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IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

作者： Nakajima, Masahiro Ayamura, Yuki Takeuchi, Masaru Hisamoto, Naoki Pastuhov, Strahil Hasegawa, Yasuhisa Fukuda, Toshio Qiang, Huang Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Graduate School of Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China

ISBN: (纸本)9781479999941

This study presents the survival microinjection into Caenorhabditis elegans (C. elegans) with in vivo observation based on micromanipulation. The microinjections were achieved with micro-gel beads which are enable to encapsulate chemicals for injection. In this study, a fluorescent material was used to evaluate the injection positional precision inside the C. elegans. The fluorescent microbead was picked up at the tip of a micropipette injection tool and injected by a piezo actuated microinjector. The distance between the injected micro-gel bead and closest nerve axon was measured as 20.3 μm and 16.5 μm by in vivo observation of a confocal microscopy. The two types of pipette tools were used to evaluate the success and survival rates of microinjection, and the smaller pipette (pipette A, 0.8 μm in diameter) showed higher rates as 50 % and 67 % respectively. © 2015 IEEE.

关键词： Intelligent robots

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Self assembled monolayers of octadecyltrichlorosilane for dielectric materials

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AIP Conference Proceedings 2016年第1期1724卷

作者： Vijay Kumar Paridhi Puri Shivani Nain K. N. Bhat N. N. Sharma 1Centre for Nanoscience and Engineering Indian Institute of Science-Bangalore INDIA 2Mechanical Engineering Department Birla Institute of Technology and Science-Pilani India 3School of Automobile Mechanical & Mechatronics Manipal University-Jaipur India

Treatment of surfaces to change the interaction of fluids with them is a critical step in constructing useful microfluidics devices, especially those used in biological applications. Selective modification of inorganic materials such as Si, SiO2 and Si3N4 is of great interest in research and technology. We evaluated the chemical formation of OTS self-assembled monolayers on silicon substrates with different dielectric materials. Our investigations were focused on surface modification of formerly used common dielectric materials SiO2, Si3N4 and a-poly. The improvement of wetting behaviour and quality of monolayer films were characterized using Atomic force microscope, Scanning electron microscope, Contact angle goniometer, Raman spectroscopy and X-ray photoelectron spectroscopy (XPS) monolayer deposited oxide surface.

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Advanced intelligent walking robot control through sliding motion control and bond graphs methods

Advanced intelligent walking robot control through sliding m...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Ionel-Alexandru Gal Luige Vladareanu Hongnian Yu Hongbo Wang Mingcong Deng Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy IMSAR Bucharest Romania Technology and Science of Ministry of Education Yanshan University Qinhuangdao China Engineering and Computing Bournemouth University Dorset UK The Graduate School of Engineering Tokyo University of Agriculture and Technology Koganei Tokyo Japan

In this paper, we tested a dynamic control law on a 2DOF robot walking leg. To achieve this, we modeled the system using bond graphs, and the Sliding Control Method for real time control. To increase performance of the robot trajectory tracking control a fuzzy gain adjustment inside the dynamic control method have been used and the new results include the systems' influence on the sliding parameter. The research results lead to improve of the walking robot movement control on unstructured and bumped surfaces.

关键词： Decision support systems Legged locomotion Mathematical model Joints mechatronics Motion control

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Survival microinjection into C. elegans with in vivo observation based on micromanipulation

Survival microinjection into C. elegans with in vivo observa...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： M. Nakajima Y. Ayamura M. Takeuchi N. Hisamoto S. Pastuhov Y. Hasegawa T. Fukuda Qiang Huang Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Graduate School of Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute Beijing Institute of Technology China Center For Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan

关键词： Intelligent robots

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Design and Control of Two Fingered Compliant Gripper for Micro Gripping

Design and Control of Two Fingered Compliant Gripper for Mic...

