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Stroke affects up to 2% of the population, with an increasing number of patients surviving the event and requiring rehabilitation, placing increasing demand on medical systems. As a result, there is an emergent area of research investigating the use of robotics as a means to aid in stroke patients' rehabilitation. Projects such as the MIT Manus have provided evidence of the efficacy of robotic rehabilitation...
A higher demand for electrically powered transportation leads to a strong need for cheap and sustainable supply of high quality battery modules for mobile use. The sustainable supply depends on the manufacturing accuracy according to the desired product features. Scrap or later failure of the product can strongly be influenced by the manufacturing process of the installed battery cells. This paper...
In order to control the interaction of industrial robots with soft materials many computationally-intensive sub-tasks have to be performed in parallel, such as material simulations, control policy optimization or path planning among many others. Since the robot control cannot process the amount of information needed for those tasks, the whole system needs to be split up in two parts: the physical...
In order to achieve unmanned monitoring in the smart substation, the video monitoring technology has been introduced. However, it is still lacking of real-time image processing in its actual use. In this paper, a system based on the image tracking technology for fault monitoring of insulators in the substation is developed. In this system, an unmanned aerial vehicle (UAV) moving in a special trace...
The predominance of conventional polymer processes (CPP) is undoubtedly formidable regarding monetary benefits gained in lieu of mass production in the global market. In this research, profitable commercial status of CPP is critically questioned in case of a specific large-scale application in low quantities, considering the following three factors: cost, time, and complexity. This research paper...
This paper reviews current research on the design, processing and finite element analysis (FEA) of bone implants for the human body. The feasibility of producing carbon fibre composite implants, in particular knee and hip replacements which are common bone replacements by 3D printing, is discussed. The relationship between design and material requirements is elaborated.
This paper presents the design and fabrication process of a soft-bodied gripper with integrated curvature sensors for shape control. The soft gripper contains three identical fingers based on the principle of fluid elastomer actuator. Each of the finger is made of silicon rubber, named Dragon Skin, and is connected to a robotic arm by a snap-lock mechanism. Grasping ability of the soft-bodied gripper...
The characteristics of the interlayer bonding within 3D Printed objects is a fundamental feature determining the strength of the resultant object. This study set out to identify the opportunity for additional inter layer processing within 3D Printing. Inter layer processing is the addition of processes before a new layer can be printed upon a previous layer. Thirty Acrylonitrile butadiene styrene...
The Factories of the future initiative aims to develop the technologies required in a reconfigurable manufacturing system that is able to accommodate the consumer demand for unique customized products. The technologies focus on innovative ways to achieve this goal of mass customization in an economically feasible way. One of the challenges faced is vibration and chatter in machining operations which...
A soft robotic surface manipulator is a device equipped with a computer-controlled, deformable surface. By moving the surface, objects placed on the robot can be transported, rotated, or otherwise brought into a desired configuration. A probabilistic automaton can use camera feedback to measure and control the movement of the work pieces, and find the optimal sequence of actions to reach a desired...
Plasma arc cutting is a complex process with substantial interaction between process parameters. These manifest in deviations in the properties of the cut such as kerf width and kerf angle. Developing relationships between process parameters and aspects of the cut requires a large amount of data. This paper presents a novel method that applies computer vision to assess the kerf width against plasma...
In this paper, a redundantly actuated chewing robot with two higher kinematic pairs (HKPs) is presented, which can be used in performance test and evaluation of denture material. The robot has six actuators, but only has four degrees of freedom, due to constraints of two HKPs which mimic two temporomandibular joints (TMJs) of human. Quasi-static force analysis in occlusion status is performed to calculate...
Soft actuators have allowed for a variety of innovative applications, however, the mathematical modeling of soft actuators is still in its infancy. In this paper, we present a multi-cavity composite soft pneumatic actuator constitutes of multiple layers with embedded multiple air channels. The principle of operation of this actuator is comprehensively analyzed and described through building the analytical...
Standard control laws have unique parameters that yield a certain response according to which model they are implemented on. Changes in the model will result in changes in the response, yielding the need for new ideal parameters. Adaptive controllers have the advantage of reducing the number of control parameters to be chosen by the pilot. Reducing this number of parameters can be beneficial, as obtaining...
In this paper, the control scheme of a co-axial two-wheel mobile robot by human operation is developed. Two joysticks are introduced considering easy and intuitive operation for the user. Common and differential mode of the tilt angle of joysticks correspond to translational and rotational motion respectively. In order to control translational motion of a two-wheel mobile robot, two kinds of controller,...
Wireless Technology plays a significant role in current world. Many applications use wireless sensor network for health monitoring. One of the examples is the application to measure muscle response or electrical activity in response to a nerve's stimulation of the muscle. The development of wireless Electromyography (EMG) for remote monitoring of muscle activities is one of many vital parts in the...
Target chasing control of autonomous mobile robots is important for both civilian and military applications. Efficiency and stability are two important factors in chasing problem. The robot is expected to chase the target quickly to save time. Besides, the driving velocity and direction of the mobile robot should be changed smoothly to avoid wheel slippage or mechanical damage during the chasing process...
An ideal steering characteristic is of great importance to improve the handling stability of four-wheel independent steering (4WIS) electric vehicle. For this reason, we proposed in this paper to use LQR optimal control theory to control variable gear ratio steering control through rear active steering. To realize great steering gain (i.e., quick response to handling) at low speeds and small steering...
We demonstrate the application of predictive functional control to a real-life position-control problem of a mechatronic system using a state observer-based internal model (PFC-OBIM). In the literature, the control method has been shown to be effective in simulation. However, no experimental validation has been conducted so far. Hence, we conduct a few experimental tests using a single-axis table...
This article describes the design and process of a 3D Mini Camera Lens to be utilised in multi-purpose 3D stereo reconstruction on computers, mobile devices and robots. It can also be useful for various tasks including demonstration, knowledge-sharing, online programming, database sharing, results comparison in the stereo vision research community, and recreation used by non-specialists. In contrast...
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