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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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Non-local modeling and simulation of wave propagation and crack growth

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AIP Conference Proceedings 2014年第1期1581卷 513-520页

作者： Adam Martowicz Massimo Ruzzene Wieslaw J. Staszewski Tadeusz Uhl AGH University of Science and Technology Department of Robotics and Mechatronics Al. A. Mickiewicza 30 30-059 Krakow Poland Georgia Institute of Technology D. Guggenheim School of Aerospace Engineering 270 Ferst Drive Atlanta GA 30332-0150 USA and Georgia Institute of Technology GW. Woodruff School of Mechanical Engineering 801 Ferst Drive Atlanta GA 30332-0405 USA

The paper presents the results of numerical analyses carried out for 2D models of aluminum plates undergoing crack propagation. Different types of numerical analyses were performed to show the area of applicability of a non-local discrete formulation of mechanical continua for NDE and QNDE. The authors’ interests dealt with: Lamb wave propagation, higher harmonics generation, the phenomenon of clapping, and wave generation and its propagation for growing crack. In the first case a 2D model allowed to find the displacements for the vertical cross-section along the direction of wave propagation and therefore assess its disturbance when introducing a notch. In-plane components of the displacements were considered for the latter 3 cases, in turn. The above cases and elaborated non-local numerical models were discussed in terms of detection of propagating crack. Apart from theoretical aspects of the presented work, the obtained results seem to be of great importance for improvement of experiments in terms of sensor distribution and required accuracy.

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Design and synthesis of a four fingered articulated dexterous robot hand 1

Design and synthesis of a four fingered articulated dexterou...

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1st International and 16th National Conference on Machines and Mechanisms, iNaCoMM 2013

作者： Chattaraj, Ritwik Bhattacharjee, Anirudha Bepari, Bikash Bhaumik, Subhasis School of Mechatronics and Robotics Bengal Engineering and Science University Shibpur Howrah India Departmentof Production Engineering Jadavpur University Kolkata India Departmentof Production Engineering Haldia Institute of Technology Haldia India

The human hand with more than twenty seven Degrees of Freedom (DoFs) has a unique musco-skeletal structure with neuro-sensory attributes under control of CNS, is a quintessence to construct a robotic hand. The fingers are connected to the palm with metacarpophalangeal (MCP) joints. These joints have two DoFs i.e. flexion-extension and abduction-adduction whereas the remaining two joints of the digits have only one DoF. Literature survey divulges that, while constructing a robotic hand, mostly the abduction-adduction at MCP joint is discarded for simplicity. This paper is aimed at development of a mechanism that encompasses both flexion-extension and abduction-adduction for all the three fingers located on the palm opposite to the thumb, whereas the thumb has been separately designed to impart both the radial and palmer movements with respect to the palm as well as flexion and extension, thereby imparting greater compliance to the system, to cope up with wide variety of tasks.

关键词： Robotic arms

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Diagonal control design for atomic force microscope piezoelectric tube nanopositioners

Diagonal control design for atomic force microscope piezoele...

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作者： Bhikkaji, B. Yong, Y.K. Mahmood, I.A. Moheimani, S.O.R. Indian Institute of Technology Madras Chennai India School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia Department of Mechatronics Engineering International Islamic University Malaysia Malaysia

Atomic Force Microscopes (AFM) are used for generating surface topography of samples at micro to atomic resolutions. Many commercial AFMs use piezoelectric tube nanopositioners for scanning. Scanning rates of these microscopes are hampered by the presence of low frequency resonant modes. When inadvertently excited, these modes lead to high amplitude mechanical vibrations causing the loss of accuracy, while scanning, and eventually to break down of the tube. Feedback control has been used to damp these resonant modes. Thereby, enabling higher scanning rates. Here, a multivariable controller is designed to damp the first resonant mode along both the x and y axis. Exploiting the inherent symmetry in the piezoelectric tube, the multivariable control design problem is recast as independent single-input single-output (SISO) designs. This in conjunction with integral resonant control is used for damping the first resonant mode. © 2013 American institute of Physics.

关键词： Vibrations (mechanical)

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Micro-sorting device by a micro-channel with multiple-size pores

Micro-sorting device by a micro-channel with multiple-size p...

