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This paper provides a classification of in-pipe robots or robotic mechanisms in literature with the help of axiomatic design theory (ADT). The existing classification of these designs focuses on either their mobility or contact of the robot with the pipe inner surface. Such classification fails to provide a framework to guide the design of such robots. In this paper, we first propose a new approach...
Diamond-like carbon (DLC) films which contain a mixture of sp2 and sp3 hybridizations are widely used as a protective layer against wear and corrosion in hard disk drives (HDDs) due to their outstanding mechanical and tribological properties such as high hardness, low friction coefficient and excellent chemical durability [1]. The typical thickness of DLC film in HDD is approximately 1-2nm. For such...
The hydroelectric generating set (HGS) is the machine that transform the water energy to power. The vertical structure is more common which is applied in large and medium-sized system. Because of great bulk, the rotating parts including generator's rotor, macroaxis, turbine runner and spiral case are great heavy. In addition, water flow impulsing the runner will produce a down force named axial hydro-thrust...
Free-piston energy converter, which has great potential in applications of space and electric vehicles (EVs), has drawn wide interests in recent years. Free-piston energy converter consists of a free-piston Stiring engine and a linear machine. Tubular permanent-magnet (PM) linear machines are widely adopted due to the salient characteristics like high power density and high efficiency. Radially-magnetized,...
In offshore hydrocarbon explorations, both the magnetotelluric (MT) method and the controlled-source electromagnetic (CSEM) method have been widely used. The MT method uses the electromagnetic fields due to natural sources that can be modeled by using plane waves. It has a relatively large depth of investigation and can be effectively used to obtain rough conductivity estimate of the subsurface. On...
A challenge in virtual reality based laparoscopic cholecystectomy simulation is to construct a fast and accurate deformable gallbladder model. This paper proposes a multi-layer mass-spring model which can adapt well to the built-in accelerating algorithms in PhysX-engine of GPU. The gallbladder is first segmented from clinical CT images. A multi-layer model based on the anatomical structure of gallbladder...
Modeling forces applied to cut biological material with laparoscopic scissors is important for haptic rendering in laparoscopic surgical simulation. The cutting process is characterized in deformation and fracture. An analytical model for cutting human iliac artery with laparoscopic scissors is derived with concepts of shearing deformation and fracture mechanics in this study. An experimental set-up...
We report on a new 3-DOF CMOS-MEMS electrothermal probe, featuring embedded piezoresistive sensors. These probes have the potential to be used independently for general 3-DOF nanoscale manipulation/manufacturing/scanning without external actuation and sensing. In this probe design, 3-DOF piezoresistive sensors are used to track probe actuation and applied force in all three directions, and thermal...
In the recent decades much research has been performed in order to allow better control of arc welding processes, but the success has been limited, and the vast majority of the industrial structural welding work is therefore still being made manually. Closed-loop and nearly-closed-loop control of the processes requires the extraction of characteristic parameters of the welding groove close to the...
We report tip platform platinum sputtering and piezoresistive force sensing employed in CMOS-MEMS electrothermal probes. Pt sputtering is developed to achieve small and reliable electrical contact resistance. Piezoresistive sensors are used to track the force applied on the tips to detect the mechanical contact of the probe and the substrate and to aid in tip registration to the patterned substrates.
We describe multiple embedded polysilicon resistive sensors in CMOS-MEMS electrothermal probes as a step toward creating probe arrays for passing current on ICs to reconfigure resistance change (RC) vias. When not in contact, a low-resistivity unsilicided polysilicon (LP) resistor detects probe displacement indirectly through the temperature coefficient of resistance (TCR) effect. When in contact...
We report on new lever-based CMOS-MEMS electrothermal probes for memory-intensive self-configuring integrated circuits (MISCICs). The MISCIC vision is to use MEMS conductive probes to reconfigure ICs, mainly RF ICs such as inductors, by mechanically addressing and passing current through resistance change (RC) vias embedded within the chip circuitry. The lever-based actuation causes the probe tips...
An elastic string-elastic shell model is developed to study vibration behaviors of a carbon nanowire. The present model predicts that non-coaxial vibration between the C-chain and the innermost tube does not occur due to negligible bending rigidity of the C-chain. In addition, it is found that the C-chain has most significant effect on the lowest frequency associated with radial vibration mode for...
This paper describes a multisensory interface in which continuous contact sound effects of userpsilas actions on virtual objects are synthesized and rendered with haptic and visual stimuli. The auditory output is generated by convolving the force profile with the impulse response of an object, thus tightly coupled with the haptic output. Since each action, such as striking, scratching, and inhibiting,...
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