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A platform inertial platform system (IPS) is a kind of independent navigation system that can give the real-time position, velocity and course information of its carrier. For the IPS based on mechanical gyros, a method of ground vehicle navigation is proposed, in which the IMU of the IPS is stabilized within inertial space. The method can be used for testing the performance of the IPS of high precision...
This paper reports on the calibration of PDMS Young's Modulus device which is applied as force sensor to measure C. elegans locomotion. The Young's Modulus of the PDMS is determined using a piezoresistive silicon force sensor. Four sets of PDMS devices are prepared using similar fabrication method, as we want to ensure that the PDMS fabrication process used in this work is capable of producing consistent...
Free-piston energy converter, which works as an energy conversion device, has been increasingly investigated for a variety of applications, ranging from aerospace, electric vehicles (EVs) to micro combined heat and power (micro-CHP) [1]. The free-piston energy converter integrates a free-piston Stirling engine (FPSE) with an oscillating generator, and it has the advantages of wide power sources, high...
Frozen shoulder is a functional disorder related to shoulder muscles. Among many treatment strategies, rehabilitation exercise is one of the most common and viable therapy. In this research, a new 8 degrees of freedom (DOFs) rehabilitation robot arm named NTUH-II has been developed. The robot arm is able to provide most of upper limb rehabilitation motions in passive, active, and assistive modes....
A hybrid microfluidic separation device that uses the crossflow and the centrifugation effect to separate human plasma from blood cells has been designed and fabricated. The chip mainly consists of the spiral microchannel, which is divided into inner and outer mcirochannels by micropillar arrays. The slits between the micropillars act as filter. Clogging and jamming in this filtration structure are...
In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four...
Based on the modular concept, this paper presents two caterpillar robot prototypes which are inspired by two typical caterpillars: inchworm and pine caterpillar. The inchworm robot prototype features simplest kinematics and open chain architecture. Due to the fact that there is only one attachment module supporting the inchworm robot during crawling, we apply an unsymmetrical phase method (UPM) to...
The concept of a modular climbing caterpillar robot is inspired by the kinematics of the real caterpillar. Due to the fixed constraints between the suckers and wall, the gait of the caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain, and then to an open chain orderly. This paper investigates the joint control methods of the gait in detail. During the...
This paper compares the performance and material costs of two candidate tubular permanent magnet topologies, viz., quasi-Halbach magnetized moving magnet and flux switching (moving-iron) machines for applications in active vehicle suspension. Both machines are optimally designed for the same operating conditions and under the same volumetric and thermal constraints. It is shown that while the flux...
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