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Sequential Identification Technique of Jacobian Matrix for a Power-Assisted Lifter Using Wire-Driven Parallel Mechanism

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Journal of Robotics and Mechatronics 2004年第3期16卷 228-236页

作者： Yamaguchi, Daisuke Tagawa, Yasutaka Hayatsu, Masaki Yamada, Manabu Graduate School of Bio-Applications and Systems Engineering Tokyo University of Agriculture and Technology 2-24-16 Nakacho Koganei-shi Tokyo184-8588 Japan Institute of Symbiotic Science and Technology Tokyo University of Agriculture and Technology 2-24-16 Nakacho Koganei-shi Tokyo184-8588 Japan Development Department Production and Construction Engineering Center Hitachi Plant Engineering and Construction Co. Ltd. 537 Kami-Hongo Chiba Matsudo-shi271-0064 Japan Technology Management Center Technology Administration Department Technology Development Division Hitachi Plant Engineering and Construction Co. Ltd. 13-2 Kita-Otsuka 1-chome Toshima-ku Tokyo170-8466 Japan

The shortage of skilled workers at plant construction sites has made it necessary to increase efficiency in lifting, moving, and setting up heavy equipment. For this purpose, a power-assisted lifter (PAL) is considered one of the most effective means for using unique sensory human skills and the physical power of a machine. In this paper, the control problem is studied for a PAL driven by wires. The objective of this study is to develop a control technique using sequential identification of Jacobian matrix so the wire-driven PAL can move heavy equipment such as large pipes continuously and accurately without being influenced by geometric nonlinearity. The effectiveness of the control technique is verified through experiments. © Fuji Technology Press Ltd.

关键词： Jacobian matrices

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Explore space: Integrating space biomedical engineering education and research

Explore space: Integrating space biomedical engineering educ...

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International Astronautical Federation - 55th International Astronautical Congress 2004

作者： Newman, Dava J. Marquez, Jessica J. Wagner, Erika B. Merfeld, Daniel Trotti, Guillermo Department of Aeronautics and Astronautics and Engineering Systems Massachusetts Institute of Technology Cambridge MA United States Technology and Policy Program Massachusetts Institute of Technology Cambridge MA United States Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge MA United States Harvard-MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge MA United States Department of Otology and Laryngology Harvard Medical School Jenks Vestibular Physiology Laboratory Massachusetts Bye and Bar Infirmary Boston MA United States Trotti and Associates Inc. Marblehead MA United States

The Explore Space curricular efforts highlight the development of two post-graduate courses, namely, Space Biomedical engineering and Life Support systems and Sensori-Neural systems, developed and taught at the Massachusetts Institute of Technology (MIT). Innovative, modular curriculum has been developed to coincide with long-duration human spaceflight research areas. Astronaut performance, exercise, revolutionary spacesuit design, and physiological deconditioning of bones, muscles, and the heart provide motivational themes. Selected topics were adapted for use in undergraduate courses and disseminated to hundreds of children through global outreach. Traditional methods of science and engineering education can no longer be the pedagogical model to meet the needs of a generation of students raised in an increasingly visual, interactive information technology (IT) world. Our outreach efforts culminate in the design of an interactive learning environment, the Knowledge Station, which is a high-impact design workstation for one or two users that facilitates immersive learning. Three Explore Space outcomes are to: 1) Provide multi-level space life sciences curriculum, 2) Excite and educate the public about the wonders of science, engineering and medicine by disseminating knowledge gained through research, and 3) Develop a set of innovative pedagogical strategies that implement tested learning principles as a basis for comprehensive educational evaluation.

关键词： Life support systems (spacecraft)

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Stiffness Analysis and Experimental Validation for the 6-Dof Jaw Opening-Closing Training Parallel Robot WY-5 (Waseda Yamanashi 5)

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Journal of Robotics and Mechatronics 2004年第6期16卷 570-578页

作者： Carbone, Giuseppe Takanobu, Hideaki Ceccarelli, Marco Takanishi, Atsuo Ohtsuki, Kayoko Ohnishi, Masatoshi Okino, Akihisa DiMSAT the Department of Mechanics Environment and Territory at the University of Cassino Via G. Di Biasio 43 Cassino FR 03043 Italy Department of Mechanical Systems Engineering Kogakuin University 1-24-2 Nishi-shinjuku Shinjuku-ku Tokyo 163-8677 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-ku Tokyo 169-8555 Japan Department of Oral and Maxillofacial Surgery Interdisciplinary Graduate School of Medicine and Engineering University of Yamanash 1110 Shimokato Tamaho-cho Nakakoma-gun Yamanashi409-3898 Japan Okino Industries. Ltd. 285-8 Motohara Kamikawa-machi Kodama-gun Saitama367-0241 Japan

In this paper a mouth opening and closing training robot named as WY-5 (Waseda Yamanashi version 5) is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is carried out as based on the proposed formulation. Experimental tests are carried out in order to validate the proposed model that can be used for design/control purposes in order to improve the performance of WY-5. © 2004, Fuji Technology Press. All rights reserved.

