Universal mechatronics coordinator

NASA Astrophysics Data System (ADS)

Muir, Patrick F.

1999-11-01

Mechatronic systems incorporate multiple actuators and sensor which must be properly coordinated to achieve the desired system functionality. Many mechatronic systems are designed as one-of-a-kind custom projects without consideration for facilitating future system or alterations and extensions to the current syste. Thus, subsequent changes to the system are slow, different, and costly. It has become apparent that manufacturing processes, and thus the mechatronics which embody them, need to be agile in order to more quickly and easily respond to changing customer demands or market pressures. To achieve agility, both the hardware and software of the system need to be designed such that the creation of new system and the alteration and extension of current system is fast and easy. This paper describes the design of a Universal Mechatronics Coordinator (UMC) which facilitates agile setup and changeover of coordination software for mechatronic systems. The UMC is capable of sequencing continuous and discrete actions that are programmed as stimulus-response pairs, as state machines, or a combination of the two. It facilitates the modular, reusable programing of continuous actions such as servo control algorithms, data collection code, and safety checking routines; and discrete actions such as reporting achieved states, and turning on/off binary devices. The UMC has been applied to the control of a z- theta assembly robot for the Minifactory project and is applicable to a spectrum of widely differing mechatronic systems.

Vertical Stream Curricula Integration of Problem-Based Learning Using an Autonomous Vacuum Robot in a Mechatronics Course

ERIC Educational Resources Information Center

Chin, Cheng; Yue, Keng

2011-01-01

Difficulties in teaching a multi-disciplinary subject such as the mechatronics system design module in Departments of Mechatronics Engineering at Temasek Polytechnic arise from the gap in experience and skill among staff and students who have different backgrounds in mechanical, computer and electrical engineering within the Mechatronics…

Mechatronics in monitoring, simulation, and diagnostics of industrial and biological processes

NASA Astrophysics Data System (ADS)

Golnik, Natalia; Dobosz, Marek; Jakubowska, Małgorzata; Kościelny, Jan M.; Kujawińska, Małgorzata; Pałko, Tadeusz; Putz, Barbara; Sitnik, Robert; Wnuk, Paweł; Woźniak, Adam

2013-10-01

The paper describes a number of research projects of the Faculty of Mechatronics of Warsaw University of Technology in order to illustrate the use of common mechatronics and optomechatronics approach in solving multidisciplinary technical problems. Projects on sensors development, measurement and industrial control systems, multimodal data capture and advance systems for monitoring and diagnostics of industrial processes are presented and discussed.

Mechatronics design principles for biotechnology product development.

PubMed

Mandenius, Carl-Fredrik; Björkman, Mats

2010-05-01

Traditionally, biotechnology design has focused on the manufacture of chemicals and biologics. Still, a majority of biotechnology products that appear on the market today is the result of mechanical-electric (mechatronic) construction. For these, the biological components play decisive roles in the design solution; the biological entities are either integral parts of the design, or are transformed by the mechatronic system. This article explains how the development and production engineering design principles used for typical mechanical products can be adapted to the demands of biotechnology products, and how electronics, mechanics and biology can be integrated more successfully. We discuss three emerging areas of biotechnology in which mechatronic design principles can apply: stem cell manufacture, artificial organs, and bioreactors. Copyright 2010 Elsevier Ltd. All rights reserved.

Fast response of mechatronics module for robotic

NASA Astrophysics Data System (ADS)

Bukhanov, S. S.; Gryzlov, A. A.; Tsirkunenko, A. T.

2018-05-01

The synthesis technique, the mathematical model and results of experimental investigation of the control system of the robotic complex mechatronic module are presented in the article. It is shown that in most cases the dynamic system can be approximated by the serial connection of two first-order aperiodic links, while the speed in the torque control loop can reach 200-300 rad/s. The specified speed of the system was achieved due to improved specific weight and dimensions parameters of the electric drive (element of the mechatronic system) made on the basis of a contactless motor. The obtained results indicate the possibility of successful application of the proposed mechatronic module for objects of robotized systems in which the reference signal changes at a frequency not exceeding 50 Hz.

Theoretical aspects of diagnostics of car as mechatronic system

NASA Astrophysics Data System (ADS)

Goncharov, A. E.; Bondarenko, E. V.; Krasnoshtanov, S. Yu

2018-03-01

The article describes transformation of mechanical systems of automobiles into mechatronic ones due to application of electronic control systems. To assess the relationship of mechanical and electronic components of the mechatronic systems with regard to their technical states, the method of equivalent elements was employed. A mathematical model of changes in the technical state of equivalent elements was developed. It allowed us to present changes in operation capacity in a graphic form. The analytical model is used to ensure operating capacity potential stability for the mechatronic system. For this purpose, new resources were identified with regard to the information ‘field’. Therefore, a new approach to the systematization of knowledge about mechatronic transport systems (D-C-R-E system) is required. The D-C-R-E system is examined as a separate unit. The article describes Information unit formation based on the physical component of the D-C-R-E system and external information which is collected and processed in the Information Diagnostic Center (IDC). Using probability theory and Boolean algebra methods, the authors obtained a logistic model describing information relations between elements of the upgraded D-C-R-E system and contribution of each component to the road safety protection. The logistic model helped formulate main IDC tasks. Implementation of those tasks was transformed into the logical sequence of data collection and analysis in the IDC. That approach predetermined development of the multi-level diagnosing system which made it possible to put in order existing and improved image identification methods and algorithms and to create a diagnosing method for mechatronic systems of cars which reduces labor content and increases accuracy. That approach can help assess the technical state of vehicles with characteristics of mechatronic systems and their transport and environmental safety.

A novel mechatronic tool for computer-assisted arthroscopy.

PubMed

Dario, P; Carrozza, M C; Marcacci, M; D'Attanasio, S; Magnami, B; Tonet, O; Megali, G

2000-03-01

This paper describes a novel mechatronic tool for arthroscopy, which is at the same time a smart tool for traditional arthroscopy and the main component of a system for computer-assisted arthroscopy. The mechatronic arthroscope has a cable-actuated servomotor-driven multi-joint mechanical structure, is equipped with a position sensor measuring the orientation of the tip and with a force sensor detecting possible contact with delicate tissues in the knee, and incorporates an embedded microcontroller for sensor signal processing, motor driving and interfacing with the surgeon and/or the system control unit. When used manually, the mechatronic arthroscope enhances the surgeon's capabilities by enabling him/her to easily control tip motion and to prevent undesired contacts. When the tool is integrated in a complete system for computer-assisted arthroscopy, the trajectory of the arthroscope is reconstructed in real time by an optical tracking system using infrared emitters located in the handle, providing advantages in terms of improved intervention accuracy. The computer-assisted arthroscopy system comprises an image processing module for segmentation and three-dimensional reconstruction of preoperative computer tomography or magnetic resonance images, a registration module for measuring the position of the knee joint, tracking the trajectory of the operating tools, and matching preoperative and intra-operative images, and a human-machine interface that displays the enhanced reality scenario and data from the mechatronic arthroscope in a friendly and intuitive manner. By integrating preoperative and intra-operative images and information provided by the mechatronic arthroscope, the system allows virtual navigation in the knee joint during the planning phase and computer guidance by augmented reality during the intervention. This paper describes in detail the characteristics of the mechatronic arthroscope and of the system for computer-assisted arthroscopy and discusses experimental results obtained with a preliminary version of the tool and of the system.

Proposal and Evaluation of Management Method for College Mechatronics Education Applying the Project Management

NASA Astrophysics Data System (ADS)

Ando, Yoshinobu; Eguchi, Yuya; Mizukawa, Makoto

In this research, we proposed and evaluated a management method of college mechatronics education. We applied the project management to college mechatronics education. We practiced our management method to the seminar “Microcomputer Seminar” for 3rd grade students who belong to Department of Electrical Engineering, Shibaura Institute of Technology. We succeeded in management of Microcomputer Seminar in 2006. We obtained the good evaluation for our management method by means of questionnaire.

Novel mechatronic solutions incorporating inerters for railway vehicle vertical secondary suspensions

NASA Astrophysics Data System (ADS)

Matamoros-Sanchez, Alejandra Z.; Goodall, Roger M.

2015-02-01

This paper discusses the effects of inerter-based passive networks in the design of novel mechatronic solutions for improving the vertical performance of a bogied railway vehicle. Combinations of inerter-based structures and active suspensions comprise distinct novel mechatronic solutions for the vertical secondary suspension of the vehicle. The parameters of the active and passive parts of the overall configuration are optimised so that a synergy arises to enhance the vehicle vertical performance and simplify common mechatronic suspension design conflicts. The study is performed by combining inerter-based suspensions with well-established active control (output-based and model-based) strategies for ride quality enhancement. Also, a novel nonlinear control strategy, here called 'Adaptive Stiffness', is incorporated for suspension deflection regulation to complement the well-known local implementation of skyhook damping. This would complete a significant set of control strategies to produce general conclusions. The vehicle performance is assessed through the vertical accelerations of the vehicle body as an initial investigation. Attained results show the potential of the inerter concept for innovating mechatronic technologies to achieve substantial improvements in railway vehicle vertical ride quality with reduced actuator force.

Analysis of measurement system as the mechatronics system

NASA Astrophysics Data System (ADS)

Giniotis, V.; Grattan, K. T. V.; Rybokas, M.; Bručas, D.

2010-07-01

The paper deals with the mechatronic arrangement for angle measuring system application. The objects to be measured are the circular raster scales, rotary encoders and coded scales. The task of the measuring system is to determine the bias of angle measuring standard as the circular scale and to use the results for the error correction and accuracy improvement of metal cutting machines, coordinate measuring machines, robots, etc. The technical solutions are given with the application of active materials for smart piezoactuators implemented into the several positions of angular measuring equipment. Mechatronic measuring system is analysed as complex integrated system and some of its elements can be used as separate units. All these functional elements are described and commented in the paper with the diagrams and graphs of errors and examples of microdisplacement devices using the mechatronic elements.

Mechatronics Interface for Computer Assisted Prostate Surgery Training

NASA Astrophysics Data System (ADS)

Altamirano del Monte, Felipe; Padilla Castañeda, Miguel A.; Arámbula Cosío, Fernando

2006-09-01

In this work is presented the development of a mechatronics device to simulate the interaction of the surgeon with the surgical instrument (resectoscope) used during a Transurethral Resection of the Prostate (TURP). Our mechatronics interface is part of a computer assisted system for training in TURP, which is based on a 3D graphics model of the prostate which can be deformed and resected interactively by the user. The mechatronics interface, is the device that the urology residents will manipulate to simulate the movements performed during surgery. Our current prototype has five degrees of freedom, which are enough to have a realistic simulation of the surgery movements. Two of these degrees of freedom are linear, to determinate the linear displacement of the resecting loop and the other three are rotational to determinate three directions and amounts of rotation.

Non-classical method of modelling of vibrating mechatronic systems

NASA Astrophysics Data System (ADS)

Białas, K.; Buchacz, A.

2016-08-01

This work presents non-classical method of modelling of mechatronic systems by using polar graphs. The use of such a method enables the analysis and synthesis of mechatronic systems irrespective of the type and number of the elements of such a system. The method id connected with algebra of structural numbers. The purpose of this paper is also introduces synthesis of mechatronic system which is the reverse task of dynamics. The result of synthesis is obtaining system meeting the defined requirements. This approach is understood as design of mechatronic systems. The synthesis may also be applied to modify the already existing systems in order to achieve a desired result. The system was consisted from mechanical and electrical elements. Electrical elements were used as subsystem reducing unwanted vibration of mechanical system. The majority of vibration occurring in devices and machines is harmful and has a disadvantageous effect on their condition. Harmful impact of vibration is caused by the occurrence of increased stresses and the loss of energy, which results in faster wear machinery. Vibration, particularly low-frequency vibration, also has a negative influence on the human organism. For this reason many scientists in various research centres conduct research aimed at the reduction or total elimination of vibration.

A Learning Tool and Program Development for Mechatronics Design Education

NASA Astrophysics Data System (ADS)

Iribe, Masatsugu; Shirahata, Akihiro; Kita, Hiromasa; Sasashige, Yousuke; Dasai, Ryoichi

In this paper we propose a new type educational program for Mechatronics design which contributes to develop the physical sense and problem solving ability of the students who study Mechatronics design. For this program we provide a new handicraft kit of 4-wheeled car which is composed of inexpensive and commonplace parts, and the performance of the assembled 4-wheeled car is sensitive to its assembly arrangement. And then we implemented this program with the handicraft kit to the university freshmen, and verified its effectiveness, and report the results of the program.

Selection of active elements in system reduction of vibration

NASA Astrophysics Data System (ADS)

Bialas, K.

2016-11-01

This work presents non-classical method of design of mechatronic systems. The purpose of this paper is also introduces synthesis of mechatronic system understand as design of mechatronic systems. The synthesis may be applied to modify the already existing systems in order to achieve a desired result. The system was consisted from mechanical and electrical elements. Electrical elements were used as subsystem reducing unwanted vibration of mechanical system. Electrical elements can be realized in the form of coils with movable core. The system was modelled in Matlab Simulink.

Potential of thermally conductive polymers for the cooling of mechatronic parts

NASA Astrophysics Data System (ADS)

Heinle, C.; Drummer, D.

Adding thermally conductive fillers to polymers the thermal conductivity can be raised significantly. Thermal conductive polymers (TC-plastics) open up a vast range of options to set up novel concepts of polymer technological system solutions in the area of mechatronics. Heating experiment of cooling ribs show the potential in thermal management of mechatronic parts with TC-polymers in comparison with widely used reference materials copper and aluminum. The results demonstrate that especially for certain thermal boundary conditions comparable performance between these two material grades can be measured.

Actuator concepts and mechatronics

NASA Astrophysics Data System (ADS)

Gilbert, Michael G.; Horner, Garnett C.

1998-06-01

Mechatronic design implies the consideration of integrated mechanical, electrical, and local control characteristics in electromechanical device design. In this paper, mechatronic development of actuation device concepts for active aircraft aerodynamic flow control are presented and discussed. The devices are intended to be embedded in aircraft aerodynamic surfaces to provide zero-net-momentum jets or additional flow-vorticity to control boundary layers and flow- separation. Two synthetic jet device prototypes and one vorticity-on-demand prototype currently in development are described in the paper. The aspects of actuation materials, design approaches to generating jets and vorticity, and the integration of miniaturized electronics are stressed.

Vacuum mechatronics

NASA Technical Reports Server (NTRS)

Hackwood, Susan; Belinski, Steven E.; Beni, Gerardo

1989-01-01

The discipline of vacuum mechatronics is defined as the design and development of vacuum-compatible computer-controlled mechanisms for manipulating, sensing and testing in a vacuum environment. The importance of vacuum mechatronics is growing with an increased application of vacuum in space studies and in manufacturing for material processing, medicine, microelectronics, emission studies, lyophylisation, freeze drying and packaging. The quickly developing field of vacuum mechatronics will also be the driving force for the realization of an advanced era of totally enclosed clean manufacturing cells. High technology manufacturing has increasingly demanding requirements for precision manipulation, in situ process monitoring and contamination-free environments. To remove the contamination problems associated with human workers, the tendency in many manufacturing processes is to move towards total automation. This will become a requirement in the near future for e.g., microelectronics manufacturing. Automation in ultra-clean manufacturing environments is evolving into the concept of self-contained and fully enclosed manufacturing. A Self Contained Automated Robotic Factory (SCARF) is being developed as a flexible research facility for totally enclosed manufacturing. The construction and successful operation of a SCARF will provide a novel, flexible, self-contained, clean, vacuum manufacturing environment. SCARF also requires very high reliability and intelligent control. The trends in vacuum mechatronics and some of the key research issues are reviewed.

Mechatronic System Design Course for Undergraduate Programmes

ERIC Educational Resources Information Center

Saleem, A.; Tutunji, T.; Al-Sharif, L.

2011-01-01

Technology advancement and human needs have led to integration among many engineering disciplines. Mechatronics engineering is an integrated discipline that focuses on the design and analysis of complete engineering systems. These systems include mechanical, electrical, computer and control subsystems. In this paper, the importance of teaching…

Methodology of Education and R&D in Mechatronics.

ERIC Educational Resources Information Center

Yamazaki, K.; And Others

1985-01-01

Describes the concept and methodology of "mechatronics" (application of microelectronics to mechanism control) and research and development (R&D) projects through the activities initiated at the Precision Machining Laboratory of the Department of Production Systems Engineering of the new Toyohashi University of Technology. (JN)

Mechatronic system design course for undergraduate programmes

NASA Astrophysics Data System (ADS)

Saleem, A.; Tutunji, T.; Al-Sharif, L.

2011-08-01

Technology advancement and human needs have led to integration among many engineering disciplines. Mechatronics engineering is an integrated discipline that focuses on the design and analysis of complete engineering systems. These systems include mechanical, electrical, computer and control subsystems. In this paper, the importance of teaching mechatronic system design to undergraduate engineering students is emphasised. The paper offers the collaborative experience in preparing and delivering the course material for two universities in Jordan. A detailed description of such a course is provided and a case study is presented. The case study used is a final year project, where students applied a six-stage design procedure that is described in the paper.

Reduction of vibration by using mechatronical subsystem

NASA Astrophysics Data System (ADS)

Białas, K.; Buchacz, A.

2015-11-01

The primary aim introduced in this paper is synthesis of mechatronical system understand as planning of this type of systems. Mechatronical system is consisted of fundamental mechanical system and subsystem reducing vibration including electric elements. Fundamental system is received applying reverse task of dynamic (synthesis) and it's including inertial and elastic elements. The subsystem includes electric elements by means moving-coil transducer. The synthesis can also be used to change the already existing systems. Due to the method, introduced in this work, may be performed as early as whilst the designing of future functions. Using this way of designing is support for designers of mechanical systems with active reducing of vibrations.

Postgraduate education on electro-active polymers at Southern Denmark University

NASA Astrophysics Data System (ADS)

Jones, Richard W.

