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The purpose of this research is to construct a system that can navigate arm robot adopting Kukanchi (Interactive Human-Space Design and Intelligence). This system gets ID and place of objects on work area form database that lumps information of objects in the intelligent space. The database is built up by sensors that implanted in several places. And then, this system generates object position map...
A cable-driven snake-like robot arm (CDSLRA) with a flexible backbone possesses a number of promising advantages over the conventional rigid-link manipulators, such as lightweight mechanical structure, large reachable workspace, and high maneuverability. In general, a CDSLRA is a hyper-redundant manipulator that consists of a large number of active segments. As the basic building block of a CDSLRA,...
The grasping and manipulation of objects, especially when they are heavy with respect to the hand power capability, requires the synthesis of grasp configurations that explicitly take into account the dynamic properties of the object. Specifically, suitable grasp configurations reducing gravitational and inertial effects during object manipulation and minimizing and equally distributing the grasping...
A print mask is a unique way of controlling the firing sequence of nozzles in inkjet printing. It is desirable to design a print mask which maximizes throughput while maintaining desired image quality. This can be formulated as an optimization problem where the objective is to maximize throughput by minimizing printing time subject to image quality constraints under uncertainties and variations in...
Achieving energy efficiency remains an important goal in legged robot running. This paper presents a novel offline method to generate globally efficient gaits for a point-foot articulated hopping robot. Previous gait generators found in the literature do not reach a global optimum, since takeoff and touch-down (transition) states are pre-specified. In this work, an optimization procedure produces...
Many industries require transferring objects from conveyors to a processing line at production rate. In food processing, grasping mechanisms with highly damped compliant fingers must be capable of accommodating a limited range of object shapes/sizes without causing damages on the products being handled. Most existing models, however, are inadequate to predict the dynamics of a compliant mechanism...
Smart Knee Brace (SKB) is designed to provide controlled perturbations to the human knee during walking. A dynamic model of human walking is then used to evaluate the human applied joint torques to hypothesize how the human neuro-muscular system modulates the joint torques as a response to the perturbations caused on the gait. Our results show that the neuro-muscular response to perturbations can...
Recently, pneumatic actuators are widely used in the automation machine equipments because they are simple, lightweight, and highly compliant. Valve that can realize a continuous flowing quantity control is necessary to control air actuators precisely, while in general, such a valve is large. This study aims at the development of a new flow control valve that has a lightweight and simple structure...
Ionic Polymer-Metal Composite (IPMC) materials have intrinsic actuation and sensing properties. Motivated by potential fluid sensing applications of IPMC sensors, we investigate the dynamic response of a free-vibrating IPMC beam in a fluid. The flexible beam is approximated with multiple, serially connected rigid elements. The parameters of the resulting model are related to the physical properties...
We present results from successful implementation of long-term (>;10 seconds) real-time integration of acceleration to measure position. We evaluated two analog circuit designs for double integration of an acceleration signal. Our circuit design features three high-pass filters and two first order integrators, leading to a critically damped double integrator. The second design we have implemented...
This paper presents the theoretical framework and experimental results of a generalized formulation of a Rao-Blackwellized particle filter (RBPF) in which higher order state variables and a modified undelayed initialization scheme are incorporated to solve the 3D monocular visual SLAM problem (vSLAM). As an example of the proposed formulation, velocity has been included in the state variables so that...
This paper addresses the measurement of the location and precision of stationary points in the three dimensional space, commonly termed remote center of motion (RCM), of minimally invasive surgical robotic manipulators. Two-view computer vision is used for its versatility, portability, remote sensing, and cost effectiveness. Geometrical models of cylindrical tools are constructed from camera images...
Capacitive sensors have a wide field of applications for measuring a parameter that results in displacement of parallel capacitor plates, displacement of the sandwiched dielectric material, or a change in the dielectric's material properties. This theory of parallel plate capacitance can be used in a layered polymer structure to allow continuous whole structure health monitoring. The sensor itself...
The purpose of this paper is to design a new micro ultrasonic motor which has a micro encoder. This motor has a rectangular prism shape. The side length of the cuboid case's base is 2.6 mm and the height is 9.6 mm. In addition, the micro encoder is mounted on the top of the ultrasonic motor. The encoder is a magnetic type. This micro encoder is unified with a motor shaft and a magnetic drum has 10...
This paper describes a mechatronics methodology that allows the design of systems that are simple and intuitive to analyze and control. The primary application of this methodology is the design of a leg mechanism for a running robot. The approach first divides the system behaviour into several phases, and then finds Simple to Control Mechanisms (SCMs) that can achieve the desired performance in each...
This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control: reaction force generated by the viscoelasticity...
This paper presents the development of real-time (RT) engine and vehicle models for transmission-in-the-loop (TIL) experiments. In this TIL experimental setup, the input side of the transmission is controlled by a dynamometer emulating the engine, whereas the output sides of the transmission are controlled by two dynamometers emulating the wheels. The models emulating these vehicle-components are...
This paper reports a newly developed hydraulic dual robotic arm system to create and evaluate intelligent systems, which support complicated machine operations, for advanced construction machinery. This kind of machine system (test-bed) requires functions to quantify its dynamic characteristics and operational difficulty (influential factors). In particular, construction manipulator nonlinearly changes...
Ionic polymer-metal composites (IPMCs) have intrinsic sensing capabilities. Like many other sensing materials, however, IPMC sensors demonstrate strong temperature-dependent behaviors. In this paper we present the first systematic studies on temperature-dependent IPMC sensing dynamics. A cantilevered IPMC beam, soaked in a water bath with controlled temperature, is excited mechanically at its tip...
This paper introduces the development of hybrid magnetic bearings (HMBs) for a maglev axial flow blood pump. The design criteria for the radial, axial and current stiffness of the HMB are proposed and the HMB is accordingly designed through theoretical calculation, 3-Dimensional Finite Element Analysis (3-D FEA) and experimental verification. Based on the system identification result of the HMB, a...
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