关键词： Stiffness matrix

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Effects of Surface Roughness and Maximum Load on the Mechanical Properties of Cancellous Bone Measured by Nanoindentation

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MRS Online Proceedings Library 2004年第1期823卷 W8.5.1-W8.5.6页

作者： Donnelly, Eve Baker, Shefford P. Boskey, Adele L. van der Meulen, Marjolein C. H. Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca USA Department of Materials Science and Engineering Cornell University Ithaca USA Musculoskeletal Integrity Program Hospital for Special Surgery New York USA Department of Biochemistry Weill Medical College of Cornell University New York USA Graduate Program in Physiology Biophysics and Systems Biology Weill Medical College of Cornell University New York USA

Nanoindentation was used to assess the mechanical properties of lamellar and interlamellar tissue in dehydrated rabbit cancellous bone. The effects of surface roughness and maximum nanoindentation load on the measured mechanical properties were examined in two samples of differing surface roughness using maximum loads ranging from 250-3000 μN. As the ratio of indentation depth to surface roughness decreased below approximately 3:1, the variability in material properties increased substantially. At low loads, the indentation modulus of the lamellar bone was approximately 20% greater than that of the interlamellar bone, while at high loads the measured properties of both layers converged to an intermediate value. Relatively shallow indentations made on smooth surfaces revealed significant differences in the properties of lamellar and interlamellar bone that are consistent with microstructural observations of lamellar bone as more mineralized than interlamellar bone.

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Teaching information security to engineering managers 33

Teaching information security to engineering managers

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33rd Annual Frontiers in Education, FIE 2003

作者： Ryan, Julie J.C.H. Engineering Management and Systems Engineering Department School of Engineering and Applied Science George Washington University WashingtonDC20052 United States

ISBN: (纸本)0780379616

The concepts and practice of information security have for the most part been contained within Computer Science or Electrical engineering departments in academia. However, as the information age matures and pervasive IT supports every engineering discipline, a requirement to teach information security to engineering managers emerges. The challenges of presenting concepts, theories, and approaches to engineering managers are many when those concepts have been developed from a decidedly computer-oriented perspective. This paper explores experiences, challenges, and innovative solutions based on the last five years of educational efforts at the graduate level. © 2003 IEEE.

关键词： Security of data

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Customer-focused graduate education in a real-time distance environment 33

Customer-focused graduate education in a real-time distance ...

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33rd Annual Frontiers in Education, FIE 2003

作者： Mykytka, Edward F. Department of Engineering Management and Systems University of Dayton DaytonOH45469-0236 United States

ISBN: (纸本)0780379616

In January 2001, at the request of Delphi Corporation, the University of Dayton initiated a program to deliver its Master of Science in engineering management curriculum live, via the Internet, to engineers at corporate sites throughout North America. Class materials are conveyed in real-time using the PlaceWare® web conferencing system as hosted by RWD Technologies, Inc., while audio is provided by a standard telephone conference call. This program was founded on the success of earlier on-site programs and was developed specifically to support and complement corporate initiatives in innovation and continuous improvement methodologies. Delphi employees who complete their degrees within this program are eligible to be certified as Six-Sigma Black Belts by the company. The major objective of this paper is to chronicle our experience regarding this unique relationship and discuss what has been learned about this mode of distance education. © 2003 IEEE.

关键词： E-learning

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Searching behavior in peer-to-peer communities

Searching behavior in peer-to-peer communities

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International Conference on Information Technology: Computers and Communications, ITCC 2003

作者： Kwok, Sai Ho Lui, S.M. Cheung, R. Chan, S. Yang, C.C. Department of Information and Systems Management Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong Department of Systems Engineering and Engineering Management Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)0769519164

The focus of this paper is the searching behavior in peer-to-peer (P2P) communities and in that context, will discuss potential for enhancement of the P2P protocol using searching behavior. Due to excessive network traffic, network scalability is a major P2P problem. The purpose of this paper is to study searching behavior by using log files and subsequently, will propose solutions to reduce the amount of redundant searching activities. In the current research, log data containing over 5 million query messages was collected over seven consecutive days using a Gnutella-based P2P program. The results of this study will be instrumental in providing ways to reduce existing problems with P2P network traffic. © 2003 IEEE.

关键词： Peer to peer networks

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engineering students and training in teamwork: How effective?

Engineering students and training in teamwork: How effective...

