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Manipulation of beacons is a method of Human-Swarm Interaction (HSI) of relative ease to implement, especially for computer simulated environments. This paper focuses on doing an in depth analysis of an implementation of attractor and repulsor fields and determining its advantages and disadvantages through experimental means. The results give an optimistic view of the method: the learning curve is...
Assembly process complexity in the production of manufactured products has received considerable attention in recent years. With the growing trend towards cyber-physical systems and the fourth industrial revolution, assembly research efforts must aim to develop efficient production systems incorporating robotic arms and flexible fixtures. The aim of the research was to investigate end effector and...
This paper proposes intrinsic contact sensing using a particle filter. Intrinsic contact sensing is a method, which detects the contact position without any sensors on the outer shell. Force sensors are attached on the supporting point of outer shell instead. This method has been expanded to estimate contact information even without shape information. However, previous methods assume that contact...
In this paper we describe how to use a Game-Based Learning (GBL) approach to help end-user programmers to develop Computational Thinking (CT) skills. CT represents a framework consisting of a set of skills such as: abstraction, decomposition and more in general problem solving expressed in a computational form (algorithmic thinking) that can be easily formalised into a computer program. Those skills...
An important goal for the Japanese economy involves increasing the export of fruits. Especially, the export of peaches to Taiwan is an important part of trade for Japan. However, the peach fruit moth poses a serious problem. The moth is not native to Taiwan. Therefore, the moths that are exported with peaches may cause ecological damage in Taiwan. We are in the process of developing a peach fruit...
Pectoral fin types of biological fish have an enormous diversity, and they play an essential role in locomotion of fish. The adaptation to shapes and movement mechanism of pectoral fin types helps swimming motion of the main body effectively, that results in the high flexibility and maneuverability of locomotion. This paper proposes a hydrodynamic model of a type of flexible pectoral fin (FPF), which...
To research the effect on the canard rudder aerodynamic layout for the projectile correction, the steering gear model under different aerodynamic layout was established. Various kinds of aerodynamic parameters were obtained through simulation. Through the establishment of the ballistic model of suitable for less spin correction projectiles, the capability of correcting has been received under the...
The authors proposed a basic method for generating a colhsionless walking gait of a non-straight-legged biped and analyzed the fundamental gait properties. This paper then discusses the transfer energy efficiency of the generated gait in terms of specific resistance. Numerical simulations show that energy efficiency can be improved by promoting the asymmetry of the leg shape, and by keeping the positivity...
This paper proposes a method for generating an underactuated bipedal gait without including state jumps during motion. We introduce a model of a point-footed and non-straight-legged biped robot with a reaction wheel attached to the hip joint, and design two controllers; one is a strict output-following control for generating the leg motion during the single-limb support phase, and the other is a discrete-time...
The motion generation on a downhill of the seed-like 4-DOF 1-input underactuated robot has been analyzed by the authors previously. However, it is difficult to generate a horizontal movement on level road surface. Before pursuing a speedy horizontal locomotion, the motion analysis of horizontal movement should be well investigated. This study attempts to analyze the horizontal movement induced by...
The shape of a compressed solder bump under mechanical load stemming from the weight of an IC or IC package has an important influence on the contact angles and the stresses that results from thermal cycling. In this work an expression is derived that provides a more accurate description of this shape. The shape of the small solder bump is dominated by surface tension and the shape of the unloaded...
This paper involves the study of pull-in voltage of a Shape Memory Alloy (SMA) based cantilever beam. The study is carried out by applying electrostatic forces and varying the dimensions. Nitinol which is a SMA is used for the simulation to get required results. An electrostatic force generated by an applied voltage between the top movable micro-cantilever and fixed ground plane bends the micro-cantilever...
An experimental investigation was conducted to study the crush-worthiness parameters and behaviour of the bamboo-epoxy composite tube with chamfering angle 45° at one end. Quasi-static compressive loadings were applied axially to investigate the response of force-displacement during progressive collapses. The Shimadzu concrete compression testing machine with capacity 2000 KN was used in this experiment...
A novel linear actuator for a tactile display is proposed, especially for Braille aimed for visually impaired people, and also for a new human haptics interface. The features of actuators for this use may be evaluated by output force, stroke, compactness, and so on. The proposed new actuator has better performance in terms of stroke, compactness, and output force compared with existing actuators....
This paper deals with the design, manufacture and application of NC machine for cutting 2D intricate path of plane styrofoam. The cutter uses nickel wire heated by DC electric current. The X and Y axis is moved using open loop controlled stepper motor. The path that is cut is first was taken from picture, than changed the captured picture into line graph, and then programming the machine to follow...
Mechanical stiffness in piezoelectric actuators restrains their output property and suppresses the output energy in general. We aimed to enhance the output energy of displacement amplified piezoelectric actuators (DAPAs) by employing rolling joint mechanisms with high energy transmissibility. By using the proposed design method for the shape of the rolling joints, we developed a DAPA with a novel...
Linear flux switching motor with segmented secondary (LFSMSS) is characterized by two kinds of windings, i.e. the DC field windings and AC armature windings, which are distributed alternately on the mover. LFSMSS is vulnerable to large force ripple. This paper investigates the influence of two design techniques (dummy slot and auxiliary tooth) on the force ripple of LFSMSS. In addition, the simulation...
The amorphous alloy transformer has less no-load current and loss, but the structure characteristics of the runway shape winding make it show greater vibration intensity and noise at the load condition. Based on the structure characteristics of the amorphous alloy transformer with runway shape winding, a leakage-stress-acoustic coupled calculation model is proposed to calculate the electromagnetic...
Although we have already experimented to bend a thin catheter with acoustic radiation force using a single transducer, it is necessary to develop a method to bend a catheter to an arbitrary direction because installation position of ultrasound transducers on body surface is limited to adopt to various shape of in vivo blood vessel. Therefore, we examined to bend the thin catheter to the perpendicular...
Current Elastic SfT (Shape from Template) methods are based on l2-norm minimization. None can accurately recover the spatial location of the acting forces since l2-norm based minimization tends to find the best tradeoff among noisy data to fit an elastic model. In this work, we study shapes that are deformed with spatially sparse set of forces. We propose two formulations for a new class of SfT problems...
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