2009-03-01

A recently introduced elective to the Master's of Science in Mechatronics program at Southern Denmark University, entitled 'Mechatronics: Design and Build' concentrates on some of the interdisciplinary aspects of Mechatronics Engineering. The 'Motion Control of Mechatronic Devices' is the main theme of this elective. Within this 'theme' the modelling, identification and compensation of nonlinear effects such as friction, stiction and hysteresis are considered. One of the most important components of the elective considers 'Smart Materials' and their use for actuation purposes. The theory, modelling and properties of piezoceramics. magneto- and electro- rheological fluids and dielectric electro active polymers (DEAP) are introduced in the 'Smart Materials' component. This paper initially reviews the laboratory experiments that have been developed for the dielectric electro active polymer section of the 'Mechatronics: Design and Build' elective. In lectures the students are introduced to the basic theory and fabrication of tubular actuators, that use DEAP material based on smart compliant electrode technology. In the laboratory the students to (a) carry out a series of experiments to characterise the tubular actuators, and (b) design a closed-loop position controller and test the performance of the controlled actuator for both step changes in desired position and periodic input reference signals. The last part of this contribution reviews some of the DEAP-based demonstration devices that been developed by Danfoss PolyPower A/S using their PolyPowerTM material which utilizes smart compliant electrode technology.

A Mixed Learning Approach in Mechatronics Education

ERIC Educational Resources Information Center

Yilmaz, O.; Tuncalp, K.

2011-01-01

This study aims to investigate the effect of a Web-based mixed learning approach model on mechatronics education. The model combines different perception methods such as reading, listening, and speaking and practice methods developed in accordance with the vocational background of students enrolled in the course Electromechanical Systems in…

Mechatronics Learning Studio: From "Play and Learn" to Industry-Inspired Green Energy Applications

ERIC Educational Resources Information Center

Habash, R. W. Y.; Suurtamm, C.; Necsulescu, D.

2011-01-01

This paper describes the evolution of the teaching of electrical engineering to mechanical engineering students based on motivation and a pedagogical strategy incorporating interdisciplinary mechatronics projects in a learning studio environment. Implementation of student projects within the curriculum has been demonstrated to be highly…

Using a Didactic Manipulator in Mechatronics and Industrial Engineering Courses

ERIC Educational Resources Information Center

Stankovski, Stevan; Tarjan, Laslo; Skrinjar, Dragana; Ostojic, Gordana; Senk, Ivana

2010-01-01

One of the most difficult and most important engineering tasks is the integration of a robot-manipulator into material handling, assembly, and production processes, offering the possibility of supervision and control. The knowledge and skills required for these kinds of tasks are purely mechatronic and, thus, multidisciplinary. This paper…

Mechatronics as a Technological Basis for an Innovative Learning Environment in Engineering

ERIC Educational Resources Information Center

Garner, Gavin Thomas

2009-01-01

Mechatronic systems that couple mechanical and electrical systems with the help of computer control are forcing a paradigm shift in the design, manufacture, and implementation of mechanical devices. The inherently interdisciplinary nature of these systems generates exciting new opportunities for developing a hands-on, inventive, and…

Precision mechatronics based on high-precision measuring and positioning systems and machines

NASA Astrophysics Data System (ADS)

Jäger, Gerd; Manske, Eberhard; Hausotte, Tino; Mastylo, Rostyslav; Dorozhovets, Natalja; Hofmann, Norbert

2007-06-01

Precision mechatronics is defined in the paper as the science and engineering of a new generation of high precision systems and machines. Nanomeasuring and nanopositioning engineering represents important fields of precision mechatronics. The nanometrology is described as the today's limit of the precision engineering. The problem, how to design nanopositioning machines with uncertainties as small as possible will be discussed. The integration of several optical and tactile nanoprobes makes the 3D-nanopositioning machine suitable for various tasks, such as long range scanning probe microscopy, mask and wafer inspection, nanotribology, nanoindentation, free form surface measurement as well as measurement of microoptics, precision molds, microgears, ring gauges and small holes.

Using LEGO NXT Mobile Robots with LabVIEW for Undergraduate Courses on Mechatronics

ERIC Educational Resources Information Center

Gomez-de-Gabriel, J. M.; Mandow, A.; Fernandez-Lozano, J.; Garcia-Cerezo, A.

2011-01-01

The paper proposes lab work and student competitions based on the LEGO NXT Mindstorms kits and standard LabVIEW. The goal of this combination is to stimulate design and experimentation with real hardware and representative software in courses where mobile robotics is adopted as a motivating platform to introduce mechatronics competencies. Basic…

Mechatronics Engineering Education in India

ERIC Educational Resources Information Center

Bajpai, Shrish; Khare, Sushant

2015-01-01

Present paper aims to give an insight in the field of Mechatronics, specifically its standard of education in India. We have investigated this field right from its origin. We have analyzed how it expanded as a proper discipline of engineering and in which direction the development in this field is going now and, at the same time, its status of…

TACT glossary: toys.

PubMed

Taffoni, F; Von, Hofsten

2010-01-01

Toys denote objects used in playing. From the first examples of toys made of materials available in the environment and manufactured by parents or by children themselves only for recreational purpose, toys have evolved into more sophisticated devices which integrate mechanics, electronics and informatics (mechatronic toys) used in several different application fields. There are two main kinds of mechatronic toys: sensorized toys are passive toys equipped with a set of sensors used to record user/toy interactions; robotic toys are artefacts or computers, usually self-propelled with the help of motors, which collect information from the surrounding environment by sensors, and decode this information into behaviors consistent with them. This entry explores the use of the word "toys" from a technological point of view focussing on mechatronic toys and their applications.

Development of Control Teaching Material for Mechatronics Education Based on Experience

NASA Astrophysics Data System (ADS)

Tasaki, Takao; Watanabe, Shinichi; Shikanai, Yoshihito; Ozaki, Koichi

In this paper, we have developed a teaching material for technical high school students to understand the control technique. The material makes the students understanding the control technique through the sensibility obtained from the experience of riding the robot. We have considered the correspondence of the teaching material with the ARCS Model. Therefore, the material aims to improve the interest and the willingness to learn mechatronics and control technique by experiencing the difference of the response by the change in the control parameters. As the results of the questionnaire to the technical high school students in the class, we have verified educative effect of the teaching material which can be improved willingness of learning and interesting for mechatronics and control technique.

Mechatronics education at Virginia Tech

NASA Astrophysics Data System (ADS)

Bay, John S.; Saunders, William R.; Reinholtz, Charles F.; Pickett, Peter; Johnston, Lee

1998-12-01

The advent of more complex mechatronic systems in industry has introduced new opportunities for entry-level and practicing engineers. Today, a select group of engineers are reaching out to be more knowledgeable in a wide variety of technical areas, both mechanical and electrical. A new curriculum in mechatronics developed at Virginia Tech is starting to bring students from both the mechanical and electrical engineering departments together, providing them wit an integrated perspective on electromechanical technologies and design. The course is cross-listed and team-taught by faculty from both departments. Students from different majors are grouped together throughout the course, each group containing at least one mechanical and one electrical engineering student. This gives group members the ability to learn from one another while working on labs and projects.

Magnetic resonance-compatible robotic and mechatronics systems for image-guided interventions and rehabilitation: a review study.

PubMed

Tsekos, Nikolaos V; Khanicheh, Azadeh; Christoforou, Eftychios; Mavroidis, Constantinos

2007-01-01

The continuous technological progress of magnetic resonance imaging (MRI), as well as its widespread clinical use as a highly sensitive tool in diagnostics and advanced brain research, has brought a high demand for the development of magnetic resonance (MR)-compatible robotic/mechatronic systems. Revolutionary robots guided by real-time three-dimensional (3-D)-MRI allow reliable and precise minimally invasive interventions with relatively short recovery times. Dedicated robotic interfaces used in conjunction with fMRI allow neuroscientists to investigate the brain mechanisms of manipulation and motor learning, as well as to improve rehabilitation therapies. This paper gives an overview of the motivation, advantages, technical challenges, and existing prototypes for MR-compatible robotic/mechatronic devices.

A navigated mechatronic system with haptic features to assist in surgical interventions.

PubMed

Pieck, S; Gross, I; Knappe, P; Kuenzler, S; Kerschbaumer, F; Wahrburg, J

2003-01-01

In orthopaedic surgery, the development of new computer-based technologies such as navigation systems and robotics will facilitate more precise, reproducible results in surgical interventions. There are already commercial systems available for clinical use, though these still have some limitations and drawbacks. This paper presents an alternative approach to a universal modular surgical assistant system for supporting less or minimally invasive surgery. The position of a mechatronic arm, which is part of the system, is controlled by a navigation system so that small patient movements are automatically detected and compensated for in real time. Thus, the optimal tool position can be constantly maintained without the need for rigid bone or patient fixation. Furthermore, a force control mode of the mechatronic assistant system, based on a force-torque sensor, not only increases safety during surgical interventions but also facilitates hand-driven direct positioning of the arm. A prototype has been successfully tested in clinical applications at the Orthopadische Universitätsklinik Frankfurt. For the first time worldwide, implantation of the cup prosthesis in total hip replacement surgery has been carried out with the assistance of a mechatronic arm. According to measurements by the digitizing system, operating tool angle deviation remained below 0.5 degrees, relative to the preoperative planning. The presented approach to a new kind of surgical mechatronic assistance system supports the surgeon as needed by optimal positioning of the surgical instruments. Due to its modular design, it is applicable to a wide range of tasks in surgical interventions, e.g., endoscope guidance, bone preparation, etc.

[Equipment and technology in robotics].

PubMed

Murphy, Declan; Challacombe, Ben; Nedas, Tim; Elhage, Oussama; Althoefer, Kaspar; Seneviratne, Lakmal; Dasgupta, Prokar

2007-05-01

We review the evolution and current status of robotic equipment and technology in urology. We also describe future developments in the key areas of virtual reality simulation, mechatronics and nanorobotics. The history of robotic technology is reviewed and put into the context of current systems. Experts in the associated fields of nanorobotics, mechatronics and virtual reality simulation simulation review the important future developments in these areas.

Meta II: Multi-Model Language Suite for Cyber Physical Systems

DTIC Science & Technology

2013-03-01

AVM META) projects have developed tools for designing cyber physical (or Mechatronic ) Systems . These systems are increasingly complex, take much...projects have developed tools for designing cyber physical (CPS) (or Mechatronic ) systems . Exemplified by modern amphibious and ground military...and parametric interface of Simulink models and defines associations with CyPhy components and component interfaces. 2. Embedded Systems Modeling

Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems

ERIC Educational Resources Information Center

Gómez-de-Gabriel, Jesús Manuel; Mandow, Anthony; Fernández-Lozano, Jesús; García-Cerezo, Alfonso

2015-01-01

This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to…

Experimental investigation of shaping disturbance observer design for motion control of precision mechatronic stages with resonances

NASA Astrophysics Data System (ADS)

Yang, Jin; Hu, Chuxiong; Zhu, Yu; Wang, Ze; Zhang, Ming

2017-08-01

In this paper, shaping disturbance observer (SDOB) is investigated for precision mechatronic stages with middle-frequency zero/pole type resonance to achieve good motion control performance in practical manufacturing situations. Compared with traditional standard disturbance observer (DOB), in SDOB a pole-zero cancellation based shaping filter is cascaded to the mechatronic stage plant to meet the challenge of motion control performance deterioration caused by actual resonance. Noting that pole-zero cancellation is inevitably imperfect and the controller may even consequently become unstable in practice, frequency domain stability analysis is conducted to find out how each parameter of the shaping filter affects the control stability. Moreover, the robust design criterion of the shaping filter, and the design procedure of SDOB, are both proposed to guide the actual design and facilitate practical implementation. The SDOB with the proposed design criterion is applied to a linear motor driven stage and a voice motor driven stage, respectively. Experimental results consistently validate the effectiveness nature of the proposed SDOB scheme in practical mechatronics motion applications. The proposed SDOB design actually could be an effective unit in the controller design for motion stages of mechanical manufacture equipments.

Technological and cross-border mixture value chain of science and engineering of multi-integrative mechatronics-integronics-adaptronics

NASA Astrophysics Data System (ADS)

Gheorghe, Gh. Ion; Popan, Gheorghe

2013-10-01

This scientific paper presents in national premiere and in original concept of the author, the scientific national and the author's original concept, the technological and cross-border mixture value chain of science and engineering of multi-integrative Mechatronics-Integronics-Adaptronics, as high-tech vector support development, for viability and sustainability of a new intelligent and competitive labour market.

Transforming Multidisciplinary Customer Requirements to Product Design Specifications

NASA Astrophysics Data System (ADS)

Ma, Xiao-Jie; Ding, Guo-Fu; Qin, Sheng-Feng; Li, Rong; Yan, Kai-Yin; Xiao, Shou-Ne; Yang, Guang-Wu

2017-09-01

With the increasing of complexity of complex mechatronic products, it is necessary to involve multidisciplinary design teams, thus, the traditional customer requirements modeling for a single discipline team becomes difficult to be applied in a multidisciplinary team and project since team members with various disciplinary backgrounds may have different interpretations of the customers' requirements. A new synthesized multidisciplinary customer requirements modeling method is provided for obtaining and describing the common understanding of customer requirements (CRs) and more importantly transferring them into a detailed and accurate product design specifications (PDS) to interact with different team members effectively. A case study of designing a high speed train verifies the rationality and feasibility of the proposed multidisciplinary requirement modeling method for complex mechatronic product development. This proposed research offersthe instruction to realize the customer-driven personalized customization of complex mechatronic product.

Mechatronics technology in predictive maintenance method

NASA Astrophysics Data System (ADS)

Majid, Nurul Afiqah A.; Muthalif, Asan G. A.

2017-11-01

This paper presents recent mechatronics technology that can help to implement predictive maintenance by combining intelligent and predictive maintenance instrument. Vibration Fault Simulation System (VFSS) is an example of mechatronics system. The focus of this study is the prediction on the use of critical machines to detect vibration. Vibration measurement is often used as the key indicator of the state of the machine. This paper shows the choice of the appropriate strategy in the vibration of diagnostic process of the mechanical system, especially rotating machines, in recognition of the failure during the working process. In this paper, the vibration signature analysis is implemented to detect faults in rotary machining that includes imbalance, mechanical looseness, bent shaft, misalignment, missing blade bearing fault, balancing mass and critical speed. In order to perform vibration signature analysis for rotating machinery faults, studies have been made on how mechatronics technology is used as predictive maintenance methods. Vibration Faults Simulation Rig (VFSR) is designed to simulate and understand faults signatures. These techniques are based on the processing of vibrational data in frequency-domain. The LabVIEW-based spectrum analyzer software is developed to acquire and extract frequency contents of faults signals. This system is successfully tested based on the unique vibration fault signatures that always occur in a rotating machinery.

From Modern Push-Button Hospital-beds to 20th Century Mechatronic Beds: A Review

NASA Astrophysics Data System (ADS)

Ghersi, I.; Mariño, M.; Miralles, M. T.

2016-04-01

The aim of this work is to present the different aspects of modern high complexity electric beds of the period 1940 until 2000 exclusively. The chronology of the product has been strictly divided into three big stages: electric and semi-electric beds (until the 90’s), mechatronic beds (90’s until 2000) and, mechatronic intelligent beds of the last 15 years. The latter are not considered in this work due to the extension for its analysis. The justification for classifying the product is presented under the concepts of medical, assistive and mobility devices. Relevant aspects of common immobility problems of the different types of patients for which the beds are mainly addressed are shown in detail. The basic functioning of the patient’s movement generator and the implementation of actuators, together with IT programs, specific accessories and connectivity means and network-communication shown in this work, were those that gave origin to current mechatronic beds. We present the historical evolution of high complexity electric beds by illustrating cases extracted from a meticulous time line, based on patents, inventions and publications in newspapers and magazines of the world. The criteria adopted to evaluate the innovation were: characteristics of controls; accessories (mattresses, lighting, siderails, etc.), aesthetic and morphologic properties and outstanding functionalities.

A complex network-based importance measure for mechatronics systems

NASA Astrophysics Data System (ADS)

Wang, Yanhui; Bi, Lifeng; Lin, Shuai; Li, Man; Shi, Hao

2017-01-01

In view of the negative impact of functional dependency, this paper attempts to provide an alternative importance measure called Improved-PageRank (IPR) for measuring the importance of components in mechatronics systems. IPR is a meaningful extension of the centrality measures in complex network, which considers usage reliability of components and functional dependency between components to increase importance measures usefulness. Our work makes two important contributions. First, this paper integrates the literature of mechatronic architecture and complex networks theory to define component network. Second, based on the notion of component network, a meaningful IPR is brought into the identifying of important components. In addition, the IPR component importance measures, and an algorithm to perform stochastic ordering of components due to the time-varying nature of usage reliability of components and functional dependency between components, are illustrated with a component network of bogie system that consists of 27 components.

A road to practical dielectric elastomer actuators based robotics and mechatronics: discrete actuation

NASA Astrophysics Data System (ADS)

Plante, Jean-Sébastien; Devita, Lauren M.; Dubowsky, Steven

2007-04-01

Fundamental studies of Dielectric Elastomer Actuators (DEAs) using viscoelastic materials such as VHB 4905/4910 from 3M showed significant advantages at high stretch rates. The film's viscous forces increase actuator life and the short power-on times minimize energy losses through current leakage. This paper presents a design paradigm that exploits these fundamental properties of DEAs called discrete actuation. Discrete actuation uses DEAs at high stretch rates to change the states of robotic or mechatronic systems in discrete steps. Each state of the system is stable and can be maintained without actuator power. Discrete actuation can be used in robotic and mechatronic applications such as manipulation and locomotion. The resolution of such systems increases with the number of discrete states, 10 to 100 being sufficient for many applications. An MRI-guided needle positioning device for cancer treatments and a space exploration robot using hopping for locomotion are presented as examples of this concept.

Team Oriented Robotic Exploration Task on Scorpion and K9 Platforms

NASA Technical Reports Server (NTRS)

Kirchner, Frank

2003-01-01

This final report describes the achievements that have been made in the project over the complete period of performance. The technical progress highlights the different areas of work in terms of Progress in Mechatronics, Sensor integration, Software Development. User Interfaces, Behavior Development and Experimental Results and System Testing. The different areas are: Mechatronics, Sensor integration, Software development, Experimental results and Basic System Testing, Behaviors Development and Advanced System Testing, User Interface and Wireless Communication.

Modular mechatronic system for stationary bicycles interfaced with virtual environment for rehabilitation.