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2003 ASEE Annual Conference and Exposition: Staying in Tune with engineering Education

作者： Schmidt, Linda Schmidt, Janet Colbeck, Carol Bigio, David Smith, Paige Harper, Lee Uniyersity of Maryland Pennsylvania State University Department of Mechanical Engineering Clark School of Engineering University of Maryland College Park Clark School of Engineering Ctr. for the Stud. of Higher Educ. Pennsylvania State University Department of Mechanical Engineering Clark School of Engineering University of Maryland Women in Engineering Program University of Maryland Institute of Systems Research Clark School of Engineering

The motivating principle of the BESTEAMS (Building engineering Student Team Effectiveness and management systems) project is to create a modular student team training program that can be integrated into any existing engineering undergraduate curriculum. Funded by a three-year NSF-Course, Curriculum, Laboratory Improvement (CCLI) grant, the BESTEAMS curriculum is comprehensive and developmental, offering three levels of instruction (introductory, intermediate, advanced) in three key areas of team functioning (personal awareness, interpersonal dynamics, and project management). The purpose of this paper is to describe the results of student evaluation of the introductory level curriculum that has been introduced into the Clark School of engineering's - Introduction to engineering Design course (ENES 100). Students completed three team work modules presented by faculty trained in the module delivery during the 2001-2002 academic year. The first Introductory module related to personal effectiveness and increasing self awareness. Using the widely recognized Kolb Learning Style Inventory (LSI), the module shows students how knowing their own preferred learning style can give them insight into themselves as well as their teammates' view of educational and team tasks (N = 379 students). The second Introductory module (interpersonal dynamics) addressed basic communication issues including giving and receiving feedback, typical stages of team development, and brainstorming activities (N = 125 students). The final module on project management, covered personal time management in the context of team projects and included project definition, scoping and the creation of Gantt charts (N = 144 students).

关键词： engineering education

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Evaluating the effectiveness of computer tutorials versus traditional lecturing in accounting topics

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Journal of engineering Education 2003年第2期92卷 189-194页

作者： Merino, Donald N. Abel, Kate D. Technology Management Program Stevens Institute of Technology Systems Engineering Department Stevens Institute of Technology Engineering Management Stevens Institute of Technology Castle Point on Hudson Hoboken NJ 07030 Systems Engineering Department Stevens Institute of Technology Castle Point on Hudson Hoboken NJ 07030

Colleges and universities are continually making efforts to incorporate computers and technology into the varied aspects of their teaching environments. However, it is difficult to distinguish the effectiveness of these machine tutors from their human counterparts. There has been much debate about technology-based instructional strategies in learning environments. This article addresses one issue of that debate -the effectiveness of teaching undergraduate engineering students using computer-mediated tutorials versus traditional lecturing. Specifically, this research compared student test scores using computer-mediated accounting tutorials alone with those of students who received traditional lectures and computer-mediated tutorials on the same topic. Statistical analyses were performed to determine which was a better instructional method. Based on previous research by the authors and other published research, it was hypothesized that both methods would be satisfactory instructional tools and yield similar educational results. The results indicate that there was no statistically significant difference between the two methods. This was consistent with previous studies. This study concludes that computer-mediated tutorials could be substituted for traditional lectures without impacting what a student learns - at least for teaching accounting fundamentals.

关键词： engineering education

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Utilizing distance learning technology to deliver a graduate program in engineering management to working professionals

Utilizing distance learning technology to deliver a graduate...

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2003 ASEE Annual Conference and Exposition: Staying in Tune with engineering Education

作者： Dulin, Betsy Ennis Larsen, Eldon Crockett, William Marshall Univ. Coll. Info. T. Department of Engineering Coll. of Info. Technol. and Eng. Marshall University Huntington WV Department of Engineering Eng. Management Graduate Program Marshall University

Delivering an innovative graduate program in engineering management to a student body consisting almost entirely of working professionals can be challenging, especially when students are geographically remote from each other and from the main campus. Distance learning methods and technologies can be helpful in bridging this gap and making the program more accessible to a larger group of individuals. However, the implementation of courses and programs via distance learning requires much more than mere translation of traditional class materials and methods into new media, and careful planning is required in order to provide the optimum mix of traditional and non-traditional delivery methods. In addition, although working professional students often appreciate the convenience of an unconventional approach, they and their employers are much more focused and assertive regarding their expectations for the outcomes of courses and degree programs. This paper discusses positive and negative experiences associated with simultaneous delivery of Marshall University's graduate program in engineering management to four different locations, utilizing a combination of interactive video link technology, video-tapes, on-line instruction, and live instruction. The discussion includes an overview of the engineering management area of emphasis in Marshall's Master of Science in engineering program, course and curriculum development issues, and identification of effective teaching methodologies for employed, adult students in a distance learning environment.

关键词： Distance education

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