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International Conference on Informatics, Electronics and Vision

作者： Ritwik Chattaraj Srijan Bhattacharya Bikash Bepari Subhasis Bhaumik School of Mechatronics & Robotics Indian Institute of Engineering Science & Technology Applied Electronics & Instrumentation Engineering Department RCC Institute of Information Technology Production Engineering Department Haldia Institute of Technology

ISBN: (纸本)9781479951819

During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are adroit enough even to handle biological cells. Wide varieties of grippers are now-a-days available featuring different kinematic ability, dexterity, mode of actuation, usage of sensors, maximum weight carrying capabilities and many more attributes. But they all accord to a single issue, i.e. inspiration. In recent years some compliant grippers have been developed but the crucial issue of controlling them still remains a topic of discussion. In this paper a novel design have been proposed which enables us having the force information from the gripper structure itself which in turn will contribute in controlling the gripper properly.

关键词： Ionic Polymer Metal Composite (IPMC) Electro Active Polymer (EAPs) Polydimethylsiloxane (PDMS) Data Glove Joystick Micro gripper

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Grasp mapping for Dexterous Robot Hand: A hybrid approach

Grasp mapping for Dexterous Robot Hand: A hybrid approach

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International Conference on Contemporary Computing (IC3)

作者： Ritwik Chattaraj Bikash Bepari Subhasis Bhaumik School of Mechatronics and Robotics Bengal Engineering and Science University Howrah India Department of Production Engineering Haldia Institute of Technology Haldia India

During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are adroit enough even to handle biological cells. Wide varieties of grippers are now-a-days available featuring different kinematic ability, dexterity, mode of actuation, usage of sensors, maximum weight carrying capabilities and many more attributes. But they all accord to a single issue, i.e. inspiration. Essentially the goal of developing grippers focuses mainly on the manipulation ability of the human hand. Subsequently the designs have continuously become more and more complicated, which in turn have increased the programming complexity to keep abreast with the advances. Cognition in the field of robotics refers to sensing, generation and interpretation. To inculcate kinesthetic cognition to a robot hand unequivocally implies mapping. In this paper a hybrid methodology based on the existing grasp mapping algorithm has been proposed to increase the efficacy of the robotic hand.

关键词： Thumb Kinematics Joints Robot sensing systems

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Catalytic driven micro-nanorobots fabricated by direct laser writing

Catalytic driven micro-nanorobots fabricated by direct laser...

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2014 International Symposium on Micro-Nanomechatronics and Human science, MHS 2014

作者： Bakar, Azrena Abu Nakajima, Masahiro Takeuchi, Masaru Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Center for Micro-Nano Mechatronics Nagoya University Nagoya Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479966790

We present the fabrication of catalytic driven micro-nano robot by direct laser writing. The micro-nanorobot has a spiral design of 3,5, and 7 μm named D1, D2 and D3 respectively and a flat top design D4. The micro-nanorobot is catalytically driven in 6% hydrogen peroxide (H2O2) from platinum catalytic area. The result shows that the spiral micro-nanorobot increased in speed except when the micro-nanorobot exhibits the drilling motion. It showed spinning motion, self-propulsion and drilling motion for micro-nanorobot D1, D2 and D3 respectively. The flat top micro-nanorobot has the highest speed and spinning motion was displayed. Future studies should include the actual pollutants in the environment and the effects of the drilling motion on its final content should be observed. © 2014 IEEE.

关键词： Fabrication

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Cross-sectional imaging of C. elegans by SEM-CT using environmental SEM for nanomanipulation 14

Cross-sectional imaging of C. elegans by SEM-CT using enviro...