PubMed

Ranky, Richard G; Sivak, Mark L; Lewis, Jeffrey A; Gade, Venkata K; Deutsch, Judith E; Mavroidis, Constantinos

2014-06-05

Cycling has been used in the rehabilitation of individuals with both chronic and post-surgical conditions. Among the challenges with implementing bicycling for rehabilitation is the recruitment of both extremities, in particular when one is weaker or less coordinated. Feedback embedded in virtual reality (VR) augmented cycling may serve to address the requirement for efficacious cycling; specifically recruitment of both extremities and exercising at a high intensity. In this paper a mechatronic rehabilitation bicycling system with an interactive virtual environment, called Virtual Reality Augmented Cycling Kit (VRACK), is presented. Novel hardware components embedded with sensors were implemented on a stationary exercise bicycle to monitor physiological and biomechanical parameters of participants while immersing them in an augmented reality simulation providing the user with visual, auditory and haptic feedback. This modular and adaptable system attaches to commercially-available stationary bicycle systems and interfaces with a personal computer for simulation and data acquisition processes. The complete bicycle system includes: a) handle bars based on hydraulic pressure sensors; b) pedals that monitor pedal kinematics with an inertial measurement unit (IMU) and forces on the pedals while providing vibratory feedback; c) off the shelf electronics to monitor heart rate and d) customized software for rehabilitation. Bench testing for the handle and pedal systems is presented for calibration of the sensors detecting force and angle. The modular mechatronic kit for exercise bicycles was tested in bench testing and human tests. Bench tests performed on the sensorized handle bars and the instrumented pedals validated the measurement accuracy of these components. Rider tests with the VRACK system focused on the pedal system and successfully monitored kinetic and kinematic parameters of the rider's lower extremities. The VRACK system, a virtual reality mechatronic bicycle rehabilitation modular system was designed to convert most bicycles in virtual reality (VR) cycles. Preliminary testing of the augmented reality bicycle system was successful in demonstrating that a modular mechatronic kit can monitor and record kinetic and kinematic parameters of several riders.

Future of Mechatronics and Human

NASA Astrophysics Data System (ADS)

Harashima, Fumio; Suzuki, Satoshi

This paper mentions circumstance of mechatronics that sustain our human society, and introduces HAM(Human Adaptive Mechatronics)-project as one of research projects to create new human-machine system. The key point of HAM is skill, and analysis of skill and establishment of assist method to enhance total performance of human-machine system are main research concerns. As study of skill is an elucidation of human itself, analyses of human higher function are significant. In this paper, after surveying researches of human brain functions, an experimental analysis of human characteristic in machine operation is shown as one example of our research activities. We used hovercraft simulator as verification system including observation, voluntary motion control and machine operation that are needed to general machine operation. Process and factors to become skilled were investigated by identification of human control characteristics with measurement of the operator's line-of sight. It was confirmed that early switching of sub-controllers / reference signals in human and enhancement of space perception are significant.

Mechatronic track guidance on disturbed track: the trade-off between actuator performance and wheel wear

NASA Astrophysics Data System (ADS)

Kurzeck, Bernhard; Heckmann, Andreas; Wesseler, Christoph; Rapp, Matthias

2014-05-01

Future high-speed trains are the main focus of the DLR research project Next Generation Train. One central point of the research activities is the development of mechatronic track guidance for the two-axle intermediate wagons with steerable, individually powered, independently rotating wheels. The traction motors hereby fulfil two functions; they concurrently are traction drives and steering actuators. In this paper, the influence of the track properties - line layout and track irregularities - on the performance requirements for the guidance actuator is investigated using multi-body models in SIMPACK®. In order to compromise on the design conflict between low wheel wear and low steering torque, the control parameters of the mechatronic track guidance are optimised using the DLR in-house software MOPS. Besides the track irregularities especially the increasing inclination at transition curves defines high actuator requirements due to gyroscopic effects at high speed. After introducing a limiter for the actuating variables into the control system, a good performance is achieved.

Turbo Pump Fed Micro-Rocket Engine

NASA Astrophysics Data System (ADS)

Miotti, P.; Tajmar, M.; Seco, F.; Guraya, C.; Perennes, F.; Soldati, A.; Lang, M.

2004-10-01

Micro-satellites (from 10kg up to 100kg) have mass, volume, and electrical power constraints due to their low dimensions. These limitations lead to the lack in currently available active orbit control systems in micro-satellites. Therefore, a micro-propulsion system with a high thrust to mass ratio is required to increase the potential functionality of small satellites. Mechatronic is presently working on a liquid bipropellant micro-rocket engine under contract with ESA (Contract No.16914/NL/Sfe - Micro-turbo-machinery Based Bipropellant System Using MNT). The advances in Mechatronic's project are to realise a micro-rocket engine with propellants pressurised by micro-pumps. The energy for driving the pumps would be extracted from a micro-turbine. Cooling channels around the nozzle would be also used in order to maintain the wall material below its maximum operating temperature. A mass budget comparison with more traditional pressure-fed micro-rockets shows a real benefit from this system in terms of mass reduction. In the paper, an overview of the project status in Mechatronic is presented.

Intrinsic embedded sensors for polymeric mechatronics: flexure and force sensing.

PubMed

Jentoft, Leif P; Dollar, Aaron M; Wagner, Christopher R; Howe, Robert D

2014-02-25

While polymeric fabrication processes, including recent advances in additive manufacturing, have revolutionized manufacturing, little work has been done on effective sensing elements compatible with and embedded within polymeric structures. In this paper, we describe the development and evaluation of two important sensing modalities for embedding in polymeric mechatronic and robotic mechanisms: multi-axis flexure joint angle sensing utilizing IR phototransistors, and a small (12 mm), three-axis force sensing via embedded silicon strain gages with similar performance characteristics as an equally sized metal element based sensor.

Optical design and testing: introduction.

PubMed

Liang, Chao-Wen; Koshel, John; Sasian, Jose; Breault, Robert; Wang, Yongtian; Fang, Yi Chin

2014-10-10

Optical design and testing has numerous applications in industrial, military, consumer, and medical settings. Assembling a complete imaging or nonimage optical system may require the integration of optics, mechatronics, lighting technology, optimization, ray tracing, aberration analysis, image processing, tolerance compensation, and display rendering. This issue features original research ranging from the optical design of image and nonimage optical stimuli for human perception, optics applications, bio-optics applications, 3D display, solar energy system, opto-mechatronics to novel imaging or nonimage modalities in visible and infrared spectral imaging, modulation transfer function measurement, and innovative interferometry.

Intrinsic Embedded Sensors for Polymeric Mechatronics: Flexure and Force Sensing

PubMed Central

Jentoft, Leif P.; Dollar, Aaron M.; Wagner, Christopher R.; Howe, Robert D.

2014-01-01

While polymeric fabrication processes, including recent advances in additive manufacturing, have revolutionized manufacturing, little work has been done on effective sensing elements compatible with and embedded within polymeric structures. In this paper, we describe the development and evaluation of two important sensing modalities for embedding in polymeric mechatronic and robotic mechanisms: multi-axis flexure joint angle sensing utilizing IR phototransistors, and a small (12 mm), three-axis force sensing via embedded silicon strain gages with similar performance characteristics as an equally sized metal element based sensor. PMID:24573310

Development of a mechatronic platform and validation of methods for estimating ankle stiffness during the stance phase of walking.

PubMed

Rouse, Elliott J; Hargrove, Levi J; Perreault, Eric J; Peshkin, Michael A; Kuiken, Todd A

2013-08-01

The mechanical properties of human joints (i.e., impedance) are constantly modulated to precisely govern human interaction with the environment. The estimation of these properties requires the displacement of the joint from its intended motion and a subsequent analysis to determine the relationship between the imposed perturbation and the resultant joint torque. There has been much investigation into the estimation of upper-extremity joint impedance during dynamic activities, yet the estimation of ankle impedance during walking has remained a challenge. This estimation is important for understanding how the mechanical properties of the human ankle are modulated during locomotion, and how those properties can be replicated in artificial prostheses designed to restore natural movement control. Here, we introduce a mechatronic platform designed to address the challenge of estimating the stiffness component of ankle impedance during walking, where stiffness denotes the static component of impedance. The system consists of a single degree of freedom mechatronic platform that is capable of perturbing the ankle during the stance phase of walking and measuring the response torque. Additionally, we estimate the platform's intrinsic inertial impedance using parallel linear filters and present a set of methods for estimating the impedance of the ankle from walking data. The methods were validated by comparing the experimentally determined estimates for the stiffness of a prosthetic foot to those measured from an independent testing machine. The parallel filters accurately estimated the mechatronic platform's inertial impedance, accounting for 96% of the variance, when averaged across channels and trials. Furthermore, our measurement system was found to yield reliable estimates of stiffness, which had an average error of only 5.4% (standard deviation: 0.7%) when measured at three time points within the stance phase of locomotion, and compared to the independently determined stiffness values of the prosthetic foot. The mechatronic system and methods proposed in this study are capable of accurately estimating ankle stiffness during the foot-flat region of stance phase. Future work will focus on the implementation of this validated system in estimating human ankle impedance during the stance phase of walking.

Modular mechatronic system for stationary bicycles interfaced with virtual environment for rehabilitation

PubMed Central

2014-01-01

Background Cycling has been used in the rehabilitation of individuals with both chronic and post-surgical conditions. Among the challenges with implementing bicycling for rehabilitation is the recruitment of both extremities, in particular when one is weaker or less coordinated. Feedback embedded in virtual reality (VR) augmented cycling may serve to address the requirement for efficacious cycling; specifically recruitment of both extremities and exercising at a high intensity. Methods In this paper a mechatronic rehabilitation bicycling system with an interactive virtual environment, called Virtual Reality Augmented Cycling Kit (VRACK), is presented. Novel hardware components embedded with sensors were implemented on a stationary exercise bicycle to monitor physiological and biomechanical parameters of participants while immersing them in an augmented reality simulation providing the user with visual, auditory and haptic feedback. This modular and adaptable system attaches to commercially-available stationary bicycle systems and interfaces with a personal computer for simulation and data acquisition processes. The complete bicycle system includes: a) handle bars based on hydraulic pressure sensors; b) pedals that monitor pedal kinematics with an inertial measurement unit (IMU) and forces on the pedals while providing vibratory feedback; c) off the shelf electronics to monitor heart rate and d) customized software for rehabilitation. Bench testing for the handle and pedal systems is presented for calibration of the sensors detecting force and angle. Results The modular mechatronic kit for exercise bicycles was tested in bench testing and human tests. Bench tests performed on the sensorized handle bars and the instrumented pedals validated the measurement accuracy of these components. Rider tests with the VRACK system focused on the pedal system and successfully monitored kinetic and kinematic parameters of the rider’s lower extremities. Conclusions The VRACK system, a virtual reality mechatronic bicycle rehabilitation modular system was designed to convert most bicycles in virtual reality (VR) cycles. Preliminary testing of the augmented reality bicycle system was successful in demonstrating that a modular mechatronic kit can monitor and record kinetic and kinematic parameters of several riders. PMID:24902780

A structured overview of trends and technologies used in dynamic hand orthoses.

PubMed

Bos, Ronald A; Haarman, Claudia J W; Stortelder, Teun; Nizamis, Kostas; Herder, Just L; Stienen, Arno H A; Plettenburg, Dick H

2016-06-29

The development of dynamic hand orthoses is a fast-growing field of research and has resulted in many different devices. A large and diverse solution space is formed by the various mechatronic components which are used in these devices. They are the result of making complex design choices within the constraints imposed by the application, the environment and the patient's individual needs. Several review studies exist that cover the details of specific disciplines which play a part in the developmental cycle. However, a general collection of all endeavors around the world and a structured overview of the solution space which integrates these disciplines is missing. In this study, a total of 165 individual dynamic hand orthoses were collected and their mechatronic components were categorized into a framework with a signal, energy and mechanical domain. Its hierarchical structure allows it to reach out towards the different disciplines while connecting them with common properties. Additionally, available arguments behind design choices were collected and related to the trends in the solution space. As a result, a comprehensive overview of the used mechatronic components in dynamic hand orthoses is presented.

Real-Time Performance of Mechatronic PZT Module Using Active Vibration Feedback Control.

PubMed

Aggogeri, Francesco; Borboni, Alberto; Merlo, Angelo; Pellegrini, Nicola; Ricatto, Raffaele

2016-09-25

This paper proposes an innovative mechatronic piezo-actuated module to control vibrations in modern machine tools. Vibrations represent one of the main issues that seriously compromise the quality of the workpiece. The active vibration control (AVC) device is composed of a host part integrated with sensors and actuators synchronized by a regulator; it is able to make a self-assessment and adjust to alterations in the environment. In particular, an innovative smart actuator has been designed and developed to satisfy machining requirements during active vibration control. This study presents the mechatronic model based on the kinematic and dynamic analysis of the AVC device. To ensure a real time performance, a H2-LQG controller has been developed and validated by simulations involving a machine tool, PZT actuator and controller models. The Hardware in the Loop (HIL) architecture is adopted to control and attenuate the vibrations. A set of experimental tests has been performed to validate the AVC module on a commercial machine tool. The feasibility of the real time vibration damping is demonstrated and the simulation accuracy is evaluated.

Real-Time Performance of Mechatronic PZT Module Using Active Vibration Feedback Control

PubMed Central

Aggogeri, Francesco; Borboni, Alberto; Merlo, Angelo; Pellegrini, Nicola; Ricatto, Raffaele

2016-01-01

This paper proposes an innovative mechatronic piezo-actuated module to control vibrations in modern machine tools. Vibrations represent one of the main issues that seriously compromise the quality of the workpiece. The active vibration control (AVC) device is composed of a host part integrated with sensors and actuators synchronized by a regulator; it is able to make a self-assessment and adjust to alterations in the environment. In particular, an innovative smart actuator has been designed and developed to satisfy machining requirements during active vibration control. This study presents the mechatronic model based on the kinematic and dynamic analysis of the AVC device. To ensure a real time performance, a H2-LQG controller has been developed and validated by simulations involving a machine tool, PZT actuator and controller models. The Hardware in the Loop (HIL) architecture is adopted to control and attenuate the vibrations. A set of experimental tests has been performed to validate the AVC module on a commercial machine tool. The feasibility of the real time vibration damping is demonstrated and the simulation accuracy is evaluated. PMID:27681732

Behavioral asymmetries in ticks - Lateralized questing of Ixodes ricinus to a mechatronic apparatus delivering host-borne cues.

PubMed

Benelli, Giovanni; Romano, Donato; Rocchigiani, Guido; Caselli, Alice; Mancianti, Francesca; Canale, Angelo; Stefanini, Cesare

2018-02-01

Ticks are considered among the most dangerous arthropod vectors of disease agents to both humans and animals worldwide. Lateralization contributes to biological fitness in many animals, conferring important functional advantages, therefore studying its role in tick perception would critically improve our knowledge about their host-seeking behavior. In this research, we evaluated if Ixodes ricinus (L.) (Ixodiidae) ticks have a preference in using the right or the left foreleg to climb on a host. We developed a mechatronic device moving a tuft of fox skin with fur as host-mimicking combination of cues. This engineered approach allows to display a realistic combination of both visual and olfactory host-borne stimuli, which is prolonged over the time and standardized for each replicate. In the first experiment, the mechatronic apparatus delivered host-borne cues frontally, to evaluate the leg preference during questing as response to a symmetrical stimulus. In the second experiment, host-borne cues were provided laterally, in an equal proportion to the left and to the right of the tick, to investigate if the host direction affected the questing behavior. In both experiments, the large majority of the tested ticks showed individual-level left-biased questing acts, if compared to the ticks showing right-biased ones. Furthermore, population-level left-biased questing responses were observed post-exposure to host-mimicking cues provided frontally or laterally to the tick. Overall, this is the first report on behavioral asymmetries in ticks of medical and veterinary importance. Moreover, the mechatronic apparatus developed in this research can be exploited to evaluate the impact of repellents on tick questing in highly reproducible standardized conditions. Copyright © 2017 Elsevier B.V. All rights reserved.

Applying Mechatronics to Improve the Safety of Children in Vehicles - What Can Be Done?

NASA Astrophysics Data System (ADS)

Hazziq Zufar, Khairul; Jazlan, Ahmad

2017-11-01

Nowadays, the media have reported an increasing number of cases where children are accidentally being trapped in vehicles while they parents and guardians are away attending to other matters. In this paper we discuss the feasibility of applying Mechatronics to improve the safety of children in vehicles with the ultimate goal of developing a means for parents,guardians and authorities to be informed if ever there is a child trapped in a vehicle and in need of urgent assistance. We have also presented some preliminary experiments we have carried out for a safety alert system which is currently being developed in our lab.

The Conceptual Design of a Mechatronic System to Handle Bedridden Elderly Individuals.

PubMed

Bruno, Silva; José, Machado; Filomena, Soares; Vítor, Carvalho; Demétrio, Matos; Karolina, Bezerra

2016-05-19

The ever-growing percentage of elderly people in developed countries have made Ambient Assisted Living (AAL) solutions an important subject to be explored and developed. The increase in geriatric care requests are overburdening specialized institutions that cannot cope with the demand for support. Patients are forced to have to remain at their homes encumbering the spouse or close family members with the caregiver role. This caregiver is not always physically and technically apt to assist the bedridden person with his/her meals and hygiene/bath routine. Consequently, a solution to assist caregivers in these tasks is of the utmost importance. This paper presents an approach for supporting caregivers when moving and repositioning Bedridden Elderly Peoples (BEPs) in home settings by means of a mechatronic system inspired by industrial conveyers. The proposed solution is able to insert itself underneath the patient, due to its low-profile structural properties, and retrieve and reallocate him/her. Ideally, the proposed mechatronic system aims to promote autonomy by reducing handling complexity, alter the role of the caregiver from physically handler of the BEP to an operator/supervisor role, and lessen the amount of effort expended by caregivers and BEPs alike.

