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This paper presents the development of a new force sensor with MR elastomer as a sensing element. One key element in this study was to find a suitable material with high sensing capabilities which can be used for developing a sensor. Thus different MR elastomers, with ingredients of carbonyl iron particle, graphite, silicone oil and silicone rubber, were manufactured and measured with a modified rheometer...
A high-sensitivity computer-aided diagnosis algorithm which can detect and quantify micro-calcifications for early-stage breast cancer is proposed in this research. The algorithm can be divided into two phases: image reconstruction and recognition on micro-calcification regions. For Phase I, the suspicious micro-calcification regions are separated from the normal tissues by wavelet layers and Renyi's...
In this paper, the neural network (NN)-based satellite geometry approximation for good or acceptable navigation satellite subset selection is presented. The approach is based on approximating the satellite geometry dilution of precision (GDOP) factors utilizing the recurrent neural network (RNN) approach. Without matrix inversion required, the NN-based approach is capable of evaluating all subsets...
The radiation characteristics of Ingested Wireless Device (IWD) in two realistic human (male and female) body models whose dielectric values had variability up to 20% were compared. Results showed that variation of signal intensity near the surface of abdomen was less than 2.5 dB. Specific absorption rate (SAR) maximum values increased with the increment of conductivities of human body tissues and...
Flexure hinges are commonly used in many applications which require precise and smooth motions in the nanometer scale. There were various formulations derived using different methods to calculate the stiffness of circular flexure hinges. This article compares these equations with FEA predictions. The limitation of these equations at different t/R (R is the radius and t is the neck thickness) ratios...
The advance of robotics, actuators and manufacturing technology motivates the research on measurement of multiple degree-of-freedom (DOF) rotational motions. A novel laser-based high-precision spherical displacement sensing methodology has been proposed in this paper. The laser detector is utilized to measure the distance from the target to the detector itself on several light spots, and thus to calculate...
Two wheel mobile manipulator has the potential of becoming a multi-skilled robot in the field of robotics and it is already implemented by using inverted pendulum control. Centre of gravity position (COG) is controlled to achieve the balancing of robot. Since vibration of manipulator arms affect to the COG positions of the inverted pendulum, balancing of the robot deteriorates. Therefore, vibration...
To manage the drivestrain and power flow of hybrid electric vehicle (HEV) and achieve balanced performances on fuel economy, emissions, grade ability and acceleration ability, it is necessary to develop a control system with suitable parameters by solving a multi-objective optimization problem. Based on the proof of the relationship between dominating number and diversity in objective-space, a dominating...
An innovative magnetic module which is concurrently capable of performing as an actuator and a sensor is proposed and illustrated. The magnetic module is basically similar to a micro-scale linear variable differential transformer (LVDT) which is employed to actively adjust the height of a rotating seismic disc used in a gyroscope so that the induced pitch angle by Coriolis effect, purely due to exerted...
This paper presents a biologically inspired approach to simulation design for a walking hexapod robot with focus on the parameter selection of critical values (e.g. joint stiffness) for robot performance. The fundamental aim is to mimic key aspects within a dynamic simulation environment to develop a clearer picture of the tradeoffs that biological systems naturally regulate. Although the importance...
This paper presents the conceptual design and testing of a bio-inspired locomotion system activated through ionic-type conducting polymer actuators, which can operate both in dry and wet environments. The locomotion system is proposed for a mini autonomous crawling device for applications typified by pipe inspection, search, inspection and data gathering in confined spaces, which require mini-robotic...
In the pneumatic synchronization system based on separate control of meter-in and meter-out, both motion trajectory and pressure trajectory could be tracked in a single pneumatic cylinder and then the cylinder could be controlled completely without internal dynamics. In this paper, an adaptive robust pressure controller is used to keep the pressure level in chamber of cylinder on an even keel when...
An innovative bilateral master-slave control method for an upper limb rehabilitation robot system which can afford training for hemiplegic patients is introduced. The system consists of two identical motors with the master motor working in the generating state and the slave motor working in the electro motion state. Based on hemi-disabled characteristic of hemiplegic patients, the healthy limb is...
Recent advancements in the miniaturised electronics and embedded system are wide spread in the various fields of engineering applications. From bio-medical implants to actuating device for monitoring pressure and temperature for industrial applications have been developed in wide spread. Wireless power transfer application to such device may tap the full potential of such system and seems to be a...
This paper presents the development of three degrees of freedom (DOF) desk-top reconfigurable machine tool. Recently, numerous components or systems in various areas such as biomedical, Micro-Electro-Mechanical Systems (MEMs) often require dedicated and precise but cost efficient manufacturing process along with large fluctuations of product demands in a global market. These demands lead us to develop...
This paper describes a robot that pseudo-grows up. This robot that pseudo-grow up by enabling the change in two kinds of figures such as infant and adult because of the expansion and contraction of the body, the head, the arm, and the leg. The walking operation was taken up as operation that showed the influence of growth. It succeeded in the reproduction of person's life by expansion and contraction...
Various actuators have been studied to develop micro robots for a capsule endoscope. In particular, some locomotive mechanisms based on the SMA (shape memory alloy) actuator, the PZT actuator, the Polymer actuator, and the micro motor have been actively studied to fabricate a microrobot for a capsule endoscope. Before we fabricate microrobots, smart material-based actuators such as SMA, PZT, Polymer,...
A gas-jet micro pump with novel cross-junction channel has been designed and fabricated using a Si micromachining process. The valveless micro pump is composed of a piezoelectric lead zirconate titanate (PZT) diaphragm actuator and fluidic network. The design of the valveless pump focuses on a cross-junction formed by the neck of the pump chamber and one outlet and two opposite inlet channels. The...
In this paper we present a new formulation method to solve kinematic problem of serial robot manipulators. In this method our major aims are to formulize inverse kinematic problem in a compact closed form and to avoid singularity problem. This formulation is based on screw theory with dual - quaternion. Compared with other methods, screw theory methods just establish two coordinates, and its geometrical...
High Speed Machining centers (HSM) are considered as complicated industrial instruments. Finishing is a critical process in production procedure which is carried on by these machines. Among many types of cutters, ball-nose cutters are the preferred cutters to do these kinds of operations since they have extensive operating cutting edges and appropriate geometry. The main aim of the researches on cutting...
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