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Graphene nanoribbons (GNRs) are predicted to be essential components in future graphene nanoelectronics. Recent studies show that atomic scale edge structures of GNRs consist of armchair and zigzag edges with some other defects. Here we probe systematically the details of the phonon properties of GNRs with realistic edge structures consisting of armchair and zigzag edges along with some vacancies...
To lightweight the engine connecting rod, and ensure it to meet the performance requirements, static equivalent load method was studied in the paper. Firstly, Connecting rod stress distribution was analyzed. Then, Multi-body dynamics model was established for the transient analysis, and connecting rod maximum stress was gotten when the engine working. Finally, Using equivalent static load method,...
We propose a printable, pneumatic artificial muscle with great flexibility in design that is suitable for bio-inspired machines, especially, anatomy-based musculoskeletal robots. This artificial muscle is based on the recently developed thermal fabrication technique of inflatable actuators on sheet materials. In contrast to the cylindrical shape of the McKibben artificial muscle, the proposed actuator...
We present a novel hierarchical control framework that unifies our previous work on tactile-servoing with visual-servoing approaches to allow for robust manipulation and exploration of unknown objects, including — but not limited to — robust grasping, online grasp optimization, in-hand manipulation, and exploration of object surfaces. The framework is divided into three layers: a joint-level layer,...
We work in research and development of novel needle biopsy system in order to extract muscle tissue with form of fiber. The system consists of an ultrasonic device, an angular adjustment implement, and a needle. The needle has curved shape so penetrates from skin surface perpendicularly and takes route parallel to bone in muscle tissue. We produced prototype of needle setup, conducted the verification...
In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In...
This paper focuses on extending a previously reported technique to convert a desk into a tactile interface. The original technique, based on the so-called "Haptic Desk" enables the detection of an applied force and its contact point by force sensors at the desk's supporting points. Consumer electronics and furniture can be converted into tactile interfaces with the use of this technique...
A force platform system was developed for detection of weight applied to each paw of canines in standing and walking positions. This system consists of a force sensing system, a data collection system and a data processing system. The force sensing system composes of 144 force sensing resistors placed on 12×12 cm2 active sensing area. The force platform system was calibrated and tested using 29 different...
A low cost dataglove system is developed by designing a glove equipped with Force Sensing Resistor (FSR) on to the thumb, index and middle finger, named as GloveMAP. The system involves the finger movements with some of grasping activities to investigate the force exerted on the fingertips during grasping five different shapes of objects with same weight. The output forces obtained from the experiment...
A process for one to adapt to a new environment has been considered as a combination of multiple update systems where each of them has a different time constant. We define the fast system as the adaptive system to minimize error and the slow system as the meta-adaptation that modulates the meta-parameters that might influence the property of the adaptation. Specifically, we considered that a shape...
We propose a system for mechanical characterization of oocyte using an opened microchannel environment. In this research, we fabricate a robot-integrated microfluidic chip with an opened microchannel formed by micropillars. Additionally we construct the measurement system and demonstrate the mechanical characterization of oocyte.
The SPIDAR-mouse is a string-based haptic device that provides a PC mouse with 2D lateral force. Although the SPIDAR-mouse is convenient for displaying haptic feedback in a PC environment, it requires presenting 3D geometric shapes with 2D lateral force. An impulse-based haptic rendering method was used in our previous system, but the system response was insufficient for achieving realistic haptic...
This paper deals with a short overview of the problem of shape optimization of elastic bodies of mechanical structures of VAP, the ontology of problems and methods of optimizing the shape of elastic body in terms of buckling load with an emphasis on algebraic methods. Elements of the ontology of interval analysis for calculating tolerances are also given.
Design and fabrication of micro mechanical actuators is very useful for special robotic applications. One of the practical usages is continuum manipulators uses in medical applications such as endoscopy tool. In such applications, a maneuverable thin and flexible manipulator is highly required. In this paper, a basic module is studied for such an application. In the structure of module, three wires...
It is presented a theory that permits to calculate the ac dielectrophoretic force acting on biological cells and other micro- and nanoparticles of arbitrary shape. The theory includes intrinsically all the higher-order terms of dielectrophoretic force without additional computation costs. For sufficiently small electric field gradients the dielectrophoretic force is weighted by the induced cell dipole...
In order to analysis the fluid-structure coupling acoustic properties of a designed piezoelectric micro-jet which is worked at slapping mode, the inside acoustic situation created by the vibration of vibrator is analyzed in this paper depend on the finite element software ANSYS Workbench. The effect of the properties of the liquid and shell to the ejection performance of the micro-jet is analyzed...
Image edges, especially in the extracted silhouette, offered satisfied positional information for markerless vision-based motion capture. However, traditional bottom-up edge detection methods (such as canny operator) are powerless for edge detection with small luminance difference, especially when a self-occlusion happened. In this paper, we proposed a top-down edge detection method which can be viewed...
In this paper, we present an algorithm for a shape-shifting robot climbing stairs autonomously. The robot has been used several times for search and rescue missions. Because of the special environment of tasks, the robot must have the ability to climb stairs autonomously to help the operators. Due to the characters of robot in "T" configuration, the mathematical model of force is established...
In this paper, we present a control technique to editing the fire motion with the geometry goal shape, which is designed without connection to physical parameters and physical equation solving. To fulfill this, controlling elements are extracted from the input curves conveying the target shape of fire animation. Then a force field is obtained according to these controlling elements, which would drive...
The design, computational analysis, and experimental study of a modular flexure-based micro/nano manipulator is presented. The system combines a novel, compact, modular flexure-based mechanism with a haptic device, and a bilateral control architecture to enable rapid haptically-guided micromanipulation tasks. In principle the modular design allows manipulators to be constructed according to task-specific...
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