The description of the architecture for a new compact but yet economical micro-nano two-fingered hybrid manipulator hand is presented. This hand consists of two 3-DOF parallel mechanisms, upper and lower, connected in...
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The description of the architecture for a new compact but yet economical micro-nano two-fingered hybrid manipulator hand is presented. This hand consists of two 3-DOF parallel mechanisms, upper and lower, connected in series. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuators in the three legs of the parallel kinematics chain. Each leg has the structure of prismatic-revolute-spherical (PRS) joint structure. For long lengths of glass pipette end effector, this hand can be used as micro-manipulator and it can be used as nano-manipulator for short lengths. Based on the inverse kinematics solution, a simulation program is built to optimally choose the design parameters. A proposed computer aided design (CAD) model based on optimal parameters is built and realized. Also the system hardware setup of the micro-nano hand, its calibrated practical Jacobian inverse matrices, its calibrated workspace volume, and its error analysis are presented.
Nearly all of the senior design courses at the University of North Carolina at Charlotte (UNC Charlotte) were project-only courses. The departments of Electrical and Computer engineering, Mechanical engineering, and E...
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One of the most important issues in developing a balanced relationship between the government and private concessionaire is establishment of a fair revenue-sharing scheme. In practice, there are several conventional t...
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ISBN:
(纸本)9780415460590
One of the most important issues in developing a balanced relationship between the government and private concessionaire is establishment of a fair revenue-sharing scheme. In practice, there are several conventional types of revenue-sharing schemes and each type has its advantages and disadvantages. Appling a suitable revenue-sharing scheme for the multiple-operator system (where there are a number of private concessionaires) will enhance system fairness and management efficiency. Using the scheme for every private operator in the system, however, may not be appropriate, as each operator may have different financial configurations such as investment cost, operation & maintenance cost (OMC) and expected revenue. The objective of this paper is to discuss the conventional approaches of the revenue-sharing scheme and to recommend an innovative and appropriate one to reduce risk burden and maintain the incentive of the private concessionaires to improve efficiency and service quality of project.
In this paper, the structure of a new compact and yet economical two-fingered micro-nano hybrid manipulator hand is presented. The hybrid manipulator hand consists of two series modules; upper and lower module. Each o...
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In this paper, the structure of a new compact and yet economical two-fingered micro-nano hybrid manipulator hand is presented. The hybrid manipulator hand consists of two series modules; upper and lower module. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuated prismatic joints in each of the three legs of the parallel kinematics chain. Each leg has the structure of prismatic-revolute-spherical (PRS) joint structure. As the length of the glass pipette end effector is decreased, the resolution and accuracy of the micro-nano manipulator hand is increased. For long lengths of glass pipette end effector, this manipulator works as micro-manipulator and it works as nano-manipulator for short lengths. A solution for the inverse kinematics problem of the complete mechanism is obtained. Based on this solution, a simulation program has been developed to optimally choose the design parameters so that the mechanism will have a maximum workspace volume. A proposed computer aided design (CAD) model based on optimal parameters is built and realized. Also the system hardware setup of the micro-nano hand and its practical Jacobian is presented.
Our laboratory focuses on the applications of information systems to biomedical researches in the COE program. We have constructed 3D morphology database system of human embryo and biomedical simulation system of the ...
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Our laboratory focuses on the applications of information systems to biomedical researches in the COE program. We have constructed 3D morphology database system of human embryo and biomedical simulation system of the heart. The 3D morphology database system is assembled from a huge collection of human embryo samples and the 3D morphology is derived from real measurement data. By searching document data concerning embryo, parents and pregnancy, user can observe 3D morphological data of the embryo and compare them. For the simulation of the heart, we have designed and constructed a system dedicated to biomedical simulation by taking account of hierarchical structures of biological system from molecular scale to body scale. The wall motion simulation of the heart using our biomedical simulation system is based on cellular level model of cardiac muscle and physiological behavior of heart can be reproduced from cell to organ level
This paper presents the results of an extensive research study to develop a national model for an undergraduate curriculum in Industrial engineering. A departmental reform strategy was developed and applied to reengin...
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Grid system is a networked system that enables one to perform high throughput computation by sharing geographically distributed resources. Job scheduling mechanism is an important factor for improving performance of G...
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ISBN:
(纸本)9780889866782
Grid system is a networked system that enables one to perform high throughput computation by sharing geographically distributed resources. Job scheduling mechanism is an important factor for improving performance of Grid system such as resource utilization and response time. This paper presents a hierarchical job scheduling mechanism for the purpose of addressing the performance improvement of Grid system. It is based on multiple-queue management with respect to both a superscheduling scheme for distributing jobs to overall nodes and a local scheduling scheme for assigning jobs within a node. Several experiments show that the proposed mechanism achieves higher resource utilization by improving the backfilling ratio and using idle nodes in a Grid system.
This paper describes efforts to incorporate engineering students into early stage technology development and commercialization projects for industrial clients. In this model, students are mentored in a professional ex...
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This paper describes efforts to incorporate engineering students into early stage technology development and commercialization projects for industrial clients. In this model, students are mentored in a professional experience much like medical students are mentored in professional practice in teaching hospitals. This service is provided by the Advanced Manufacturing Institute (AMI) at Kansas State University. Entrepreneurs and businesses utilize these services to carry their inventions across the 'Valley of Death.' AMI has invested grants from the National Science Foundation, the U.S. Economic Development Administration, and the Kansas Technology Enterprise Corporation to build an organization dedicated to commercializing technologies by adapting the teaching hospital concept of mentored professional development. Since 1995, AMI has mentored more than 380 students and completed more than 2,500 projects for more than 450 businesses and entrepreneurs. A partial survey of our clients indicates we have helped create more than 500 jobs, influenced the retention of more than 300 jobs, increased product sales by more than $100M and reduced costs by $10M. In this paper, we share three key aspects of this unique program. First, we will share our model for employing industrially experienced professionals to mentor students to accomplish early stage technology development and commercialization projects at Kansas State University. Second, we will share summaries of example projects we have completed including an invention that was recognized as one of the nation's best in 2005 and a product that is being sold across the nation. Finally, we will reveal ways that K-State is realizing an economic benefit from these activities that goes beyond licensing intellectual properties and includes the production and sales of products. The program described in this paper enhances the education of university students while simultaneously deriving economic benefits for both university program
The paper presents a multi-tier, integrated, distributed, Inpatient Healthcare Information System based on Service Oriented Architecture (SOA) .NET environment in National Taiwan University Hospital (NTUH). The archit...
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While certain basics of engineering will not change, the global economy and the way engineers will work will reflect an ongoing evolution that began to gain momentum a decade ago. The economy in which we will work wil...
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ISBN:
(纸本)1563478927
While certain basics of engineering will not change, the global economy and the way engineers will work will reflect an ongoing evolution that began to gain momentum a decade ago. The economy in which we will work will be strongly influenced by the global marketplace for engineering services, a growing need for interdisciplinary and system-based approaches, demands for customerization, increasing awareness of cultural differences, and education and training programs that respond appropriately to these changing demands. Global Integrated systemsengineering (GISE) is an educational opportunity to enable students to compete in the fast changing global business world now and in the future. It combines the fundamentals of systemsengineering, project management, global financial/business considerations and cultural/communications challenges we all will face as programs in aerospace involve global partners. The objective of GISE is to produce a new generation of complex system thinkers who can immediately participate and excel in a global business environment. The program is an interdisciplinary activity between the UW Business School, the College of engineering and Boeing. The pilot program with a multicultural group of students was conducted during the summer of 2006. The program structure, lessons from the pilot and plans for the future will be presented.
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