping galloping gait pattern relative spinal motion speed performance phase match

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Fine-grained plant classification using convolutional neural networks for feature extraction

Fine-grained plant classification using convolutional neural...

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2014 Cross Language Evaluation Forum Conference, CLEF 2014

作者： Sünderhauf, Niko McCool, Chris Upcroft, Ben Perez, Tristan Agricultural Robotics Program Queensland University of Technology 2 George Street BrisbaneQLD4001 Australia

We present an overview of the QUT plant classification system submitted to LifeCLEF 2014. This system uses generic features extracted from a convolutional neural network previously used to perform general object classification. We examine the effectiveness of these features to perform plant classification when used in combination with an extremely randomised forest. Using this system, with minimal tuning, we obtained relatively good results with a score of 0.249 on the test set of LifeCLEF 2014.

关键词： Neural networks

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The Finite Element Analysis of Flying Touch Hot Rolling Method Using Ansys Simulation

The Finite Element Analysis of Flying Touch Hot Rolling Meth...

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Asian Control Conference

作者： Hyun-Hee Kim Min-Cheol Lee Interdisciplinary Program in Robotics Pusan National University School of Mechanical Engineering Pusan National University

ISBN: (纸本)9781479978632

In the hot rolling process, the scratches are caused by immense friction between the rollers and the steel plate, and this defect debases the productivity of steelworks. Existing hot strip mills have a structure that fixes the gap between upper and lower rollers;as a result, steel plates inevitably underwent strong friction and shock when passing through the rollers. The new concept, a flying touch method is proposed, which can control the gap between rollers for reducing scratches in hot rolling process. It is essential to simulate in finite element analysis program because the real hot rolling system is too huge and dangerous to have repetitive experiments. This paper introduces the results of the finite element analysis and a method to decrease scratches on the steel plate in hot rolling process.

关键词： Hot rolling process Flying touch Finite element analysis Ansys simulation SMCSPO Impact drop

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One-time password implementation on lego Mindstorms NXT

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Telkomnika (Telecommunication Computing Electronics and Control) 2014年第3期12卷 689-694页

作者： Prasetio, Barlian Henryranu Nurwarsito, Heru Kurniawan, Wijaya Computer System and Robotics Lab Program of Information Technology and Computer Science University of Brawijaya Jl. Veteran Malang Indonesia Computer Networking Lab Program of Information Technology and Computer Science University of Brawijaya Jl. Veteran Malang Indonesia

One of the factors that affect the security of a network or system is user authentication, so that at times it can be said to be no longer safe. Brute force attacks on password systems are a dominant (static) potential way to penetrate network security or user authentication systems. One way to overcome these drawbacks is to use the One Time Password (OTP) algorithm. OTP is a password security system using dynamic passwords. The password will be valid for one session only. In this research, the author will analyse the reliability of the OTP algorithm by applying it to a LEGO Mindstorms robot. The robot will be designed as part of a system where the user will be safe to enter the default password, and then the system will change the password every session. The results of the questionnaire showed that 79% of users felt more secure, but more than 60% said it was difficult to do.

关键词： Authentication

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A body-machine interface for training selective pelvis movements in stroke survivors: a pilot study

A body-machine interface for training selective pelvis movem...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： S. Summa C. Pierella P. Giannoni A. Sciacchitano S. Iacovelli A. Farshchiansadegh F. A. Mussa-Ivaldi M. Casadio the Department of Informatics Bioengineering Robotics and System Engineering at the University of Genoa 16145 Genoa Italy the ART Education and Rehab Center Genoa Italy the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA. the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA

ISBN: (纸本)9781424492695

The body-machine interfaces (BMIs) map the subjects' movements into the low dimensional control space of external devices to reach assistive and/or rehabilitative goals. This work is a first proof of concept of this kind of BMI as tool for rehabilitation after stroke. We designed an exercise to improve the control of selective movements of the pelvis in stroke survivors, increasing the ability to decouple the motion in the sagittal and frontal planes and decreasing compensatory adjustments at the shoulder girdle. A Kinect sensor recorded the movements of the subjects. Subjects played different games by controlling the vertical and horizontal motion of a cursor on a screen with respectively the lateral tilt and the ante/retroversion of their pelvis. We monitored also the degrees of freedom not directly involved in cursor control, thus subjects could complete the task only with a correct posture. Our preliminary results highlight significant improvement not only in cursor control, but also in the Trunk Impairment Scale (TIS) and in the Five Times Sit to Stand Test (5xSST).

关键词： TIS 5xSST BMI Pelvis cursor control Movements proof of concept Stroke Pilot Studies Body Mass Index Horizontal motion BMI CONSOLE first proofs Survivors nonius

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Embedding a concurrent autonomous agent in a microcontrollers network

Embedding a concurrent autonomous agent in a microcontroller...

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5th ISSNIP - IEEE Biosignals and Biorobotics Conference, BRC 2014

作者： Ferreira, Diego Stefano F. Da Silva, Rafael R. Loureiro Da Costa, Augusto Robotics Laboratory Postgraduate Program in Electrical Engineering Federal University of Bahia 40210-630 Salvador Bahia Brazil

ISBN: (纸本)9781479956890

In this paper, a microcontroller heterogeneous network is proposed to embed a concurrent autonomous agent. The network was designed to fit the concurrency requirements of the cognitive model of the aforementioned agent. The architecture of the agent comprises three levels, namely, the reactive level, instinctive level and the cognitive level, which runs concurrently. The reactive level is embedded in a PSoC 5LP, consisting of behaviours created over a embedded kinematic controller. The instinctive level runs in a mbed NXP LPC1768, which receives perceptions from and sends the active behaviour to the reactive level through a CAN bus. And The cognitive level runs on a DNP/2486 which, in turn, receives symbolic information from and sends new local goals to instinctive level through an Ethernet network. Finally, the architecture used in the experiments is presented, followed by the results. © 2014 IEEE.

关键词： Autonomous agents

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Estimated force based velocity synchronization for fly touch control in hot rolling process

Estimated force based velocity synchronization for fly touch...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Sung Min Yoon Min Cheol Lee Sung Jin Kim Hyun Hee Kim Keum Gang Cha Graduate School of Mechanical Engineering Pusan National University Kumjeong-ku KR Sch. of Mech. Engeerning Pusan Nat. Unviversity South Korea Interdisciplinary Program in Robotics Pusan National University Kumjeong-ku KR

ISBN: (纸本)9781467391085

In the hot rolling process, scratches are caused by immense friction between the rollers and the steel plate, and this defect reduces the quality of steelworks. To solve this problem, a flying touch method was proposed, which can control the gap between rollers for reducing scratches in hot rolling process. In a flying touch method, it is important that the gap between the rolling rolls can be control precisely and the velocity of rolling rolls can be synchronize to minimize the friction between steel plate and rolling rolls. Therefore, this paper addresses the velocity synchronize control for fly touch method. To reduce friction between steel plate and rolling rolls, this study estimates load torque of rolling rolls using torque estimation method based on SPO and control the velocity of rolling rolls according to estimated load torque. To confirm the performance of the estimated Force based velocity synchronize control, experimental evaluation is performed using down scaled simulator designed in previous study.

关键词： Conferences Mechatronics

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