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Linear flux-switching permanent magnet (LFSPM) motor attracts widely attention due to its high power density and high efficiency, in which both concentrated windings and PMs are on the short primary mover. Hence, it is very suitable for long stator applications such as urban rail transportations. However, a large numbers of existing LFSPM motors are obtained from simply splitting and unrolling the...
This paper proposes a novel method to improve the stability of time-delayed bilateral control systems. 3-channel bilateral control system is one of teleoperation systems with haptic feedback. It can transmit haptic sense without large operational force even under time delay. However, the stability of contact motion with hard environments is not ensured. Therefore, this paper proposes a new damping...
This research proposes a motion training system based on motion-copying system with the space and time domain admittance control. In order to apply a motion-copying system to the motion training system, a structure of dual motion reproduction system is introduced in which a motion reproduction system is constructed not only at a slave system but also a master system. Not only the slave system but...
The paper analyses the actions needed to be taken before the sea trials of a wave energy converter. In particular, the mechanical and electrical tests of the complete Power Take-Off are described, mainly these tests related toh the electric linear generator, the power electronics and its control. This work is developed in the frame of an application project consisting of sea trials of a Wave Energy...
The needle winding technology is distinguished by a high degree of flexibility and automation. However, high wire tension due to the tensile winding force proves to be detrimental. Wire stress can cause an increase of the ohmic winding resistance, thus leading to a decrease of the degree of efficiency and a reduction of the continuous power of an electric machine. A closed-loop-control of the tensile...
In this article, we describe the analysis of a composite piezoelectric actuator intended for a force feedback application. The concept of the force feedback interface is based on reduction of the friction coefficient between two surfaces in contact, and the aim here is to achieve an enhanced performance design based on the existing actuator. For this purpose, and following up a previous study, the...
The stick-slip actuator motion is dependent on its natural frequency. The backward motion of the actuator during the slip phase due to the stiffness alters the motion of any stickslip friction principle based positioners drastically. This work is an attempt to design and fabricate a simple and compact piezoelectric walker integrated with a force sensor to measure the frictional force during the slip...
This paper presents a controller design of an electric wheelchair for avoiding collision and downhill turning. The presented method for collision avoidance is based on the information from inexpensive distance sensors so that it may be widely used at low implementation cost. The presented method considers the nonholonomic constraints of a typical differential wheel drive system by employing the model...
At the present time, industrial robots for assembly tasks only constitute a small portion of the annual robot sales. One of the main reasons is that it is difficult for conventional industrial robots to adapt to the complicity and flexibility of assembly processes. Therefore, intelligent industrial robotic systems are attracting more and more attention. However, because of the modeling difficulty...
This paper analyzes the stability of acceleration-based bilateral control (ABC) using a disturbance observer (DOB) and a reaction force observer (RFOB) by considering the effect of environmental impedance and modeling error. ABC is one of the control method to enable highly precise transmission of haptic sensation between master and slave robots. Conventionally, ABC is analyzed by using slave side...
This paper presents a new theoretical development and modelling related to the requirement of the minimum number of sensors necessary for slippage prevention in robotic grasping. A fundamental experimental investigation has been conducted to support the newly developed postulate. A series of basic experiments proved that it is possible to evaluate the contributions of various sensors to slippage prevention...
Polymerase chain reaction (PCR) is a powerful tool for diagnostic procedures in bacterial and viral infections. We have developed a new electrical technique for rapid detection of DNA amplified by PCR using dielectrophoresis (DEP) of microbeads that are chemically labeled with the amplicons. The DNA immobilization on the microbeads alters their DEP behavior in such a way that they are trapped on a...
Image navigation systems and robotics are leading technologies to improve the accuracy of dental surgery. In this paper, stereo vision based navigation system is implemented to the three degrees of freedom implant surgery assistant robot. The aim of this research is to achieve cooperative guide system for teaching the information of “where to start cutting”. To achieve this aim, modulated potential...
The objective of this study is to propose the master-slave tendon-driven haptic robot hand system using Twist Drive. Twist Drive is one of transmission systems which is consisted of a pair of strings and rotary motor. This transmission system converts torque into a high pulling force by using a pair of strings twisted on each other. In this paper, Twist Drive system is verified at first. Next, Twist...
This paper is to present a technological solution for implementing a force feedback haptic interface in the context of virtual reality interaction applications. The real-time haptic algorithms are implemented in TwinCAT runtime environment to control drivers via EtherCAT fieldbus. A 3-dimensional visualization model for the virtual reality interaction is developed through Virtual Reality Toolbox in...
When a robotic manipulator executes a task in restricted and unknown environments, it is necessary to implement a position/force control in free space and constrained space. In classic controllers, position/force control may be carried out by means a controller switching, once the contact point has been reached. In this paper, a new position/force predictive controller for an anthropomorphic robotic...
This paper proposes a new motion-copying system which uses statistical approaches for recording and reproducing of human tasks. In conventional motion-copying systems, haptic data of human motions is recorded directly to the database at every sampling. As a result, the amount of haptic data for the database is large in general. In addition to that, it is hard to segment and reorganize the recorded...
The objective of the present work is the global stabilization of a cart-pendulum system. First, an energy shaping algorithm is developed to bring up the pendulum to the close vicinity of its upright equilibrium point. The energy control technique employed here also takes care of the practical constraint of limited cart track length. Next, a sliding mode controller (SMC) does the task of keeping the...
There has been a lot of research in recreational uses of robots. A robot drawing the portrait of a human face is one such famous task. This makes the robot behavior more human-like and entertaining. There have been several demonstrations of portrait drawing robots in past few years. But the existing techniques can draw only on pre-calibrated and flat surfaces. This paper demonstrates a robot equipped...
This paper presents a novel approach for the adaptive formation control of multi-agent systems to track a moving target in a dynamic environment. In this approach, while the swarm reaches the target position, if it detects obstacles on the way, its size will change in order to avoid these obstacles. In special cases, such as when the space between the obstacles is narrow, then the formation of the...
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