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This paper reports a novel, wireless magnetic polymer material actuator for implantable devices. Unlike existing magnetically-driven actuators, the proposed configuration requires only a single electromagnet for actuation. The performance of this material actuator is evaluated within. In addition, the effects of changing material composition were also investigated. Results show the actuator is capable...
Use of a rotor type UAV that can perform three-dimensional movement and hover is being actively pursued. Although a multi-rotor type UAV is important, because it is driven by electric motors its application has the limitation of a short cruising time. In this study, the composition and control system of a single rotor UAV that achieves attitude control by pivotable vertical fins are proposed. Herein,...
A series elastic actuator (SEA) consists of an actuator in series with a compliant element. By measuring and controlling the displacement of the compliant element, an SEA provides better forward and inverse force control accuracy than traditional stiff actuators. SEAs are suitable for robots that need interact properly with human or environment. Most SEAs use brushless DC motors as the actuators....
Particle sedimentation is one of the main issues affecting magnetorheological fluids (MRF). Though short-term testing methods are useful for their development, such methods have not looked into the effect of sedimentation. In this study, we use an ordinary angle rotor as a centrifugal accelerator, and experimentally compare the sedimentation ratio achieved by it with ratios obtained under gravity...
This paper proposes a novel dynamics model of the twisted and coiled polymer actuator (TCPA) which is one of the artificial muscles recently discovered. It can be driven by Joule heating and can contract up to 25%. Most of the conventional works employed the linear model of TCPA which represents the relationships between the input voltage, the temperature, and the displacement, but the real TCPA shows...
In this study, new isotropic magnetic membrane-type actuators are fabricated and characterized by both theoretical and experimental approaches in terms of their deflections and delivered actuation forces when an external magnetic field is applied. The effects of diameter, thickness, concentration of magnetic particles are investigated. The actuation force depends on the amount of magnetic substance...
In recent years, minimally invasive surgery (MIS) has been developed in medical field. MIS is performed by inserting some tools such as forceps into holes made on a patient's body. MIS requires surgeons of skills and experiences because of the limited space to operate tools and the slight tactile sensation which the operator can feel through the forceps. To improve the performance of surgeons, this...
Additive manufacturing was used to build a large scale prototype of a 3-DOF, 3-PRS parallel manipulator designed for enhancing the mobility of instruments used in endonasal neurosurgery. The prototype is 5 times larger than the design, with an outer diameter of 25mm. It uses custom ball and socket joints to provide pitch and roll capabilities of ±60° while remaining compact. Testing of the robots...
Atomic force microscopy is a uniquely powerful tool for single molecule research. In addition to high-resolution imaging of static systems, recently developed high-speed atomic force microscopes (HS-AFM) enable the observation of dynamic processes at the nanoscale. HS-AFM instrumentation has been developed by systematically increasing the bandwidth of individual components. However, the phase lag...
This paper deals with the scenario of two multi-UAV systems (so-called teams), each flying from a starting point to a target point. The teams meet on their ways and have to avoid collisions in the horizontal plane. Both teams work independent of each other but use the same formation-control and obstacle-collision-avoidance algorithm. The leaders measure obstacles' positions, use a Kalman Filter to...
Over the last years more and more industrial robots have been installed in almost every field of automation. Because of their high flexibility robots can be used to support tasks or to undertake complete processes. But this versatility also implicates high Cartesian compliance at the tool-center-point (TCP), due to the serial linked structure. In respect of machining tasks this compliance leads to...
Multi-robot systems are increasingly utilized for cooperative industrial robot applications. In the scope of this work, a novel approach for the division of robot applications between multiple robots by handling the tool and the workpiece at the same time is presented. The approach has been tested successfully with a robot setup with two industrial robot arms. It is shown that the processing time...
Especially in cases of robot supported process tasks with high accuracy requirements, exactly known geometric relations of the process relevant cell components relative to each other is of significant importance. To establish these relations, several methods are known from the state of the art, belonging to the area of calibration. However, compensating all influencing factors individually can be...
This paper investigates a functional electrical stimulation (FES) cycling system on velocity tracking control for human limbs in order to stimulate multiple muscle groups continuously and simultaneously at all angles during pedaling. A stationary cycle and rider is modeled as an Euler Lagrange system by using a closed-chain mechanism. Stability of the developed controller is analyzed through Lyapunov-based...
This paper considers a written communication system based on a multilateral teleoperation using robust control. First, a pen equipment as an interface of the written communication system is developed. By using the pen equipment, the proposed written communication system based on sharing haptic information is indicated. Next, the non-passive approach is applied to the written communication system....
In the operation of robots in regular human lives, the capability of object handling is of fundamental importance. Robotic manipulation has gone from handling single rigid body objects with firm grasping to handling soft objects and dealing with slip and contact. Meanwhile, technologies such as robot learning from demonstration has enabled intuitive human-to-robot teaching. This paper discusses a...
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform broad-scale manipulation tasks, it is desired that a multi-fingered robotic hand can robustly manipulate objects without knowing the exact objects dynamics (i.e. mass and inertia) in advance. However, realizing robust manipulation is challenging due to the complex contact dynamics, the nonlinearities...
Robotic graspable object recognition is a crucial ingredient in many exciting autonomous manipulation applications. However, identifying complex image features from limited data remains largely unsolved. In this paper, we leverage the advantages of two kinds of feature representation approaches, kernel descriptors and deep neural networks, to present a novel hierarchical feature learning framework...
We describe the concept and first prototype of a novel mechatronic design of a robotic gripper, which aims at being mounted on a humanoid robot to achieve firm (i.e. locked) and robust grasps. Such grasps could ideally support complex multi-contact motions, such as ladder climbing, or manipulation of complex tools, with energy efficiency. For this purpose, we propose a solution by designing a smart...
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