The Conceptual Design of a Mechatronic System to Handle Bedridden Elderly Individuals

PubMed Central

Bruno, Silva; José, Machado; Filomena, Soares; Vítor, Carvalho; Demétrio, Matos; Karolina, Bezerra

2016-01-01

The ever-growing percentage of elderly people in developed countries have made Ambient Assisted Living (AAL) solutions an important subject to be explored and developed. The increase in geriatric care requests are overburdening specialized institutions that cannot cope with the demand for support. Patients are forced to have to remain at their homes encumbering the spouse or close family members with the caregiver role. This caregiver is not always physically and technically apt to assist the bedridden person with his/her meals and hygiene/bath routine. Consequently, a solution to assist caregivers in these tasks is of the utmost importance. This paper presents an approach for supporting caregivers when moving and repositioning Bedridden Elderly Peoples (BEPs) in home settings by means of a mechatronic system inspired by industrial conveyers. The proposed solution is able to insert itself underneath the patient, due to its low-profile structural properties, and retrieve and reallocate him/her. Ideally, the proposed mechatronic system aims to promote autonomy by reducing handling complexity, alter the role of the caregiver from physically handler of the BEP to an operator/supervisor role, and lessen the amount of effort expended by caregivers and BEPs alike. PMID:27213383

Integrative platform based on the mechatronics model for educational technologies focused on competence

NASA Astrophysics Data System (ADS)

Vlaşin, I.; Greta, S.; Dache, L.; Mătieş, V.

2016-08-01

Mechatronics is a model of transdisciplinary integration, entirely functional, with remarkable results for mankind. The incredible progress that the global economy has taken in the last decades is based on this new approach, the integrative type, which is present at the foundation of mechatronics. This kind of integrative approach is necessary for building a quality education focused on competence. The requirements from the social and economic environment, the needs of the young people who prepare themselves for an active life and the offers of the education providers are still not too interconnected to offer a satisfying education. This is the reason why the efforts to balance the demand, the needs and the offer are essential to ensure a better integration of students into society. Using a transcultural perspective, we can achieve a constructive approach. The education providers, together with the socio-economic environment, establish a clear structure of competence in multiple domains and of the instruments which can assure it. The scientific demarche, in the spirit of this paper approach the, answers the natural questions from the educational process: „Why, How and What do I learn?”.

Mechatronic Prototype of Parabolic Solar Tracker.

PubMed

Morón, Carlos; Díaz, Jorge Pablo; Ferrández, Daniel; Ramos, Mari Paz

2016-06-15

In the last 30 years numerous attempts have been made to improve the efficiency of the parabolic collectors in the electric power production, although most of the studies have focused on the industrial production of thermoelectric power. This research focuses on the application of this concentrating solar thermal power in the unexplored field of building construction. To that end, a mechatronic prototype of a hybrid paraboloidal and cylindrical-parabolic tracker based on the Arduido technology has been designed. The prototype is able to measure meteorological data autonomously in order to quantify the energy potential of any location. In this way, it is possible to reliably model real commercial equipment behavior before its deployment in buildings and single family houses.

Mechatronic Prototype of Parabolic Solar Tracker

PubMed Central

Morón, Carlos; Díaz, Jorge Pablo; Ferrández, Daniel; Ramos, Mari Paz

2016-01-01

In the last 30 years numerous attempts have been made to improve the efficiency of the parabolic collectors in the electric power production, although most of the studies have focused on the industrial production of thermoelectric power. This research focuses on the application of this concentrating solar thermal power in the unexplored field of building construction. To that end, a mechatronic prototype of a hybrid paraboloidal and cylindrical-parabolic tracker based on the Arduido technology has been designed. The prototype is able to measure meteorological data autonomously in order to quantify the energy potential of any location. In this way, it is possible to reliably model real commercial equipment behavior before its deployment in buildings and single family houses. PMID:27314359

Mechatronic Wearable Exoskeletons for Bionic Bipedal Standing and Walking: A New Synthetic Approach

PubMed Central

Onose, Gelu; Cârdei, Vladimir; Crăciunoiu, Ştefan T.; Avramescu, Valeriu; Opriş, Ioan; Lebedev, Mikhail A.; Constantinescu, Marian Vladimir

2016-01-01

During the last few years, interest has been growing to mechatronic and robotic technologies utilized in wearable powered exoskeletons that assist standing and walking. The available literature includes single-case reports, clinical studies conducted in small groups of subjects, and several recent systematic reviews. These publications have fulfilled promotional and marketing objectives but have not yet resulted in a fully optimized, practical wearable exoskeleton. Here we evaluate the progress and future directions in this field from a joint perspective of health professionals, manufacturers, and consumers. We describe the taxonomy of existing technologies and highlight the main improvements needed for the development and functional optimization of the practical exoskeletons. PMID:27746711

Network-based collaborative research environment LDRD final report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Davies, B.R.; McDonald, M.J.

1997-09-01

The Virtual Collaborative Environment (VCE) and Distributed Collaborative Workbench (DCW) are new technologies that make it possible for diverse users to synthesize and share mechatronic, sensor, and information resources. Using these technologies, university researchers, manufacturers, design firms, and others can directly access and reconfigure systems located throughout the world. The architecture for implementing VCE and DCW has been developed based on the proposed National Information Infrastructure or Information Highway and a tool kit of Sandia-developed software. Further enhancements to the VCE and DCW technologies will facilitate access to other mechatronic resources. This report describes characteristics of VCE and DCW andmore » also includes background information about the evolution of these technologies.« less

Manufacturing of highly integrated mechatronic modules by using the technology of embedding stereolithography

NASA Astrophysics Data System (ADS)

Rechtenwald, Thomas; Frick, Thomas; Schmidt, Michael

The embedding stereolithography is an additive, hybrid process, which allows the construction of highly integrated 3D assemblies for the use in automotive applications. The flexible process of stereolithography is combined with the embedding of functional components and supplemented by the additive manufacturing of electrical or optical conductive structures. This combination of sub-processes implies a high potential regarding the obtainable integration density of mechatronical modules. This work considers basic restrictions, which limit the mechanical stability of the manufactured modules by calculating the superposition of residual and external stress using a thermo-mechanical finite element model and develops a procedure to qualify stereolithography matrix materials for the process of the embedding stereolithography.

A synergistic method for vibration suppression of an elevator mechatronic system

NASA Astrophysics Data System (ADS)

Knezevic, Bojan Z.; Blanusa, Branko; Marcetic, Darko P.

2017-10-01

Modern elevators are complex mechatronic systems which have to satisfy high performance in precision, safety and ride comfort. Each elevator mechatronic system (EMS) contains a mechanical subsystem which is characterized by its resonant frequency. In order to achieve high performance of the whole system, the control part of the EMS inevitably excites resonant circuits causing the occurrence of vibration. This paper proposes a synergistic solution based on the jerk control and the upgrade of the speed controller with a band-stop filter to restore lost ride comfort and speed control caused by vibration. The band-stop filter eliminates the resonant component from the speed controller spectra and jerk control provides operating of the speed controller in a linear mode as well as increased ride comfort. The original method for band-stop filter tuning based on Goertzel algorithm and Kiefer search algorithm is proposed in this paper. In order to generate the speed reference trajectory which can be defined by different shapes and amplitudes of jerk, a unique generalized model is proposed. The proposed algorithm is integrated in the power drive control algorithm and implemented on the digital signal processor. Through experimental verifications on a scale down prototype of the EMS it has been verified that only synergistic effect of controlling jerk and filtrating the reference torque can completely eliminate vibrations.

The mechatronic design of a fast wire scanner in IHEP U-70 accelerator

NASA Astrophysics Data System (ADS)

Baranov, V. T.; Makhov, S. S.; Savin, D. A.; Terekhov, V. I.

2016-10-01

This paper presents the mechatronic design of a fast wire scanner based on a servomotor. The design of the wire scanner is motivated by the need to measure the transverse profile of the high power proton and carbon beams at the IHEP U-70 accelerator. This paper formulates the requirements to the fast wire scanner system for the high intensity proton beam at the U-70 accelerator. The results on the design of electro-mechanical device for the wire scanner with a wire traveling speed 10-20 m/s are presented. The solution consists in a brushless servomotor and standard motor control electronics. High radiation levels in the accelerator enclosure dictate the use of a resolver as the position feedback element.

Analyzing Enterprise Networks Needs: Action Research from the Mechatronics Sector

NASA Astrophysics Data System (ADS)

Cagnazzo, Luca; Taticchi, Paolo; Bidini, Gianni; Baglieri, Enzo

New business models and theories are developing nowadays towards collaborative environments direction, and many new tools in sustaining companies involved in these organizations are emerging. Among them, a plethora of methodologies to analyze their needs are already developed for single companies. Few academic works are available about Enterprise Networks (ENs) need analysis. This paper presents the learning from an action research (AR) in the mechatronics sector: AR has been used in order to experience the issue of evaluating network needs and therefore define, develop, and test a complete framework for network evaluation. Reflection on the story in the light of the experience and the theory is presented, as well as extrapolation to a broader context and articulation of usable knowledge.

An Educational Program of Mechatronics for Multidisciplinary Knowledge Acquisition

NASA Astrophysics Data System (ADS)

Watanuki, Keiichi; Kojima, Kazuyuki

Recently, as the technologies surrounding mechanical engineering have improved remarkably, the expectations for students who graduate from departments of mechanical engineering have increased. For example, in order to develop a mechatronics system, a student needs to integrate a wide variety of technologies, such as mechanical engineering, electrical and electronics engineering, and information technology. Therefore, from the perspective of educators, the current education system, which stresses expertizing each technology, should be replaced by an education system that stresses integrating multidisciplinary knowledge. In this paper, a trial education program for students of the department of mechanical engineering in our university, in which students are required to integrate multidisciplinary knowledge in order to develop a biologically-based robot, is described. Finally, the efficacy of the program is analyzed.

Miniaturized sensor module for a mechatronic bearing

NASA Astrophysics Data System (ADS)

Gao, Robert X.; Sahay, Priyaranjan

1998-12-01

To assess the working condition of a rolling element bearing, the condition monitoring system should be located as close as possible to the bearing to take advantage of shorter signal transmission path, increased signal-to-noise ratio, and reduced complexity of the signal processing electronics. The advantages of integrated sensing are presented in this paper, with a focus on the design and analysis of a miniaturized sensor module. Mechatronic principles have been applied to treat the various subjects in a synergistic way. To complement analytical studies, experiments have been conducted on a scaled-up version of the sensor module to analyze the system dynamic response. The result obtained provided insight into the electromechanical interaction within the module as well as input for the system implementation using miniaturization technologies.

Considerations Regardingthe Integration-Intrication Processin the Nature and Technology

NASA Astrophysics Data System (ADS)

Tecaru Berekmeri, Camelia Velia; Blebea, Ioan

2014-11-01

The big challenges in education and R&D activities in the century just started are related on the complexity and transdisciplinarity understanding and promotion.The approaches are necessary in order to understand the unity of the world we live in through the unity of knowledge.The complexity is the result of the integration process.The paper presents fundamentals of the integration-intrication process in the nature and technology.The concept of integronics and the basic principles of the integration process are outlined too. Also the main features of mechatronics as environment for transdisciplinarity learning and the concept of integral education promotion are presented.The advanced mechatronics and the embedded systems are fundamentals of the cyberphysical systems of the future

An Internal Data Non-hiding Type Real-time Kernel and its Application to the Mechatronics Controller

NASA Astrophysics Data System (ADS)

Yoshida, Toshio

For the mechatronics equipment controller that controls robots and machine tools, high-speed motion control processing is essential. The software system of the controller like other embedded systems is composed of three layers software such as real-time kernel layer, middleware layer, and application software layer on the dedicated hardware. The application layer in the top layer is composed of many numbers of tasks, and application function of the system is realized by the cooperation between these tasks. In this paper we propose an internal data non-hiding type real-time kernel in which customizing the task control is possible only by change in the program code of the task side without any changes in the program code of real-time kernel. It is necessary to reduce the overhead caused by the real-time kernel task control for the speed-up of the motion control of the mechatronics equipment. For this, customizing the task control function is needed. We developed internal data non-cryptic type real-time kernel ZRK to evaluate this method, and applied to the control of the multi system automatic lathe. The effect of the speed-up of the task cooperation processing was able to be confirmed by combined task control processing on the task side program code using an internal data non-hiding type real-time kernel ZRK.

Mechatronic description of a laser autoguided vehicle for greenhouse operations.

PubMed

Sánchez-Hermosilla, Julián; González, Ramón; Rodríguez, Francisco; Donaire, Julián G

2013-01-08

This paper presents a novel approach for guiding mobile robots inside greenhouses demonstrated by promising preliminary physical experiments. It represents a comprehensive attempt to use the successful principles of AGVs (auto-guided vehicles) inside greenhouses, but avoiding the necessity of modifying the crop layout, and avoiding having to bury metallic pipes in the greenhouse floor. The designed vehicle can operate different tools, e.g., a spray system for applying plant-protection product, a lifting platform to reach the top part of the plants to perform pruning and harvesting tasks, and a trailer to transport fruits, plants, and crop waste. Regarding autonomous navigation, it follows the idea of AGVs, but now laser emitters are used to mark the desired route. The vehicle development is analyzed from a mechatronic standpoint (mechanics, electronics, and autonomous control).

Mechatronical system for testing small diameter drills

NASA Astrophysics Data System (ADS)

Vekteris, Vladas; Jurevichius, Mindaugas; Daktariunas, Algis

2008-08-01

This paper describes a technique and mechatronical system for testing drills of a small diameter at different stages of production. The goal is to realize a system for drill testing which automatically increases the load applied to a drill under testing conditions and measure the drill's breaking torsion moment and deflection angle before a break occurs. The system's apparatus part and algorithms for the control of actuators and data acquisition from sensors are explained in the article. Also, a testing technique was applied in theoretical investigations to define the stress concentrations in dangerous places of the drill. The proposed technique and system have been verified by testing the drills of a small diameter at different stages of production—after thermal, mechanical treatment, and for quality control of the finished product.

MEchatronic REspiratory System SImulator for Neonatal Applications (MERESSINA) project: a novel bioengineering goal

PubMed Central

Scaramuzzo, Rosa T; Ciantelli, Massimiliano; Baldoli, Ilaria; Bellanti, Lisa; Gentile, Marzia; Cecchi, Francesca; Sigali, Emilio; Tognarelli, Selene; Ghirri, Paolo; Mazzoleni, Stefano; Menciassi, Arianna; Cuttano, Armando; Boldrini, Antonio; Laschi, Cecilia; Dario, Paolo

2013-01-01

Respiratory function is mandatory for extrauterine life, but is sometimes impaired in newborns due to prematurity, congenital malformations, or acquired pathologies. Mechanical ventilation is standard care, but long-term complications, such as bronchopulmonary dysplasia, are still largely reported. Therefore, continuous medical education is mandatory to correctly manage devices for assistance. Commercially available breathing function simulators are rarely suitable for the anatomical and physiological realities. The aim of this study is to develop a high-fidelity mechatronic simulator of neonatal airways and lungs for staff training and mechanical ventilator testing. The project is divided into three different phases: (1) a review study on respiratory physiology and pathophysiology and on already available single and multi-compartment models; (2) the prototyping phase; and (3) the on-field system validation. PMID:23966804

A comprehensive review of select smart polymeric and gel actuators for soft mechatronics and robotics applications: fundamentals, freeform fabrication, and motion control

NASA Astrophysics Data System (ADS)

Carrico, James D.; Tyler, Tom; Leang, Kam K.

2017-10-01

Smart polymeric and gel actuators change shape or size in response to stimuli like electricity, heat, or light. These smart polymeric- and gel-based actuators are compliant and well suited for development of soft mechatronic and robotic devices. This paper provides a thorough review of select smart polymeric and gel actuator materials where an automated and freeform fabrication process, like 3D printing, is exploited to create custom shaped monolithic devices. In particular, the advantages and limitations, examples of applications, manufacturing and fabrication techniques, and methods for actuator control are discussed. Finally, a rigorous comparison and analysis of some of the advantages and limitations, as well as manufacturing processes, for these materials, are presented.

Optical and Electronic NOx Sensors for Applications in Mechatronics

PubMed Central

Di Franco, Cinzia; Elia, Angela; Spagnolo, Vincenzo; Scamarcio, Gaetano; Lugarà, Pietro Mario; Ieva, Eliana; Cioffi, Nicola; Torsi, Luisa; Bruno, Giovanni; Losurdo, Maria; Garcia, Michael A.; Wolter, Scott D.; Brown, April; Ricco, Mario

2009-01-01

Current production and emerging NOx sensors based on optical and nanomaterials technologies are reviewed. In view of their potential applications in mechatronics, we compared the performance of: i) Quantum cascade lasers (QCL) based photoacoustic (PA) systems; ii) gold nanoparticles as catalytically active materials in field-effect transistor (FET) sensors, and iii) functionalized III-V semiconductor based devices. QCL-based PA sensors for NOx show a detection limit in the sub part-per-million range and are characterized by high selectivity and compact set-up. Electrochemically synthesized gold-nanoparticle FET sensors are able to monitor NOx in a concentration range from 50 to 200 parts per million and are suitable for miniaturization. Porphyrin-functionalized III-V semiconductor materials can be used for the fabrication of a reliable NOx sensor platform characterized by high conductivity, corrosion resistance, and strong surface state coupling. PMID:22412315

Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

NASA Astrophysics Data System (ADS)

Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

What Does A Clean Room Look Like at the National Ignition Facility? (360)

DOE Office of Scientific and Technical Information (OSTI.GOV)

None

2017-03-31

Inside this Clean Room, engineering technicians use mechatronics to fabricate targets for NIF experiments. The goal is to improve our understanding of the universe and ensure the nation's nuclear stockpile.

Design and characterization of a tunable opto-mechatronic system to mimic the focusing and the regulation of illumination in the formation of images made by the human eye

NASA Astrophysics Data System (ADS)

Santiago-Alvarado, A.; Cruz-Félix, A.; Hernández Méndez, A.; Pérez-Maldonado, Y.; Domínguez-Osante, C.

2015-05-01

Tunable lenses have attracted much attention due to their potential applications in such areas like machine vision, laser projection, ophthalmology, etc. In this work we present the design of a tunable opto-mechatronic system capable of focusing and to regulate the entrance illumination that mimics the performance made by the iris and the crystalline lens of the human eye. A solid elastic lens made of PDMS has been used in order to mimic the crystalline lens and an automatic diaphragm has been used to mimic the iris of the human eye. Also, a characterization of such system has been performed with standard values of luminosity for the human eye have been taken into account to calibrate and to validate the entrance illumination levels to the overall optical system.