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2014 14th IEEE International Conference on Nanotechnology, IEEE-NANO 2014

作者： Nakajima, Masahiro Takeuchi, Masaru Hisamoto, Naoki Fukuda, Toshio Hasegawa, Yasuhisa Huang, Qiang Center For SEM-Nano Mechatronics Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 Japan Department of Micro- Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Graduate School of Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China

ISBN: (纸本)9781479956227

A novel technique was presented for a cross-sectional imaging of Caenorhabditis elegans (C. elegans) by Scanning Electron Microscope - Computed Tomography (SEM-CT) using Environmental-SEM (E-SEM) for nanomanipulation applications. In our previous works, a nanorobotic manipulation system was established inside the E-SEM for water-contained samples including biological organism with a real-time high resolution observation. However, the SEM image is two dimensional (2D) and surficial information from the secondly electrons. Hence, it is not able to evaluate the targeted structure inside the sample. In this research, we presented the cross-sectional observation of the sample by SEM-CT system which is used the X-ray generated by the electron beam of SEM. To improve the signal-to-noise ratio of CT imaging, we evaluated the following ways, 1) apertures for X-ray before/after irradiating the sample, 2) adjustment of emission currents of the electron beam, 3) iteration processing of captured images. To reduce the damage of C. elegans during observation, a method was used to immerse the C. elegans by a liquid oil. The proposed 3D imaging technique is useful to evaluate the 3D manipulation of the C. elegans, such as nano-injection application with functional micro-nano beads inside the C. elegans. © 2014 IEEE.

关键词： Electron beams

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Investigation on high-order harmonic generation of guided waves using local computation approaches: Theory and comparison with analytical modelling 7

Investigation on high-order harmonic generation of guided wa...

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7th European Workshop on Structural Health Monitoring, EWSHM 2014

作者： Radecki, Rafal Leamy, Michael J. Uhl, Tadeusz Staszewski, Wieslaw J. Su, Zhongqing Cheng, Li Packo, Pawel Department of Mechanical Engineering Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong G. W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332 United States Department of Robotics and Mechatronics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland Hong Kong Polytechnic University Shenzhen Research Institute Shenzhen518057 Hong Kong

The paper presents numerical modelling approaches for computing wave propagation and high-order harmonic generation in nonlinear media. This approach is based on two local computational methods, i.e. the Local Interaction Simulation Approach and the Cellular Automata for Elastodynamics. Discretized numerical dispersion curves are calculated and used for the entire analysis. A quantitative study of velocity matching between the fundamental and high-order harmonic waves is performed. The influence of propagation distance on the magnitude of high-order harmonics is evaluated for various excitation frequencies. Numerical analyses show divergence from analytical models for dispersion curves, especially for high-order harmonics. These preliminary investigations demonstrate that the numerical modelling approaches applied can be used effectively for nonlinear wavefield analysis;however, numerical instead of analytical spectral characteristics should be considered. Copyright © Inria (2014).

关键词： Cellular automata

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Gesture based control of IPMC actuated gripper

Gesture based control of IPMC actuated gripper

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Recent Advances in engineering and Computational sciences (RAECS)

作者： Ritwik Chattaraj Srijan Bhattacharya Ankur Roy Abhra Mazumdar Bikash Bepari Subhasis Bhaumik School of Mechatronics & Robotics Bengal Engineering & Science University Shibpur Howrah INDIA Applied Electronics & Instrumentation Engineering Department RCC Institute of Information Technology Beliaghata Kolkata INDIA Department of Production Engineering Haldia Institute of Technology Haldia INDIA

Robotic grippers and its control is always a challenging and an interesting topic for the researcher. In the present scenario the most advanced gripping devices which are commercially available are of macro size. But the real challenge comes when we think for micro gripping or micro assembly. This paper represents a novel technique of gripping with Ionic Polymer Metal Composite (IPMC) actuated finger and advance communication process with the help of joystick and data glove. This technique gives an advantage to control a micro gripping device from a remote location. End effectors are made of IPMC. IPMC is one of the Electro Active Polymer (EAPs) which holds an excellent bending property at low actuation voltage resulting in high force output, thus it is capable of doing work as good as human finger tip when the same is employed as an actuator for micromanipulation. This device can manipulate micro object less than 1 mm in diameter as well as macro sized object within 10 mm diameter. This finger design is compliant in nature. In this article the underlying principle based on which the gripper operates and its fabrication process are explained in detail. It involves miniature part handling, integration and assembly operation.

关键词： Grippers Data gloves Thumb Polymers Actuators Power supplies

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