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As part of the NEDO robot project, we are engaged in developing a surface/underwater robot system which investigates underwater infrastructure such as dams and river facilities. In this paper, we propose a sailing control method based on “extended kite flying principle” for a moored unmanned surface vehicle (USV) system in running water. We also develop the mooring system and the miniaturized USV...
This article presents the design and construction of a mechanism for emulating load forces caused by the road conditions and friction over an electric power assisted steering (EPAS). This mechanism uses extension springs and a rack-and-pinion mechanism to emulate these load forces. The purpose of devising this mechanism is to build an EPAS system test bench, that allows observing and testing the operation...
In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation,...
ICs bonding reliability at High Temperature (HT) application is considered. Namely results of investigations of bond ball lift failure mode category at post HT stresses Wire Bond Pull (WBP) tests for AlAu intermetallic interface at Tamb>150degC are presented in submitted paper. Simplified model of reliability risk assessment on the base of impact of such input factors as application temperature,...
Three-dimensional stretching is needed to treat equinovarus, which deforms the patient's foot to plantarflexion, adduction, and inversion postures. We have prototyped a three-dimensional stretching machine that the patient can use for the treatment of equinovarus by him- or herself. By adopting a cable-driven mechanism with two independently controllable pneumatic actuators, the stretching machine...
Heavy lift crane vessels play an important role in offshore installations. Previous studies have shown that position control systems for these vessels can cause unstable positioning behavior during offshore construction assignments under specific conditions, e.g., change of environmental loads. Some control methods, such as crane force feedforward to the controller or the estimator, have been developed...
It is expensive and difficult for the wireless intelligent monitoring equipment of high-voltage transmission lines to get and use electricity. There is a strong and changing magnetic field near the high-voltage transmission lines, which can be transformed into electric energy by induction coil. Firstly, it is necessary to verify whether the magnetic induction intensity is strong enough. Then the electromotive...
In this paper, system design and motion control of a nursing lift robot which runs on the ground is presented. This supporting lift robot provides a power assist function for transfer aid system with hoisting and lowering, and also an omnidirectional motion function, using DDSS (Differential Drive Steering System). Further, logic control to suppress limit cycle of lift at grounding is proposed. The...
This paper describes the comparison between direct and indirectly liquid-cooled topologies for coreless linear motors with multiple coil layers. The electromagnetic force production is obtained by 3-D magnetic scalar potential modeling whereas thermal modeling is performed by 3-D finite element and volume methods. The power dissipation and force density of each topology is investigated for different...
The paper reviews the radiation phenomena in classical electromagnetics in terms of microscopic and macroscopic approach, respectively. First, the radiation from an accelerated charged particle is outlined featuring the concept of radiation reaction force. Then the Pocklington integro-differential equation for dipole antennas is derived which is followed by the details related to the numerical solution...
Highly dynamic DC-machines, used in low power applications, often contain ironless or so called bell shaped windings. Because there is no massive iron core to support the windings, one of the limiting factors for the torque of the machine is the force on the single wires of the copper weave. Therefore, the knowledge of the force distribution on the single wires could be a helpful design criterion...
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...
Numerous robotic devices have been developed to assist hand rehabilitation; however, a majority of these are difficult for stroke survivors to wear. The purpose of this study was to develop an assistive device for treating flexion contracture, which supports the extension of each finger and may easily be worn on a paralyzed hand. To facilitate ease of use, we suggested a new wearing method for this...
Development in the field of nanotechnology makes possible the production of nanorobots and its usage inside the human body for various biomedical applications. Introducing a nanorobot inside a human body faces various challenges. One of the major challenges is its propulsion mechanism. Since the flow regime is of low Reynolds number, normal propulsion systems would find itself impossible to produce...
Controlled independent manipulation of multiple objects at cellular length scales in an open challenge with potential applications in life sciences and advanced manufacturing. Magnetism has been studied as a means to perform such fine scale manipulation, but generating fields that discriminate between targets at small length scales is nontrivial. We present a system for simultaneous control of multiple...
The preponderance of research into flying microrobots has focused on biomimetic flight mechanisms. In this work, we demonstrate an insect-scale robot capable of vertical takeoff using electrohydrodynamic thrust, a mechanism with no natural analogue. The 10mg, 1.8cm by 1.8cm “ionocraft” operates at about 2400 volts and has a thrust to weight ratio of approximately 10. Feasibility of using individually...
In this paper, we present our cross-wire assist concept, for assisting a single joint in multiple degrees of freedom. It is comprised of four motor driven Bowden cable actuators (wires) per assisted joint, with the wires crossed over each other at the front and rear. Simulation results show that selectively actuating a subset of these wires allows torque to be generated in 6 directions, with the torque...
In this paper, a wire-driven tension control algorithm using a rotary type series elastic actuator is proposed, which is developed for assistive force control of the rehabilitation robots to help the Straight Leg Raise (SLR) exercise.
This paper presents a planar digital actuator based on hexagonal design. The actuator is comprised of a Mobile Permanent Magnet (MPM) surrounded by six Fixed Permanent Magnets (FPMs). The originality of the proposed actuator lies in its ability to reach six discrete positions in xy-plane with different stroke sizes (along x-axis: 0.50 mm and 1.00 mm; along y-axis: 0.86 mm). An analytical model has...
Recanalization of chronic total occlusions (CTO) of coronary vessels is a catheter intervention with proven benefit for the patient. However, it incorporates a risk of penetrating the vessel as well as increasing patients exposure to radiation and contrast agent. The physicians expertise is a key to successful interventions. In this work, we present a system to assess haptic interaction of medical...
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