Photonics Applications and Web Engineering: WILGA 2017

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2017-08-01

XLth Wilga Summer 2017 Symposium on Photonics Applications and Web Engineering was held on 28 May-4 June 2017. The Symposium gathered over 350 participants, mainly young researchers active in optics, optoelectronics, photonics, modern optics, mechatronics, applied physics, electronics technologies and applications. There were presented around 300 oral and poster papers in a few main topical tracks, which are traditional for Wilga, including: bio-photonics, optical sensory networks, photonics-electronics-mechatronics co-design and integration, large functional system design and maintenance, Internet of Things, measurement systems for astronomy, high energy physics experiments, and other. The paper is a traditional introduction to the 2017 WILGA Summer Symposium Proceedings, and digests some of the Symposium chosen key presentations. This year Symposium was divided to the following topical sessions/conferences: Optics, Optoelectronics and Photonics, Computational and Artificial Intelligence, Biomedical Applications, Astronomical and High Energy Physics Experiments Applications, Material Research and Engineering, and Advanced Photonics and Electronics Applications in Research and Industry.

Optical and Electronic NO(x) Sensors for Applications in Mechatronics.

PubMed

Di Franco, Cinzia; Elia, Angela; Spagnolo, Vincenzo; Scamarcio, Gaetano; Lugarà, Pietro Mario; Ieva, Eliana; Cioffi, Nicola; Torsi, Luisa; Bruno, Giovanni; Losurdo, Maria; Garcia, Michael A; Wolter, Scott D; Brown, April; Ricco, Mario

2009-01-01

Current production and emerging NO(x) sensors based on optical and nanomaterials technologies are reviewed. In view of their potential applications in mechatronics, we compared the performance of: i) Quantum cascade lasers (QCL) based photoacoustic (PA) systems; ii) gold nanoparticles as catalytically active materials in field-effect transistor (FET) sensors, and iii) functionalized III-V semiconductor based devices. QCL-based PA sensors for NO(x) show a detection limit in the sub part-per-million range and are characterized by high selectivity and compact set-up. Electrochemically synthesized gold-nanoparticle FET sensors are able to monitor NO(x) in a concentration range from 50 to 200 parts per million and are suitable for miniaturization. Porphyrin-functionalized III-V semiconductor materials can be used for the fabrication of a reliable NO(x) sensor platform characterized by high conductivity, corrosion resistance, and strong surface state coupling.

Mechatronic modeling of a 750kW fixed-speed wind energy conversion system using the Bond Graph Approach.

PubMed

Khaouch, Zakaria; Zekraoui, Mustapha; Bengourram, Jamaa; Kouider, Nourreeddine; Mabrouki, Mustapha

2016-11-01

In this paper, we would like to focus on modeling main parts of the wind turbines (blades, gearbox, tower, generator and pitching system) from a mechatronics viewpoint using the Bond-Graph Approach (BGA). Then, these parts are combined together in order to simulate the complete system. Moreover, the real dynamic behavior of the wind turbine is taken into account and with the new model; final load simulation is more realistic offering benefits and reliable system performance. This model can be used to develop control algorithms to reduce fatigue loads and enhance power production. Different simulations are carried-out in order to validate the proposed wind turbine model, using real data provided in the open literature (blade profile and gearbox parameters for a 750 kW wind turbine). Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Toward a comprehensive hybrid physical-virtual reality simulator of peripheral anesthesia with ultrasound and neurostimulator guidance.

PubMed

Samosky, Joseph T; Allen, Pete; Boronyak, Steve; Branstetter, Barton; Hein, Steven; Juhas, Mark; Nelson, Douglas A; Orebaugh, Steven; Pinto, Rohan; Smelko, Adam; Thompson, Mitch; Weaver, Robert A

2011-01-01

We are developing a simulator of peripheral nerve block utilizing a mixed-reality approach: the combination of a physical model, an MRI-derived virtual model, mechatronics and spatial tracking. Our design uses tangible (physical) interfaces to simulate surface anatomy, haptic feedback during needle insertion, mechatronic display of muscle twitch corresponding to the specific nerve stimulated, and visual and haptic feedback for the injection syringe. The twitch response is calculated incorporating the sensed output of a real neurostimulator. The virtual model is isomorphic with the physical model and is derived from segmented MRI data. This model provides the subsurface anatomy and, combined with electromagnetic tracking of a sham ultrasound probe and a standard nerve block needle, supports simulated ultrasound display and measurement of needle location and proximity to nerves and vessels. The needle tracking and virtual model also support objective performance metrics of needle targeting technique.

Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane payload capacity

NASA Astrophysics Data System (ADS)

Liu, Hua; Xie, Xin; Tan, Ruoyu; Zhang, Lianchao; Fan, Dapeng

2017-06-01

Most of the XY positioning stages proposed in previous studies are mainly designed by considering only a single performance indicator of the stage. As a result, the other performance indicators are relatively weak. In this study, a 2-degree-of-freedom linear compliant positioning stage (LCPS) is developed by mechatronic design to balance the interacting performance indicators and realize the desired positioning stage. The key parameters and the coupling of the structure and actuators are completely considered in the design. The LCPS consists of four voice coil motors (VCMs), which are conformally designed for compactness, and six spatial leaf spring parallelograms. These parallelograms are serially connected for a large travel range and a high out-of-plane payload capacity. The mechatronic model is established by matrix structural analysis for structural modeling and by Kirchhoff's law for the VCMs. The sensitivities of the key parameters are analyzed, and the design parameters are subsequently determined. The analytical model of the stage is confirmed by experiments. The stage has a travel range of 4.4 mm × 7.0 mm and a 0.16% area ratio of workspace to the outer dimension of the stage. The values of these performance indicators are greater than those of any existing stage reported in the literature. The closed-loop bandwidth is 9.5 Hz in both working directions. The stage can track a circular trajectory with a radius of 1.5 mm, with 40 mm error and a resolution of lower than 3 mm. The results of payload tests indicate that the stage has at least 20 kg outof- plane payload capacity.

Design and Control of a Mechatronic Tracheostomy Tube for Automated Tracheal Suctioning.

PubMed

Do, Thanh Nho; Seah, Tian En Timothy; Phee, Soo Jay

2016-06-01

Mechanical ventilation is required to aid patients with breathing difficulty to breathe more comfortably. A tracheostomy tube inserted through an opening in the patient neck into the trachea is connected to a ventilator for suctioning. Currently, nurses spend millions of person-hours yearly to perform this task. To save significant person-hours, an automated mechatronic tracheostomy system is needed. This system allows for relieving nurses and other carers from the millions of person-hours spent yearly on tracheal suctioning. In addition, it will result in huge healthcare cost savings. We introduce a novel mechatronic tracheostomy system including the development of a long suction catheter, automatic suctioning mechanisms, and relevant control approaches to perform tracheal suctioning automatically. To stop the catheter at a desired position, two approaches are introduced: 1) Based on the known travel length of the catheter tip; 2) Based on a new sensing device integrated at the catheter tip. It is known that backlash nonlinearity between the suction catheter and its conduit as well as in the gear system of the actuator are unavoidable. They cause difficulties to control the exact position of the catheter tip. For the former case, we develop an approximate model of backlash and a direct inverse scheme to enhance the system performances. The scheme does not require any complex inversions of the backlash model and allows easy implementations. For the latter case, a new sensing device integrated into the suction catheter tip is developed and backlash compensation controls are avoided. Automated suctioning validations are successfully carried out on the proposed experimental system. Comparisons and discussions are also introduced. The results demonstrate a significant contribution and potential benefits to the mechanical ventilation areas.

What Do We Really Need? Visions of an Ideal Human-Machine Interface for NOTES Mechatronic Support Systems From the View of Surgeons, Gastroenterologists, and Medical Engineers.

PubMed

Kranzfelder, Michael; Schneider, Armin; Fiolka, Adam; Koller, Sebastian; Wilhelm, Dirk; Reiser, Silvano; Meining, Alexander; Feussner, Hubertus

2015-08-01

To investigate why natural orifice translumenal endoscopic surgery (NOTES) has not yet become widely accepted and to prove whether the main reason is still the lack of appropriate platforms due to the deficiency of applicable interfaces. To assess expectations of a suitable interface design, we performed a survey on human-machine interfaces for NOTES mechatronic support systems among surgeons, gastroenterologists, and medical engineers. Of 120 distributed questionnaires, each consisting of 14 distinct questions, 100 (83%) were eligible for analysis. A mechatronic platform for NOTES was considered "important" by 71% of surgeons, 83% of gastroenterologist,s and 56% of medical engineers. "Intuitivity" and "simple to use" were the most favored aspects (33% to 51%). Haptic feedback was considered "important" by 70% of participants. In all, 53% of surgeons, 50% of gastroenterologists, and 33% of medical engineers already had experience with NOTES platforms or other surgical robots; however, current interfaces only met expectations in just more than 50%. Whereas surgeons did not favor a certain working posture, gastroenterologists and medical engineers preferred a sitting position. Three-dimensional visualization was generally considered "nice to have" (67% to 72%); however, for 26% of surgeons, 17% of gastroenterologists, and 7% of medical engineers it did not matter (P = 0.018). Requests and expectations of human-machine interfaces for NOTES seem to be generally similar for surgeons, gastroenterologist, and medical engineers. Consensus exists on the importance of developing interfaces that should be both intuitive and simple to use, are similar to preexisting familiar instruments, and exceed current available systems. © The Author(s) 2014.

A new mechatronic set-up and technique for investigation of firearms

NASA Astrophysics Data System (ADS)

Lesenciuc, Ioan; Suciu, Cornel

2016-12-01

Since ancient times, mankind has manifested interest in the development and improvement of weapons, either for military or hunting purposes. Today, in competition with these legal practices, the number of those who commit crimes by non-compliance with the regime of weapons and ammunition has increased exponentially. This is why the technology and methods employed in the area of judicial ballistics, requires constant research and continuous learning. The present paper advances a new experimental set-up and its corresponding methodology, meant to measure the force deployed by the firing pin. The new experimental set-up and procedure consists of a mechatronic structure, based on a piezoelectric force transducer, which allows to measure, in-situ, the force produced by the firing pin when it is deployed. The obtained information can further be used to establish a correspondence between this force and the imprint left on the firing cap. This correspondence furthers the possibility of elaborating a model that would permit ballistic experts to correctly identify a smoothbore weapon.

Vibration isolation/suppression: research experience for undergraduates in mechatronics and smart structures

NASA Astrophysics Data System (ADS)

Fonda, James; Rao, Vittal S.; Sana, Sridhar

2001-08-01

This paper provides an account of a student research project conducted under the sponsoring of the National Science Foundation (NSF) program on Research Experience for Undergraduates (REU) in Mechatronics and Smart Strictures in the summer of 2000. The objective of the research is to design and test a stand-alone controller for a vibration isolation/suppression system. The design specification for the control system is to suppress the vibrations induced by the external disturbances by at least fiver times and hence to achieve vibration isolation. Piezo-electric sensors and actuators are utilized for suppression of unwanted vibrations. Various steps such as modeling of the system, controller design, simulation, closed-loop testing using d- Space rapid prototyping system, and analog control implementation are discussed in the paper. Procedures for data collection, the trade-offs carried out in the design, and analog controller implementation issues are also presented in the paper. The performances of various controllers are compared. The experiences of an undergraduate student are summarized in the conclusion of the paper.

Reverse and direct methods for solving the characteristic equation

NASA Astrophysics Data System (ADS)

Lozhkin, Alexander; Bozek, Pavol; Lyalin, Vadim; Tarasov, Vladimir; Tothova, Maria; Sultanov, Ravil

2016-06-01

Fundamentals of information-linguistic interpretation of the geometry presented shortly. The method of solving the characteristic equation based on Euler's formula is described. The separation of the characteristic equation for several disassembled for Jordan curves. Applications of the theory for problems of mechatronics outlined briefly.

Mechatronics by Analogy and Application to Legged Locomotion

NASA Astrophysics Data System (ADS)

Ragusila, Victor

A new design methodology for mechatronic systems, dubbed as Mechatronics by Analogy (MbA), is introduced and applied to designing a leg mechanism. The new methodology argues that by establishing a similarity relation between a complex system and a number of simpler models it is possible to design the former using the analysis and synthesis means developed for the latter. The methodology provides a framework for concurrent engineering of complex systems while maintaining the transparency of the system behaviour through making formal analogies between the system and those with more tractable dynamics. The application of the MbA methodology to the design of a monopod robot leg, called the Linkage Leg, is also studied. A series of simulations show that the dynamic behaviour of the Linkage Leg is similar to that of a combination of a double pendulum and a spring-loaded inverted pendulum, based on which the system kinematic, dynamic, and control parameters can be designed concurrently. The first stage of Mechatronics by Analogy is a method of extracting significant features of system dynamics through simpler models. The goal is to determine a set of simpler mechanisms with similar dynamic behaviour to that of the original system in various phases of its motion. A modular bond-graph representation of the system is determined, and subsequently simplified using two simplification algorithms. The first algorithm determines the relevant dynamic elements of the system for each phase of motion, and the second algorithm finds the simple mechanism described by the remaining dynamic elements. In addition to greatly simplifying the controller for the system, using simpler mechanisms with similar behaviour provides a greater insight into the dynamics of the system. This is seen in the second stage of the new methodology, which concurrently optimizes the simpler mechanisms together with a control system based on their dynamics. Once the optimal configuration of the simpler system is determined, the original mechanism is optimized such that its dynamic behaviour is analogous. It is shown that, if this analogy is achieved, the control system designed based on the simpler mechanisms can be directly implemented to the more complex system, and their dynamic behaviours are close enough for the system performance to be effectively the same. Finally it is shown that, for the employed objective of fast legged locomotion, the proposed methodology achieves a better design than Reduction-by-Feedback, a competing methodology that uses control layers to simplify the dynamics of the system.

Bioinspiring an Interest in STEM

ERIC Educational Resources Information Center

Laut, Jeffrey; Bartolini, Tiziana; Porfiri, Maurizio

2015-01-01

Attracting K-12 students to pursue careers in science, technology, engineering, and mathematics (STEM) is viewed as a critical element for benefiting both the economy and society. This paper describes an outreach program, conducted in a Brooklyn, New York, USA, public middle school, aimed at educating students in mechatronics, biology, and…

Development of Hybrid Courses Utilizing Modules as an Objective in ATE Projects

ERIC Educational Resources Information Center

Payne, James E.; Murphy, Richard M.; Payne, Linda L.

2017-01-01

Orangeburg-Calhoun Technical College (OCtech) has been awarded two National Science Foundation Advanced Technological Education (NSF-ATE) grants since 2011 that have the development of module-based hybrid courses in Engineering Technology and Mechatronics as objectives. In this article, the advantages and challenges associated with module-based…

Virtual Mechatronic/Robotic Laboratory--A Step Further in Distance Learning

ERIC Educational Resources Information Center

Potkonjak, Veljko; Vukobratovi, Miomir; Jovanovi, Kosta; Medenica, Miroslav

2010-01-01

The implementation of the distance learning and e-learning in technical disciplines (like Mechanical and Electrical Engineering) is still far behind the grown practice in narrative disciplines (like Economy, management, etc.). This comes out from the fact that education in technical disciplines inevitably involves laboratory exercises and this…

Assessing Creative Thinking in Design-Based Learning

ERIC Educational Resources Information Center

Doppelt, Yaron

2009-01-01

Infusing creative thinking competence through the design process of authentic projects requires not only changing the teaching methods and learning environment, but also adopting new assessment methods, such as portfolio assessment. The participants in this study were 128 high school pupils who have studied MECHATRONICS from 10th to 12th grades…

Object-Oriented Dynamic Bayesian Network-Templates for Modelling Mechatronic Systems

DTIC Science & Technology

2002-05-04

daimlerchrysler.com Abstract are widespread. For modelling mechanical systems The object-oriented paradigma is a new but proven technol- ADAMS [31 or...hardware (sub-)systems. On the Software side thermal flow or hydraulics, see Figure 1. It also contains a the object-oriented paradigma is by now (at

Motor-Reducer Sizing through a MATLAB-Based Graphical Technique

ERIC Educational Resources Information Center

Giberti, H.; Cinquemani, S.

2012-01-01

The design of the drive system for an automatic machine and its correct sizing is a very important competence for an electrical or mechatronic engineer. This requires knowledge that crosses the fields of electrical engineering, electronics and mechanics, as well as the skill to choose commercial components based upon their technical documentation.…

LaboREM--A Remote Laboratory for Game-Like Training in Electronics

ERIC Educational Resources Information Center

Luthon, Franck; Larroque, Benoît

2015-01-01

The advances in communication networks and web technologies, in conjunction with the improved connectivity of test and measurement devices make it possible to implement e-learning applications that encompass the whole learning process. In the field of electrical engineering, automation or mechatronics, it means not only lectures, tutorials, demos…

Growing Our Workforce through Business and Education

ERIC Educational Resources Information Center

Pauley, Douglas R.; Davidchik, Daniel

2010-01-01

In 2004, Central Community College (CCC) established the Mechatronics Education Center (MEC), a regional center of excellence, to help the state address the shortage of skilled technicians in the area of industrial automation. The MEC addresses the needs of the current and future workforce through the implementation of its three main components:…

Why Returning to VET? Results of a Qualitative Comparative Study about English and German Car Mechatronics

ERIC Educational Resources Information Center

Gericke, Erika

2017-01-01

Educational choices, especially the influence of class on these choices have been a subject of lively international debate. However, thus far, there has been little international and comparative research with respect to vocational and education training (VET) decision making from a subject-oriented perspective. This paper considers…

Multiprog Virtual Laboratory Applied to PLC Programming Learning

ERIC Educational Resources Information Center

Shyr, Wen-Jye

2010-01-01

This study develops a Multiprog virtual laboratory for a mechatronics education designed to teach how to programme a programmable logic controller (PLC). The study was carried out with 34 students in the Department of Industry Education and Technology at National Changhua University of Education in Taiwan. In total, 17 students were assigned to…

A framework for the automated data-driven constitutive characterization of composites

Treesearch

J.G. Michopoulos; John Hermanson; T. Furukawa; A. Iliopoulos

2010-01-01

We present advances on the development of a mechatronically and algorithmically automated framework for the data-driven identification of constitutive material models based on energy density considerations. These models can capture both the linear and nonlinear constitutive response of multiaxially loaded composite materials in a manner that accounts for progressive...