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2013 International Symposium on Micro-Nanomechatronics and Human science, MHS 2013

作者： Bakar, Azrena Abu Nakajima, Masahiro Yue, Tao Hu, Chengzhi Takeuchi, Masaru Maruyama, Shoichi Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Center for Micro-nano Mechatronics Nagoya University Nagoya Japan Department of Nephrology 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)9781479915293

We present the fabrication of micro-sorting device with multiple-size pores micro-channel. The porous micro-channel has 1, 3, and 5 μm diameter. It was fabricated by direct laser writing. It was designed to connect with micro-channels which were fabricated by UV lithography process. The multiple-size pores micro-channel was made of IP-L as photoresist. The PDMS micro-channel has also been fabricated and assembled on the glass with the IP-L porous micro-channel. A fluid flow test was conducted to the multiple-size pores micro-channel to test the leakage of fluid through the pores on the IP-L material. A micro bead was observed to trap inside the pore. It can be concluded that the pore has less than 100nm diameter. The micro bead is captured due to the pressure gradient between the inside and outside of the multiple-size pores micro-channel. This device has the potential to be used as cell sorter in DNA purification and bacteria filtering. © 2013 IEEE.

关键词： Photoresists

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Cross-cultural study on human-robot greeting interaction: Acceptance and discomfort by Egyptians and Japanese

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Paladyn 2013年第2期4卷

作者： Trovato, Gabriele Zecca, Massimiliano Sessa, Salvatore Jamone, Lorenzo Ham, Jaap Hashimoto, Kenji Takanishi, Atsuo Graduate School of Science and Engineering Waseda University #41-304 17 Kikui-cho Shinjuku-ku Tokyo162-0044 Japan Faculty of Science and Engineering Waseda University Humanoid Robotics Institute Waseda University Japan School of Innovative Design Engineering Mechatronics and Robotic Dept. Egypt-Japan University of Science and Technology Borg El Arab Alexandria21934 Egypt Instituto de Sistemas e Robotica Instituto Superior Tecnico Av. Rovisco Pais 1 Lisbon1049-001 Portugal Department of Innovation Sciences Eindhoven University of Technology P.O. Box 513 5600 MB IPO 1.20 Eindhoven Netherlands Faculty of Science and Engineering Waseda University Japan Waseda University Japan

As witnessed in several behavioural studies, a complex relationship exists between people's cultural background and their general acceptance towards robots. However, very few studies have investigated whether a robot's original language and gesture based on certain culture have an impact on the people of the different cultures. The purpose of this work is to provide experimental evidence which supports the idea that humans may accept more easily a robot that can adapt to their specific culture. Indeed, improving acceptance and reducing discomfort is fundamental for future deployment of robots as assistive, health-care or companion devices into a society. We conducted a Human-Robot Interaction experiment both in Egypt and in Japan. Human subjects were engaged in a simulated video conference with robots that were greeting and speaking either in Arabic or in Japanese. The subjects completed a questionnaire assessing their preferences and their emotional state, while their spontaneous reactions were recorded in different ways. The results suggest that Egyptians prefer the Arabic robot, while they feel a sense of discomfort when interacting with the Japanese robot;the opposite is also true for the Japanese. These findings confirm the importance of the localisation of a robot in order to improve human acceptance during social human-robot interaction. © 2018 De Gruyter Open Ltd. All rights reserved.

关键词： Human robot interaction

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Lamb wave propagation modeling using Cellular Automata

Lamb wave propagation modeling using Cellular Automata

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6th European Workshop on Structural Health Monitoring 2012, EWSHM 2012

作者： Kluska, P. Staszewski, W.J. Leamy, M.J. Uhl, T. Department of Robotics and Mechatronics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Krakow Poland George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA 30332-04505 United States

ISBN: (纸本)9783940283412

Theory of Lamb Wave propagation in plate-like structures have found many practical applications in Structural Health Monitoring. However for better understanding of complex physical phenomena associated with wave propagation and wave interaction with damage numerical simulations are as important as laboratory experiments. The paper shows the application of Cellular Automata technique for modeling of elastic wave propagation. After a brief introduction to Lamb waves, 2-D triangular Cellular Automata approach for wave propagation is presented. Numerical simulations are performed for undamaged and damaged aluminium plates. The results are compared with the Local Interaction Simulation Approach (LISA).

关键词： Cellular automata

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Trajectory planning and control for multiple-vehicles systems

Trajectory planning and control for multiple-vehicles system...

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Pamosoaji, Anugrah K. Hong, Keum-Shik Ge, Shuzhi Sam School of Mechanical Engineering Pusan National University Busan 609-735 Korea Republic of Department of Cogno-Mechatronics Engineering Pusan National University Busan 609-735 Korea Republic of Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611813 China Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore Singapore

ISBN: (纸本)9781457707223

Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented. © 2011 IEEE.

关键词： Trajectories

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