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Design and implementation of basic combinational and sequential circuits are crucial to undergraduate digital logic education. Traditional experiment toolboxes or circuit boards are prone to hardware flaws, making experiments hard to succeed for inexperienced students. In this paper, we analyze the difficulty and demands on virtual experiment platforms, and propose a three-layer platform architecture...
In this paper, a concentric wire-driven mechanism (CWM) is presented. The CWM comprises of two nested wire-driven mechanisms (WDM). Each WDM contains a flexible backbone and a set of wires. The backbone bending is controlled by pulling the wires. The stiffness of the outer WDM is controllable and dominants that of the overlapped section. Therefore, in the overlapped section the inner WDM conforms...
Objective - Minimally invasive surgery has been widely embraced due to its multitude benefits, especially less traumatic. The key to its success is the instruments' accessibility and manipulability inside the confined surgical space. This motivates researchers to develop flexible manipulators, which could bend inside the body cavity. Two representative flexible manipulators include the wire-driven...
In this paper, statics model of an underactuated wire-driven flexible robotic arm is introduced. The robotic arm is composed of a serpentine backbone and a set of controlling wires. It has decoupled bending rigidity and axial rigidity, which enables the robot large axial payload capacity. Statics model of the robotic arm is developed using the Newton-Euler method. Combined with the kinematics model,...
This paper presents a wire-driven robot fish with a pair of pectoral fins. The fish tail is a wire-driven flapping caudal fin. It is made of 7 vertebras, an elastic backbone and a fin plate. The tail is actuated by two servomotors via two pairs of wires. The wires control the tail flapping like a real fish. The pectoral fin can make two Degrees-Of-Freedom (DOF) motions, i.e. flapping (roll) and feathering...
The effect of the activators and surfactants in halogen-free fluxes on the wettability of Sn-0.7Cu-0.05Ni solder on Cu substrate (or under bump metallization, UBM) was investigated in this study. The spreading area of Sn-0.7Cu-0.05Ni solder on Cu substrate was used to estimate the wetting performance of the solder influenced by the activators with different amounts added in halogen-free fluxes. The...
On-chip optical links are an efficient means of designing the communication backbone for massive multicore chips. Using nanophotonic technology lets designers develop a low-power, low-latency interconnection infrastructure for many-core chips.
In biorobotics research, engineers and biologists come together to implement the researcher's vision of the mechanisms driving a biological process in steel and silicon. Bionics has made a great progress and appeared all kinds of biologic design and application for robot. This paper describes the development of a mobile robot capable of negotiation such obstacles as electric power fitting, damper,...
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