Towards the robotic characterization of the constitutive response of composite materials

Treesearch

John G. Michopoulos; John C. Hermanson; Tomonari Furukawa

2008-01-01

A historical and technical overview of a paradigm for automating research procedures on the area of constitutive identification of composite materials is presented. Computationally controlled robotic, multiple degree-of-freedom mechatronic systems are used to accelerate the rate of performing data-collecting experiments along loading paths defined in multidimensional...

A Comparative Investigation on the Learning Efficacy of Mechatronic Technology between Academic and Vocational High School Students

ERIC Educational Resources Information Center

Jou, Min; Hung, Chen-Kang; Lai, Shih-Hung

2014-01-01

Universities in Taiwan can be divided into two major categories of comprehensive universities and technological universities. Students studying engineering majors in comprehensive universities are often recruited from academic high schools while those in technological universities tend to be recruited from vocational high schools. The purpose of…

Assessment of Project-Based Learning in a MECHATRONICS Context

ERIC Educational Resources Information Center

Doppelt, Yaron

2005-01-01

Project-based learning (PBL) that has authenticity in the pupils' world enables the teaching of science and technology to pupils from a variety of backgrounds. PBL has the potential to enable pupils to research, plan, design, and reflect on the creation of technological projects (Doppelt, 2000). Engineering education, which is common in Israel,…

Providing Quality Laboratories to Long-Distance Educational Programs.

ERIC Educational Resources Information Center

Gammon, Tammy; Sutton, John

2003-01-01

North Carolina State University (UNC) has been on the forefront of long-distance education by offering a Bachelor of Science in Engineering with a Mechatronics Concentration at its remote campus located at UNC Asheville. The program demonstrates that long-distance laboratories are feasible and should not be a stumbling block to offering…

An Experience of CACSD for Networked Control Systems: From Mechatronic Platform Identification to Control Implementation

ERIC Educational Resources Information Center

Losada, Cristina; Espinosa, Felipe; Santos, Carlos; Gálvez, Manuel; Bueno, Emilio J.; Marrón, Marta; Rodríguez, Francisco J.

2016-01-01

Continual advances in information and communication technologies (ICT) are revolutionizing virtual education and bringing new tools on the market that provide virtual solutions to a range of problems. Nevertheless, nonvirtual experimentation using computer-aided control system design tools is still fundamental for future engineers. This paper…

Detection of antipersonnel (AP) mines using mechatronics approach

NASA Astrophysics Data System (ADS)

Shahri, Ali M.; Naghdy, Fazel

1998-09-01

At present there are approximately 110 million land-mines scattered around the world in 64 countries. The clearance of these mines takes place manually. Unfortunately, on average for every 5000 mines cleared one mine clearer is killed. A Mine Detector Arm (MDA) using mechatronics approach is under development in this work. The robot arm imitates manual hand- prodding technique for mine detection. It inserts a bayonet into the soil and models the dynamics of the manipulator and environment parameters, such as stiffness variation in the soil to control the impact caused by contacting a stiff object. An explicit impact control scheme is applied as the main control scheme, while two different intelligent control methods are designed to deal with uncertainties and varying environmental parameters. Firstly, a neuro-fuzzy adaptive gain controller (NFAGC) is designed to adapt the force gain control according to the estimated environment stiffness. Then, an adaptive neuro-fuzzy plus PID controller is employed to switch from a conventional PID controller to neuro-fuzzy impact control (NFIC), when an impact is detected. The developed control schemes are validated through computer simulation and experimental work.

Control System and Tests for the 13.2-m RAEGE Antenna at Yebes

NASA Astrophysics Data System (ADS)

de Vicente, P.; Bolaño, R.; Barbas, L.

2014-12-01

The RAEGE network is being deployed. The antenna at the Yebes Observatory is the first one in the network, and its construction finished in October 2013. During the construction phase, the remote control system for the antenna and the receivers was developed, and during the commisioning time the software was tested by MT-Mechatronics. As a result, both the control system from MT-Mechatronics and the remote control system by the IGN-CDT were debugged. We have tested the basic functionality of the antenna operated as a single dish telescope. First light at S, X, and Ka band was achieved on February 10^{th}. Afterwards a pointing model for the whole sky was determined, together with an optimum focus position as a function of elevation. Commisioning is not finished yet, and the antenna will be totally delivered to the IGN-CDT in the next weeks. VLBI equipment will be installed within three months, and VLBI observations are foreseen by the end of 2014. In this paper, we provide an overview of the control system and of the main results achieved.

A two DoF finger for a biomechatronic artificial hand.

PubMed

Carrozza, M C; Massa, B; Dario, P; Zecca, M; Micera, S; Pastacaldi, P

2002-01-01

Current prosthetic hands are basically simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. Although most amputees consider this performance as acceptable for usual tasks, there is ample room for improvement by exploiting recent progresses in mechatronics design and technology. We are developing a novel prosthetic hand featured by multiple degrees of freedom, tactile sensing capabilities, and distributed control. Our main goal is to pursue an integrated design approach in order to fulfill critical requirements such as cosmetics, controllability, low weight, low energy consumption and noiselessness. This approach can be synthesized by the definition "biomechatronic design", which means developing mechatronic systems inspired by living beings and able to work harmoniously with them. This paper describes the first implementation of one single finger of a future biomechatronic hand. The finger has a modular design, which allows to obtain hands with different degrees of freedom and grasping capabilities. Current developments include the implementation of a hand comprising three fingers (opposing thumb, index and middle) and an embedded controller.

Development of a Mechatronic Syringe Pump to Control Fluid Flow in a Microfluidic Device Based on Polyimide Film

NASA Astrophysics Data System (ADS)

Sek Tee, Kian; Sharil Saripan, Muhammad; Yap, Hiung Yin; Fhong Soon, Chin

2017-08-01

With the advancement in microfluidic technology, fluid flow control for syringe pump is always essential. In this paper, a mechatronic syringe pump will be developed and customized to control the fluid flow in a poly-dimethylsiloxane (PDMS) microfluidic device based on a polyimide laminating film. The syringe pump is designed to drive fluid with flow rates of 100 and 1000 μl/min which intended to drive continuous fluid in a polyimide based microfluidic device. The electronic system consists of an Arduino microcontroller board and a uni-polar stepper motor. In the system, the uni-polar stepper motor was coupled to a linear slider attached to the plunger of a syringe pump. As the motor rotates, the plunger pumps the liquid out of the syringe. The accuracy of the fluid flow rate was determined by adjusting the number of micro-step/revolution to drive the stepper motor to infuse fluid into the microfluidic device. With the precise control of the electronic system, the syringe pump could accurately inject fluid volume at 100 and 1000 μl/min into a microfluidic device.

Flipped Classroom with Problem Based Activities: Exploring Self-Regulated Learning in a Programming Language Course

ERIC Educational Resources Information Center

Çakiroglu, Ünal; Öztürk, Mücahit

2017-01-01

This study intended to explore the development of self-regulation in a flipped classroom setting. Problem based learning activities were carried out in flipped classrooms to promote self-regulation. A total of 30 undergraduate students from Mechatronic department participated in the study. Self-regulation skills were discussed through students'…

Teaching Modules on Modeling and Control of Piezoactuators for System Dynamics, Controls, and Mechatronics Courses

ERIC Educational Resources Information Center

Leang, K. K.; Zou, Q.; Pannozzo, G.

2010-01-01

Piezoelectric actuators (or piezoactuators) are known for their nanoresolution and high-speed positioning capabilities. Therefore, they are used in scanning probe microscopes and in the design of innovative surgical tools and biomedical devices. The expected growth of engineering jobs in the nano- and bio-related fields, in which piezoactuators…

Design and Implementation of a Mechatronics Learning Module in a Large First-Semester Engineering Course

ERIC Educational Resources Information Center

Castles, R. T.; Zephirin, T.; Lohani, V. K.; Kachroo, P.

2010-01-01

Since 2005, the first-year engineering program at Virginia Tech, Blacksburg, has been significantly restructured to include more hands-on learning. A major grant (2004-2009) under the department level reform (DLR) program of the National Science Foundation (NSF) facilitated this restructuring. A number of hands-on learning modules were developed…

Actuators of active tribotechnical systems of the rotor-bearing type

NASA Astrophysics Data System (ADS)

Savin, L.; Shutin, D.; Kuzavka, A.

2017-08-01

The article describes the perspectives of using active bearings in rotor-bearing systems. The principal scheme of a mechatronic tribotechnical system anв classification of actuators used in such system are shown. Piezo actuators are considered from the point of view of use as actuators in active bearings. The comparative characteristics of different types of actuators

The Process of Updating Engineering Management Science in an Australian Regional University Excellence in Developing E-Learning

ERIC Educational Resources Information Center

Ku, H.; Fulcher, R.

2007-01-01

The aim of the current paper is to share the processes in revising the courseware of the course of "Engineering Management Science" coded as ENG4004, in the Bachelor of Engineering (Mechanical, Mechatronics, Electrical and Electronic, Computer Systems, Instrumentation and Control), Bachelor of Engineering Technology (Mechanical, Building…

A Multidisciplinary Industrial Robot Approach for Teaching Mechatronics-Related Courses

ERIC Educational Resources Information Center

Garduño-Aparicio, Mariano; Rodríguez-Reséndiz, Juvenal; Macias-Bobadilla, Gonzalo; Thenozhi, Suresh

2018-01-01

This paper presents a robot prototype for an undergraduate laboratory program designed to fulfill the criteria laid out by ABET. The main objective of the program is for students to learn some basic concepts of embedded systems and robotics, and apply them in practice. For that purpose, various practical laboratory exercises were prepared to teach…

On the Constitutive Response Characterization for Composite Materials Via Data-Driven Design Optimization

Treesearch

John G. Michopoulos; John G. Hermanson; Athanasios lliopoulos; Samuel Lambrakos; Tomonari Furukawa

2011-01-01

In the present paper we focus on demonstrating the use of design optimization for the constitutive characterization of anisotropic material systems such as polymer matrix composites, with or without damage. All approaches are based on the availability of experimental data originating from mechatronic material testing systems that can expose specimens to...

An ECG Lab Project for Teaching Signal Conditioning Systems in a Master's Degree in Mechatronic Engineering

ERIC Educational Resources Information Center

Martín, Francisco Javier Ferrero; Martínez, Alberto López; Llopis, Marta Valledor; Rodriguez, Juan Carlos Campo; Viejo, Cecilio Blanco; Vershinin, Yuri A.

2015-01-01

Ongoing technological progress in measurement systems triggered the development of an in­novative, hands-on teaching program to help students toward a fuller understanding of recent changes in the field. This paper presents a lab project that links theoretical principles with the practical issues of signal conditioning systems. This is…

International Assessment of Unmanned Ground Vehicles

DTIC Science & Technology

2008-02-01

research relevant to ground robotics include • Multi-sensor data fusion • Stereovision • Dedicated robots, including legged robots, tracked robots...Technology Laboratory has developed several mobile robots with leg - ged, wheeled, rolling, rowing, and hybrid locomotion. Areas of particular emphasis...117 UK Department of Trade and Industry ( DTI ) Global Watch Mission. November 2006. Mechatronics in Russia. 118 CRDI Web Site: http

Diagnostic Problem-Solving Process in Professional Contexts: Theory and Empirical Investigation in the Context of Car Mechatronics Using Computer-Generated Log-Files

ERIC Educational Resources Information Center

Abele, Stephan

2018-01-01

This article deals with a theory-based investigation of the diagnostic problem-solving process in professional contexts. To begin with, a theory of the diagnostic problem-solving process was developed drawing on findings from different professional contexts. The theory distinguishes between four sub-processes of the diagnostic problem-solving…

Factors Influencing the Uptake of a Mechatronics Curriculum Initiative in Five Australian Secondary Schools

ERIC Educational Resources Information Center

Nicholas, Howard; Ng, Wan

2012-01-01

While the ready-made Lego[TM] Robotics kits are popular in schools and are used by students at both primary and secondary year levels, using the Picaxe microcontroller (chip) to create simple electronic devices, including robotic devices is less popular. The latter imposes an additional challenge as a result of the need to construct the universal…

Engaging High School and Engineering Students: A Multifaceted Outreach Program Based on a Mechatronics Platform

ERIC Educational Resources Information Center

Habash, Riadh W. Y.; Suurtamm, Christine

2010-01-01

If we aim to enhance the interest of students in engineering and therefore produce the best engineers, it is essential to strengthen the pipeline to high school education. This paper discusses several outreach activities undertaken by the Faculty of Engineering and Faculty of Education, University of Ottawa (UO), Ottawa, ON, Canada, to help the…

Collaborative simulation method with spatiotemporal synchronization process control

NASA Astrophysics Data System (ADS)

Zou, Yisheng; Ding, Guofu; Zhang, Weihua; Zhang, Jian; Qin, Shengfeng; Tan, John Kian

2016-10-01

When designing a complex mechatronics system, such as high speed trains, it is relatively difficult to effectively simulate the entire system's dynamic behaviors because it involves multi-disciplinary subsystems. Currently,a most practical approach for multi-disciplinary simulation is interface based coupling simulation method, but it faces a twofold challenge: spatial and time unsynchronizations among multi-directional coupling simulation of subsystems. A new collaborative simulation method with spatiotemporal synchronization process control is proposed for coupling simulating a given complex mechatronics system across multiple subsystems on different platforms. The method consists of 1) a coupler-based coupling mechanisms to define the interfacing and interaction mechanisms among subsystems, and 2) a simulation process control algorithm to realize the coupling simulation in a spatiotemporal synchronized manner. The test results from a case study show that the proposed method 1) can certainly be used to simulate the sub-systems interactions under different simulation conditions in an engineering system, and 2) effectively supports multi-directional coupling simulation among multi-disciplinary subsystems. This method has been successfully applied in China high speed train design and development processes, demonstrating that it can be applied in a wide range of engineering systems design and simulation with improved efficiency and effectiveness.

A haptic unit designed for magnetic-resonance-guided biopsy.

PubMed

Tse, Z T H; Elhawary, H; Rea, M; Young, I; Davis, B L; Lamperth, M

2009-02-01

The magnetic fields present in the magnetic resonance (MR) environment impose severe constraints on any mechatronic device present in its midst, requiring alternative actuators, sensors, and materials to those conventionally used in traditional system engineering. In addition the spatial constraints of closed-bore scanners require a physical separation between the radiologist and the imaged region of the patient. This configuration produces a loss of the sense of touch from the target anatomy for the clinician, which often provides useful information. To recover the force feedback from the tissue, an MR-compatible haptic unit, designed to be integrated with a five-degrees-of-freedom mechatronic system for MR-guided prostate biopsy, has been developed which incorporates position control and force feedback to the operator. The haptic unit is designed to be located inside the scanner isocentre with the master console in the control room. MR compatibility of the device has been demonstrated, showing a negligible degradation of the signal-to-noise ratio and virtually no geometric distortion. By combining information from the position encoder and force sensor, tissue stiffness measurement along the needle trajectory is demonstrated in a lamb liver to aid diagnosis of suspected cancerous tissue.

A Co-modeling Method Based on Component Features for Mechatronic Devices in Aero-engines

NASA Astrophysics Data System (ADS)

Wang, Bin; Zhao, Haocen; Ye, Zhifeng

2017-08-01

Data-fused and user-friendly design of aero-engine accessories is required because of their structural complexity and stringent reliability. This paper gives an overview of a typical aero-engine control system and the development process of key mechatronic devices used. Several essential aspects of modeling and simulation in the process are investigated. Considering the limitations of a single theoretic model, feature-based co-modeling methodology is suggested to satisfy the design requirements and compensate for diversity of component sub-models for these devices. As an example, a stepper motor controlled Fuel Metering Unit (FMU) is modeled in view of the component physical features using two different software tools. An interface is suggested to integrate the single discipline models into the synthesized one. Performance simulation of this device using the co-model and parameter optimization for its key components are discussed. Comparison between delivery testing and the simulation shows that the co-model for the FMU has a high accuracy and the absolute superiority over a single model. Together with its compatible interface with the engine mathematical model, the feature-based co-modeling methodology is proven to be an effective technical measure in the development process of the device.

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform.

PubMed

Zhou, Xiangyang; Zhao, Beilei; Gong, Guohao

2015-08-14

This paper presents a method based on co-simulation of a mechatronic system to optimize the control parameters of a two-axis inertially stabilized platform system (ISP) applied in an unmanned airship (UA), by which high control performance and reliability of the ISP system are achieved. First, a three-dimensional structural model of the ISP is built by using the three-dimensional parametric CAD software SOLIDWORKS(®); then, to analyze the system's kinematic and dynamic characteristics under operating conditions, dynamics modeling is conducted by using the multi-body dynamics software ADAMS™, thus the main dynamic parameters such as displacement, velocity, acceleration and reaction curve are obtained, respectively, through simulation analysis. Then, those dynamic parameters were input into the established MATLAB(®) SIMULINK(®) controller to simulate and test the performance of the control system. By these means, the ISP control parameters are optimized. To verify the methods, experiments were carried out by applying the optimized parameters to the control system of a two-axis ISP. The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance.

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

PubMed Central

Zhou, Xiangyang; Zhao, Beilei; Gong, Guohao

2015-01-01

This paper presents a method based on co-simulation of a mechatronic system to optimize the control parameters of a two-axis inertially stabilized platform system (ISP) applied in an unmanned airship (UA), by which high control performance and reliability of the ISP system are achieved. First, a three-dimensional structural model of the ISP is built by using the three-dimensional parametric CAD software SOLIDWORKS®; then, to analyze the system’s kinematic and dynamic characteristics under operating conditions, dynamics modeling is conducted by using the multi-body dynamics software ADAMS™, thus the main dynamic parameters such as displacement, velocity, acceleration and reaction curve are obtained, respectively, through simulation analysis. Then, those dynamic parameters were input into the established MATLAB® SIMULINK® controller to simulate and test the performance of the control system. By these means, the ISP control parameters are optimized. To verify the methods, experiments were carried out by applying the optimized parameters to the control system of a two-axis ISP. The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance. PMID:26287210

Detecting submerged features in water: modeling, sensors, and measurements

NASA Astrophysics Data System (ADS)

Bostater, Charles R., Jr.; Bassetti, Luce

2004-11-01

It is becoming more important to understand the remote sensing systems and associated autonomous or semi-autonomous methodologies (robotic & mechatronics) that may be utilized in freshwater and marine aquatic environments. This need comes from several issues related not only to advances in our scientific understanding and technological capabilities, but also from the desire to insure that the risk associated with UXO (unexploded ordnance), related submerged mines, as well as submerged targets (such as submerged aquatic vegetation) and debris left from previous human activities are remotely sensed and identified followed by reduced risks through detection and removal. This paper will describe (a) remote sensing systems, (b) platforms (fixed and mobile, as well as to demonstrate (c) the value of thinking in terms of scalability as well as modularity in the design and application of new systems now being constructed within our laboratory and other laboratories, as well as future systems. New remote sensing systems - moving or fixed sensing systems, as well as autonomous or semi-autonomous robotic and mechatronic systems will be essential to secure domestic preparedness for humanitarian reasons. These remote sensing systems hold tremendous value, if thoughtfully designed for other applications which include environmental monitoring in ambient environments.

Development of robotic mobile platform with the universal chassis system

NASA Astrophysics Data System (ADS)

Ryadchikov, I.; Nikulchev, E.; Sechenev, S.; Drobotenko, M.; Svidlov, A.; Volkodav, P.; Feshin, A.

2018-02-01

The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.

Important Role of the Hall Effect Measurement System in a Modified Course of Materials in Electrical Engineering

ERIC Educational Resources Information Center

Stojanovic, G.; Savic, S.; Zivanov, L.

2009-01-01

The course "Materials in Electrical Engineering" is a core course in the Mechatronics curriculum at the Faculty of Technical Sciences, University of Novi Sad, Serbia. In the past, this course was comprehensive and mainly theory-based. Teaching methods used in this course had not been changed for many years, and were mainly based on a…

Contract-Based Integration of Cyber-Physical Analyses

DTIC Science & Technology

2014-10-14

for cyber-physical systems , 2013 [3] Torngren et al. Integrating viewpoints in the development of mechatronic products, 2013 [4] Rajhans et al...Conference on Embedded Software Report Documentation Page Form ApprovedOMB No. 0704-0188 Public reporting burden for the collection of information is...failures 5 Analytic aspect of integration Sensor Sampling PID Controller Actuator Controller Communication bus Sensor board CPU Actuator board System Bin

Wettability and XPS analyses of nickel-phosphorus surfaces after plasma treatment: An efficient approach for surface qualification in mechatronic processes

NASA Astrophysics Data System (ADS)

Vivet, L.; Joudrier, A.-L.; Bouttemy, M.; Vigneron, J.; Tan, K. L.; Morelle, J. M.; Etcheberry, A.; Chalumeau, L.

2013-06-01

Electroless nickel-high-phosphorus Ni-P plating is known for its physical properties. In case of electronic and mechatronic assembly processes achieved under ambient conditions the wettability of the Ni-P layer under ambient temperature and ambient air stays a point of surface quality investigation. This contribution will be devoted to the study of the surface properties of Ni-P films for which we performed air plasma treatment. We focus our attention on the evolution of the surface wettability, using the classical sessile drop technique. Interpreting the results with the OWRK model we extract the polar and disperse surface tension components from which we deduced typical evolution of the surface properties with the different treatment settings. By controlling the variations of the parameters of the plasma exposure we are able to change the responses of our Ni-P sample from total hydrophobic to total hydrophilic behaviours. All the intermediate states can be reached by adapting the treatment parameters. So it is demonstrated that the apparent Ni-P surface properties can be fully adapted and the surface setting can be well characterized by wettability measurements. To deep our knowledge of the surface modifications induced by plasma we performed parallel SEM and XPS analyses which provide informations on the structure and the chemical composition of the surface for each set of treatment parameters. Using this double approach we were able to propose a correlation between the evolution of surface chemical composition and surface wettability which are completely governed by the plasma treatment conditions. Chemical parameters as the elimination of the carbon contamination, the progressive surface oxidation, and the slight incorporation of nitrogen due to the air plasma interaction are well associated with the evolution of the wettability properties. So a complete engineering for the Ni-P surface preparation has been established. The sessile drop method can be considered as a very efficient method to propose qualification of treatments onto Ni-P surfaces before performing electronic and mechatronic assembly processes that are achieved under ambient conditions.

Consumer mechatronics: a challenging playground for transducing materials and devices

NASA Astrophysics Data System (ADS)

Skjolstrup, Carl E.; Vonsild, Asbjorn L.

2003-03-01

The authors of this article are characterised by having a background within robotics technology, and have within the last 2-3 years moved into a material & process dominated environment. The authors are among other things responsible within LEGO Company; an internationally known toy developer and producer, for identification, prioritisation and procurement of new technological opportunities within materials, processes and devices providing new functionalities for the LEGO product.

Vitalizing Creative Learning in Science and Technology through an Extracurricular Club: A Perspective Based on Activity Theory

ERIC Educational Resources Information Center

Hong, Jon-Chao; Chen, Mei-Yung; Hwang, Ming-Yueh

2013-01-01

A case study was undertaken in a junior high school that had won the highest award of the National PowerTech Contest in Taiwan. In the contest, students were required to create their own wooden robot (mechatronics project) in the morning and compete in the afternoon, in order to better avoid the intervention of parents and teachers in the process.…

Mechatronic Aeropendulum: Demonstration of Linear and Nonlinear Feedback Control Principles with MATLAB/Simulink Real-Time Windows Target

ERIC Educational Resources Information Center

Enikov, E. T.; Campa, G.

2012-01-01

This paper presents a low-cost hands-on experiment for a classical undergraduate controls course for non-electrical engineering majors. The setup consists of a small dc electrical motor attached to one of the ends of a light rod. The motor drives a 2-in propeller and allows the rod to swing. Angular position is measured by a potentiometer attached…

A methodology for identification and control of electro-mechanical actuators

PubMed Central

Tutunji, Tarek A.; Saleem, Ashraf

2015-01-01

Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants’ response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: • Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators. • Combines off-line and on-line controller design for practical performance. • Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure. PMID:26150992

A methodology for identification and control of electro-mechanical actuators.

PubMed

Tutunji, Tarek A; Saleem, Ashraf

2015-01-01

Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants' response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: •Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.•Combines off-line and on-line controller design for practical performance.•Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.

Mechatronic design of a fully integrated camera for mini-invasive surgery.

PubMed

Zazzarini, C C; Patete, P; Baroni, G; Cerveri, P

2013-06-01

This paper describes the design features of an innovative fully integrated camera candidate for mini-invasive abdominal surgery with single port or transluminal access. The apparatus includes a CMOS imaging sensor, a light-emitting diode (LED)-based unit for scene illumination, a photodiode for luminance detection, an optical system designed according to the mechanical compensation paradigm, an actuation unit for enabling autofocus and optical zoom, and a control logics based on microcontroller. The bulk of the apparatus is characterized by a tubular shape with a diameter of 10 mm and a length of 35 mm. The optical system, composed of four lens groups, of which two are mobile, has a total length of 13.46 mm and an effective focal length ranging from 1.61 to 4.44 mm with a zoom factor of 2.75×, with a corresponding angular field of view ranging from 16° to 40°. The mechatronics unit, devoted to move the zoom and the focus lens groups, is implemented adopting miniature piezoelectric motors. The control logics implements a closed-loop mechanism, between the LEDs and photodiode, to attain automatic control light. Bottlenecks of the design and some potential issues of the realization are discussed. A potential clinical scenario is introduced.

Designing of a technological line in the context of controlling with the use of integration of the virtual controller with the mechatronics concept designer module of the PLM Siemens NX software

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2017-08-01

In the work is examined the sequential control system of a technological line in the form of the final part of a system of an internal transport. The process of designing this technological line using the computer-aided approach ran concurrently in two different program environments. In the Mechatronics Concept Designer module of the PLM Siemens NX software was developed the 3D model of the technological line prepared for verification the logic interrelations implemented in the control system. For this purpose, from the whole system of the technological line, it was distinguished the sub-system of actuators and sensors, because their correct operation determines the correct operation of the whole system. Whereas in the application of the virtual controller have been implemented the algorithms of work of the planned line. Then both program environments have been integrated using the OPC server, which enables the exchange of data between the considered systems. The data on the state of the object and the data defining the way and sequence of operation of the technological line are exchanged between the virtual controller and the 3D model of the technological line in real time.

16-element photodiode array for the angular microdeflection detector and for stabilization of a laser radiation direction

NASA Astrophysics Data System (ADS)

Wegrzecki, Maciej; Piotrowski, Tadeusz; Bar, Jan; Dobrowolski, Rafał; Klimov, Andrii; Klos, Helena; Marchewka, Michał; Nieprzecki, Marek; Panas, Andrzej; Prokaryn, Piotr; Seredyński, Bartłomiej; Sierakowski, Andrzej; Słysz, Wojciech; Szmigiel, Dariusz; Zaborowski, Michal

2016-12-01

In this paper, the design and technology of two types of 16-element photodiode arrays is described. The arrays were developed by the ITE and are to be used in detection of microdeflection of laser radiation at the Institute of Metrology and Biomedical Engineering in the Faculty of Mechatronics of Warsaw University of Technology. The electrical and photoelectrical parameters of the arrays are presented.

Projectile Roll Dynamics and Control With a Low-Cost Skid-to-Turn Maneuver System

DTIC Science & Technology

2013-03-01

scheme. The mechatronics of the maneuver system was provided. The suitability of this design for survival at gun launch was assessed through...Projectile Roll Dynamics and Control With a Low-Cost Skid-to-Turn Maneuver System by Frank Fresconi, Ilmars Celmins, Mark Ilg, and James...5069 ARL-TR-6363 March 2013 Projectile Roll Dynamics and Control With a Low-Cost Skid-to-Turn Maneuver System Frank Fresconi, Ilmars

Modeling and Simulation of an Unmanned Ground Vehicle Power System

DTIC Science & Technology

2014-03-28

Wilhelm, A. N., Surgenor, B. W., and Pharoah, J. G., “Design and evaluation of a micro-fuel-cell-based power system for a mobile robot,” Mechatronics ... Embedded Control Systems ], Control Engineering, 91–116, Birkhuser Boston (2005). [12] Alur, R., Courcoubetis, C., Halbwachs, N., Henzinger, T., Ho, P.-H...Modeling and Simulation of an Unmanned Ground Vehicle Power System John Brodericka∗, Jack Hartnerb, Dawn Tilburya, and Ella Atkinsa aThe University

Mechatronic Materials and Systems. Design and Demonstration of High Aughtority Shape Morphing Structures

DTIC Science & Technology

2005-09-01

thermal expansion of these truss elements. One side of the structure is fully clamped, while the other is free to displace. As in prior assessments [6...levels, by using the finite element package ABAQUS . To simulate the complete system, the core and the Kagome face members are modeled using linear...code ABAQUS . To simulate the complete actuation system, the core and Kagome members are modeled using linear Timoshenko-type beams, while the solid

Optical vibration measurement of mechatronics devices

NASA Astrophysics Data System (ADS)

Yanabe, Shigeo

1993-09-01

An optical vibration measuring system which enables to detect both linear and angular displacement of 25 nm and 5 prad was developed. The system is mainly composed of a He-Ne laser, a displacement detecting photo-diode and lenses, and has linear and angular displacement magnification mechanism using two different principles of optical lever. The system was applied to measure vibrational characteristics of magnetic head slider of hard disk drives and to measure stator teeth driving velocities of ultrasonic motor.

LARM PKM solutions for torso design in humanoid robots

NASA Astrophysics Data System (ADS)

Ceccarelli, Marco

2014-12-01

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

Laser-self-mixing interferometry for mechatronics applications.

PubMed

Ottonelli, Simona; Dabbicco, Maurizio; De Lucia, Francesco; di Vietro, Michela; Scamarcio, Gaetano

2009-01-01

We report on the development of an all-interferometric optomechatronic sensor for the detection of multi-degrees-of-freedom displacements of a remote target. The prototype system exploits the self-mixing technique and consists only of a laser head, equipped with six laser sources, and a suitably designed reflective target. The feasibility of the system was validated experimentally for both single or multi-degrees-of-freedom measurements, thus demonstrating a simple and inexpensive alternative to costly and bulky existing systems.

Unbalance detection in rotor systems with active bearings using self-sensing piezoelectric actuators

NASA Astrophysics Data System (ADS)

Ambur, Ramakrishnan; Rinderknecht, Stephan

2018-03-01

Machines which are developed today are highly automated due to increased use of mechatronic systems. To ensure their reliable operation, fault detection and isolation (FDI) is an important feature along with a better control. This research work aims to achieve and integrate both these functions with minimum number of components in a mechatronic system. This article investigates a rotating machine with active bearings equipped with piezoelectric actuators. There is an inherent coupling between their electrical and mechanical properties because of which they can also be used as sensors. Mechanical deflection can be reconstructed from these self-sensing actuators from measured voltage and current signals. These virtual sensor signals are utilised to detect unbalance in a rotor system. Parameters of unbalance such as its magnitude and phase are detected by parametric estimation method in frequency domain. Unbalance location has been identified using hypothesis of localization of faults. Robustness of the estimates against outliers in measurements is improved using weighted least squares method. Unbalances are detected in a real test bench apart from simulation using its model. Experiments are performed in stationary as well as in transient case. As a further step unbalances are estimated during simultaneous actuation of actuators in closed loop with an adaptive algorithm for vibration minimisation. This strategy could be used in systems which aim for both fault detection and control action.

Advanced performance of small diaphragm vacuum pumps through the use of mechatronics

NASA Astrophysics Data System (ADS)

Lachenmann, R.; Dirscherl, J.

Oil-free diaphragm vacuum pumps have proven to be the best way in vacuum generation for the chemical laboratory and they also find increasing use as backing pumps for modern wide-range turbo molecular pumps. The majority of vacuum pumps in practical use pump only a rather small percentage of their lifetime at full gas load. A pump backing a turbo molecular pump does not have to pump a significant gas load when the high-vacuum pump is running at ultimate vacuum pressure. Also, for a vacuum distillation the vacuum pump has to operate at full speed only at the beginning to lower the pressure inside the system to a vacuum level where evaporation starts. In a rather leak-tight system the distillation process continues by evaporating from the hot liquid and condensing at the cold condenser without the need of a mechanical vacuum pump. Rotational speed controlled diaphragm pumps are now available through progress in mechatronics and offer high pumping speed capability for fast pump-down cycles and precise pressure control for distillations. At low gas load the rotational speed can be reduced, improving maintenance intervals, power consumption, noise, vibration and - surprisingly - also ultimate pressure. The different behaviour in pumping speed and ultimate pressure of rotational speed controlled diaphragm pumps in comparison to constant-speed pumps is related to the mechanical properties of the valves and gas dynamics .

An Interactive, Physics-Based Unmanned Ground Vehicle Simulator Leveraging Open Source Gaming Technology: Progress in the Development and Application of the Virtual Autonomous Navigation Environment (VANE) Desktop

DTIC Science & Technology

2009-01-01

interface, mechatronics, video games 1. INTRODUCTION Engineering methods have substantially and continuously evolved over the past 40 years. In the past...1970s, video games have pioneered interactive simulation and laid the groundwork for inexpensive computing that individuals, corporations, and...purposes. This has not gone unnoticed, and software technology and techniques evolved for video games are beginning to have extraordinary impact in

Effect of Coupling Point Selection on Distortion in Internet-distributed Hardware-in-the-Loop Simulation (PREPRINT)

DTIC Science & Technology

2011-04-01

USA, with a hybrid-powertrain-system simulator in Santa Clara, CA, USA ( Compere et al. 2006; Goodell et al. 2006; Brudnak et al. 2007) and, as a...based ( Compere et al. 2006; Goodell et al. 2006; Brudnak et al. 2007) frameworks, to address stability and distortion issues under a delayed coupling...loop simulation." Mechatronics 19(7): 1041-1042. Brudnak, M., M. Pozolo, V. Paul, S. Mohammad, W. Smith, M. Compere , J. Goodell, D. Holtz, T

Laser-Self-Mixing Interferometry for Mechatronics Applications

PubMed Central

Ottonelli, Simona; Dabbicco, Maurizio; De Lucia, Francesco; di Vietro, Michela; Scamarcio, Gaetano

2009-01-01

We report on the development of an all-interferometric optomechatronic sensor for the detection of multi-degrees-of-freedom displacements of a remote target. The prototype system exploits the self-mixing technique and consists only of a laser head, equipped with six laser sources, and a suitably designed reflective target. The feasibility of the system was validated experimentally for both single or multi-degrees-of-freedom measurements, thus demonstrating a simple and inexpensive alternative to costly and bulky existing systems. PMID:22412324

A Mechatronic System for Quantitative Application and Assessment of Massage-Like Actions in Small Animals

PubMed Central

Wang, Qian; Zeng, Hansong; Best, Thomas M.; Haas, Caroline; Heffner, Ned T.; Agarwal, Sudha; Zhao, Yi

2013-01-01

Massage therapy has a long history and has been widely believed effective in restoring tissue function, relieving pain and stress, and promoting overall well-being. However, the application of massage-like actions and the efficacy of massage are largely based on anecdotal experiences that are difficult to define and measure. This leads to a somewhat limited evidence-based interface of massage therapy with modern medicine. In this study, we introduce a mechatronic device that delivers highly reproducible massage-like mechanical loads to the hind limbs of small animals (rats and rabbits), where various massage-like actions are quantified by the loading parameters (magnitude, frequency and duration) of the compressive and transverse forces on the subject tissues. The effect of massage is measured by the difference in passive viscoelastic properties of the subject tissues before and after mechanical loading, both obtained by the same device. Results show that this device is useful in identifying the loading parameters that are most conducive to a change in tissue mechanical properties, and can determine the range of loading parameters that result in sustained changes in tissue mechanical properties and function. This device presents the first step in our effort for quantifying the application of massage-like actions used clinically and measurement of their efficacy that can readily be combined with various quantitative measures (e.g., active mechanical properties and physiological assays) for determining the therapeutic and mechanistic effects of massage therapies. PMID:23943071

Continuous operation of an ultra-low-power microcontroller using glucose as the sole energy source.

PubMed

Lee, Inyoung; Sode, Takashi; Loew, Noya; Tsugawa, Wakako; Lowe, Christopher Robin; Sode, Koji

2017-07-15

An ultimate goal for those engaged in research to develop implantable medical devices is to develop mechatronic implantable artificial organs such as artificial pancreas. Such devices would comprise at least a sensor module, an actuator module, and a controller module. For the development of optimal mechatronic implantable artificial organs, these modules should be self-powered and autonomously operated. In this study, we aimed to develop a microcontroller using the BioCapacitor principle. A direct electron transfer type glucose dehydrogenase was immobilized onto mesoporous carbon, and then deposited on the surface of a miniaturized Au electrode (7mm 2 ) to prepare a miniaturized enzyme anode. The enzyme fuel cell was connected with a 100 μF capacitor and a power boost converter as a charge pump. The voltage of the enzyme fuel cell was increased in a stepwise manner by the charge pump from 330mV to 3.1V, and the generated electricity was charged into a 100μF capacitor. The charge pump circuit was connected to an ultra-low-power microcontroller. Thus prepared BioCapacitor based circuit was able to operate an ultra-low-power microcontroller continuously, by running a program for 17h that turned on an LED every 60s. Our success in operating a microcontroller using glucose as the sole energy source indicated the probability of realizing implantable self-powered autonomously operated artificial organs, such as artificial pancreas. Copyright © 2016 Elsevier B.V. All rights reserved.

New methodology of designing inexpensive hybrid control-acquisition systems for mechatronic constructions.

PubMed

Augustyn, Jacek

2013-12-13

This article presents a new methodology for designing a hybrid control and acquisition system consisting of a 32-bit SoC microsystem connected via a direct Universal Serial Bus (USB) with a standard commercial off-the-shelf (COTS) component running the Android operating system. It is proposed to utilize it avoiding the use of an additional converter. An Android-based component was chosen to explore the potential for a mobile, compact and energy efficient solution with easy to build user interfaces and easy wireless integration with other computer systems. This paper presents results of practical implementation and analysis of experimental real-time performance. It covers closed control loop time between the sensor/actuator module and the Android operating system as well as the real-time sensor data stream within such a system. Some optimisations are proposed and their influence on real-time performance was investigated. The proposed methodology is intended for acquisition and control of mechatronic systems, especially mobile robots. It can be used in a wide range of control applications as well as embedded acquisition-recording devices, including energy quality measurements, smart-grids and medicine. It is demonstrated that the proposed methodology can be employed without developing specific device drivers. The latency achieved was less than 0.5 ms and the sensor data stream throughput was on the order of 750 KB/s (compared to 3 ms latency and 300 KB/s in traditional solutions).

[Navigated control: a new concept in computer assisted ENT-surgery].

PubMed

Strauss, G; Koulechov, K; Richter, R; Dietz, A; Meixensberger, J; Trantakis, C; Lüth, T

2005-08-01

This work conceived and evaluates a mechatronical system for ORL-surgery by example of a Shaver for Functional Endoscopic Sinus Surgery controlled by navigation. The Shaver is automatically on/off-regulated depending on the current position in relation to the planned working space. This working space is defined on the basis of the individual CT data. Within this area the Shaver reacts to the signal of the surgeon (foot pedal). If the Shaver leaves the working space, an interruption of the drive regulation to the Shaver takes place. The evaluation of the planning software based on 32 patient CT-data sets. The registration accuracy in a anatomical model was examined on 451 measurements of endonasal attached titanium screws. The conversions of the working space were evaluated at 5 different technical models. The average time for segmenting the working space was found at 4.23 minutes per case. An average registration accuracy of the Shaver of 1.08 mm resulted. The pre-defined cavity was to be cleared away without restrictions. The preoperative determined work-space was converted by 3.1 mm over all levels. The study proves the feasibility of a mechatronical assistant system by the example of the navigate-controlled Shaver in paranasal sinus surgery. Contrary to conventional CAS solutions redundancy and cognitive discharge of the surgeon are considered in this conception. We see numerous applications according to the explained principle for power-control of instruments in ORL-surgery in the future such as drilling, high frequency surgery or laser.

New Methodology of Designing Inexpensive Hybrid Control-Acquisition Systems for Mechatronic Constructions

PubMed Central

Augustyn, Jacek

2013-01-01

This article presents a new methodology for designing a hybrid control and acquisition system consisting of a 32-bit SoC microsystem connected via a direct Universal Serial Bus (USB) with a standard commercial off-the-shelf (COTS) component running the Android operating system. It is proposed to utilize it avoiding the use of an additional converter. An Android-based component was chosen to explore the potential for a mobile, compact and energy efficient solution with easy to build user interfaces and easy wireless integration with other computer systems. This paper presents results of practical implementation and analysis of experimental real-time performance. It covers closed control loop time between the sensor/actuator module and the Android operating system as well as the real-time sensor data stream within such a system. Some optimisations are proposed and their influence on real-time performance was investigated. The proposed methodology is intended for acquisition and control of mechatronic systems, especially mobile robots. It can be used in a wide range of control applications as well as embedded acquisition-recording devices, including energy quality measurements, smart-grids and medicine. It is demonstrated that the proposed methodology can be employed without developing specific device drivers. The latency achieved was less than 0.5 ms and the sensor data stream throughput was on the order of 750 KB/s (compared to 3 ms latency and 300 KB/s in traditional solutions). PMID:24351633

Automated Modeling and Simulation Using the Bond Graph Method for the Aerospace Industry

NASA Technical Reports Server (NTRS)

Granda, Jose J.; Montgomery, Raymond C.

2003-01-01

Bond graph modeling was originally developed in the late 1950s by the late Prof. Henry M. Paynter of M.I.T. Prof. Paynter acted well before his time as the main advantage of his creation, other than the modeling insight that it provides and the ability of effectively dealing with Mechatronics, came into fruition only with the recent advent of modern computer technology and the tools derived as a result of it, including symbolic manipulation, MATLAB, and SIMULINK and the Computer Aided Modeling Program (CAMPG). Thus, only recently have these tools been available allowing one to fully utilize the advantages that the bond graph method has to offer. The purpose of this paper is to help fill the knowledge void concerning its use of bond graphs in the aerospace industry. The paper first presents simple examples to serve as a tutorial on bond graphs for those not familiar with the technique. The reader is given the basic understanding needed to appreciate the applications that follow. After that, several aerospace applications are developed such as modeling of an arresting system for aircraft carrier landings, suspension models used for landing gears and multibody dynamics. The paper presents also an update on NASA's progress in modeling the International Space Station (ISS) using bond graph techniques, and an advanced actuation system utilizing shape memory alloys. The later covers the Mechatronics advantages of the bond graph method, applications that simultaneously involves mechanical, hydraulic, thermal, and electrical subsystem modeling.

Interactive Internet Based Pendulum for Learning Mechatronics

NASA Astrophysics Data System (ADS)

Sethson, Magnus R.

2003-01-01

This paper describes an Internet based remote experimental setup of a double lined pendulum mechanism for students experiments at the M. Sc. Level. Some of the first year experience using this web-based setup in classes is referred. In most of the courses given at the division of mechanical engineering systems at Linkoeping Institute of Technology we provide experimental setups to enhance the teaching Of M.Sc. students. Many of these experimental setups involve mechatronical systems. Disciplines like fluid power, electronics, and mechanics and also software technologies are used in each experiment. As our campus has recently been split into two different cities some new concepts for distance learning have been studied. The one described here tries to implement remotely controlled mechatronic setups for teaching basic programming of real-time operating systems and analysis of the dynamics of mechanical systems. The students control the regulators for the pendulum through a web interface and get measurement results and a movie back through their email. The present setup uses a double linked pendulum that is controlled by a DC-motor and monitored through both camera and angular position sensors. All software needed is hosted on a double-processor PC running the RedHat 7.1. distribution complemented with real-time scheduling using DIAPM-RTAI 1.7. The Internet site is presented to the students using PHP, Apache and MySQL. All of the used software originates from the open source domain. The experience from integrating these technologies and security issues is discussed together with the web-camera interface. One of the important experiences from this project so far is the need for a good visual feedback. This is both in terms of video speed but also in resolution. It has been noticed that when the students makes misstates and wants to search the failure they want clear, large images with high resolution to support their personal believes in the cause of the failure. Even if the student does not need a high resolution image to get the idea of the mechanics and the function of the pendulum, they need such high quality images to get confidence in the hardware. It is important to support this when the ability to direct hand-on contact with the hardware is taken away. Some of the experiences in combining open source software; real-time scheduling and measurement hardware into a cost efficient way is also discussed. The pendulum has been available publicly on the Internet but has now been removed due to security issues.

Spin-Mechatronics

NASA Astrophysics Data System (ADS)

Matsuo, Mamoru; Saitoh, Eiji; Maekawa, Sadamichi

2017-01-01

We investigate the interconversion phenomena between spin and mechanical angular momentum in moving objects. In particular, the recent results on spin manipulation and spin-current generation by mechanical motion are examined. In accelerating systems, spin-dependent gauge fields emerge, which enable the conversion from mechanical angular momentum into spins. Such a spin-mechanical effect is predicted by quantum theory in a non-inertial frame. Experiments which confirm the effect, i.e., the resonance frequency shift in nuclear magnetic resonance, the stray field measurement of rotating metals, and electric voltage generation in liquid metals, are discussed.

Effect of vibrotactile feedback on an EMG-based proportional cursor control system.

PubMed

Li, Shunchong; Chen, Xingyu; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang

2013-01-01

Surface electromyography (sEMG) has been introduced into the bio-mechatronics systems, however, most of them are lack of the sensory feedback. In this paper, the effect of vibrotactile feedback for a myoelectric cursor control system is investigated quantitatively. Simultaneous and proportional control signals are extracted from EMG using a muscle synergy model. Different types of feedback including vibrotactile feedback and visual feedback are added, assessed and compared with each other. The results show that vibrotactile feedback is capable of improving the performance of EMG-based human machine interface.

Photonics applications and web engineering: WILGA Summer 2016

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2016-09-01

Wilga Summer 2016 Symposium on Photonics Applications and Web Engineering was held on 29 May - 06 June. The Symposium gathered over 350 participants, mainly young researchers active in optics, optoelectronics, photonics, electronics technologies and applications. There were presented around 300 presentations in a few main topical tracks including: bio-photonics, optical sensory networks, photonics-electronics-mechatronics co-design and integration, large functional system design and maintenance, Internet of Thins, and other. The paper is an introduction the 2016 WILGA Summer Symposium Proceedings, and digests some of the Symposium chosen key presentations.

Photonics applications and web engineering: WILGA Summer 2015

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2015-09-01

Wilga Summer 2015 Symposium on Photonics Applications and Web Engineering was held on 23-31 May. The Symposium gathered over 350 participants, mainly young researchers active in optics, optoelectronics, photonics, electronics technologies and applications. There were presented around 300 presentations in a few main topical tracks including: bio-photonics, optical sensory networks, photonics-electronics-mechatronics co-design and integration, large functional system design and maintenance, Internet of Thins, and other. The paper is an introduction the 2015 WILGA Summer Symposium Proceedings, and digests some of the Symposium chosen key presentations.

Sensing, Control, and System Integration for Autonomous Vehicles: A Series of Challenges

NASA Astrophysics Data System (ADS)

Özgüner, Ümit; Redmill, Keith

One of the important examples of mechatronic systems can be found in autonomous ground vehicles. Autonomous ground vehicles provide a series of challenges in sensing, control and system integration. In this paper we consider off-road autonomous vehicles, automated highway systems and urban autonomous driving and indicate the unifying aspects. We specifically consider our own experience during the last twelve years in various demonstrations and challenges in attempting to identify unifying themes. Such unifying themes can be observed in basic hierarchies, hybrid system control approaches and sensor fusion techniques.

Development of Engineering Design Education in the Department of Mechanical Engineering at Kanazawa Technical College

NASA Astrophysics Data System (ADS)

Yamada, Hirofumi; Ten-Nichi, Michio; Mathui, Hirosi; Nakamura, Akizi

This paper introduces a method of the engineering design education for college of technology mechanical engineering students. In order to teach the practical engineering design, the MIL-STD-499A process is adapted and improved upon for a Mechatronics hands-on lesson used as the MOT method. The educational results in five years indicate that knowledge of the engineering management is useful for college students in learning engineering design. Portfolio for lessons and the hypothesis method also have better effects on the understanding of the engineering specialty.

MRI-guided prostate focal laser ablation therapy using a mechatronic needle guidance system

NASA Astrophysics Data System (ADS)

Cepek, Jeremy; Lindner, Uri; Ghai, Sangeet; Davidson, Sean R. H.; Trachtenberg, John; Fenster, Aaron

2014-03-01

Focal therapy of localized prostate cancer is receiving increased attention due to its potential for providing effective cancer control in select patients with minimal treatment-related side effects. Magnetic resonance imaging (MRI)-guided focal laser ablation (FLA) therapy is an attractive modality for such an approach. In FLA therapy, accurate placement of laser fibers is critical to ensuring that the full target volume is ablated. In practice, error in needle placement is invariably present due to pre- to intra-procedure image registration error, needle deflection, prostate motion, and variability in interventionalist skill. In addition, some of these sources of error are difficult to control, since the available workspace and patient positions are restricted within a clinical MRI bore. In an attempt to take full advantage of the utility of intraprocedure MRI, while minimizing error in needle placement, we developed an MRI-compatible mechatronic system for guiding needles to the prostate for FLA therapy. The system has been used to place interstitial catheters for MRI-guided FLA therapy in eight subjects in an ongoing Phase I/II clinical trial. Data from these cases has provided quantification of the level of uncertainty in needle placement error. To relate needle placement error to clinical outcome, we developed a model for predicting the probability of achieving complete focal target ablation for a family of parameterized treatment plans. Results from this work have enabled the specification of evidence-based selection criteria for the maximum target size that can be confidently ablated using this technique, and quantify the benefit that may be gained with improvements in needle placement accuracy.

Intelligent robot trends and predictions for the first year of the new millennium

NASA Astrophysics Data System (ADS)

Hall, Ernest L.

2000-10-01

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor. In factory automation, industrial robots can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

Optical design of MOEMS-based micro-mechatronic modules for applications in spectroscopy

NASA Astrophysics Data System (ADS)

Tortschanoff, A.; Kremer, M.; Sandner, T.; Kenda, A.

2014-05-01

One of the important challenges for widespread application of MOEMS devices is to provide a modular interface for easy handling and accurate driving of the MOEMS elements, in order to enable seamless integration in larger spectroscopic system solutions. In this contribution we present in much detail the optical design of MOEMS driver modules comprising optical position sensing together with driver electronics, which can actively control different electrostatically driven MOEMS. Furthermore we will present concepts for compact spectroscopic devices, based on different MOEMS scanner modules with lD and 2D optical elements.

Method for Reading Sensors and Controlling Actuators Using Audio Interfaces of Mobile Devices

PubMed Central

Aroca, Rafael V.; Burlamaqui, Aquiles F.; Gonçalves, Luiz M. G.

2012-01-01

This article presents a novel closed loop control architecture based on audio channels of several types of computing devices, such as mobile phones and tablet computers, but not restricted to them. The communication is based on an audio interface that relies on the exchange of audio tones, allowing sensors to be read and actuators to be controlled. As an application example, the presented technique is used to build a low cost mobile robot, but the system can also be used in a variety of mechatronics applications and sensor networks, where smartphones are the basic building blocks. PMID:22438726

The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

NASA Astrophysics Data System (ADS)

Kurc, Krzysztof; Szybicki, Dariusz; Burghardt, Andrzej; Muszyńska, Magdalena

2016-04-01

The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

Development of a shape memory alloy actuator for transanal endoscopic microsurgery.

PubMed

Wang, Zhigang; Hewit, Jim; Abel, Eric; Slade, Alan; Steele, Bob

2005-01-01

This paper describes problems in traditional transanal endoscopic microsurgery (TEM), and proposes a mechatronics approach in new design. As one of several actuation mechanisms to expose rectal cavity, a compression coil spring made of shape memory alloy (SMA) has been studied. A custom SMA spring actuator was designed to displace 12 mm with 45 N driving force. This actuator was embedded with our new TEM tubular structure and can be used to expose a rectal site up to 60 mm wide and 80 mm long. This exposure is considered to be sufficient for treating many tumors.

Method for reading sensors and controlling actuators using audio interfaces of mobile devices.

PubMed

Aroca, Rafael V; Burlamaqui, Aquiles F; Gonçalves, Luiz M G

2012-01-01

This article presents a novel closed loop control architecture based on audio channels of several types of computing devices, such as mobile phones and tablet computers, but not restricted to them. The communication is based on an audio interface that relies on the exchange of audio tones, allowing sensors to be read and actuators to be controlled. As an application example, the presented technique is used to build a low cost mobile robot, but the system can also be used in a variety of mechatronics applications and sensor networks, where smartphones are the basic building blocks.

A semi-active damper in vertical secondary suspension for the comfort increase in passenger trains

NASA Astrophysics Data System (ADS)

Ripamonti, Francesco; Chiarabaglio, Andrea; Resta, Ferruccio

2017-04-01

Passive oil dampers for railway vehicles present a damping and stiffness characteristics, which depend from excitation history. This behaviour is not acceptable for many high-performance applications. A mechatronic approach, able to continuously adjust the damping coefficient according to the operation requirements, represents a very attractive and smart solution. In this paper, a control strategy for semi-active dampers of train vertical secondary suspensions is presented. The controller aims at assuring the maximum available damping at low frequencies, while at high frequencies minimizes the force transmitted to the carbody that excites the bending modes.

Use Of REX Control System For The Ball On Spool Model

NASA Astrophysics Data System (ADS)

Ožana, Štěpán; Pieš, Martin; Hájovský, Radovan; Dočekal, Tomáš

2015-07-01

This paper deals with the design and implementation of linear quadratic controller (LQR) for modeling of Ball on Spool. The paper presents the entire process, starting from mathematical model through control design towards application of controller with the use of given hardware platform. Proposed solution by means of REX Control System provides a high level of user comfort regarding implementation of control loop, diagnostics and automatically generated visualization based on HTML5. It represents an ideal example of a complex nonlinear mechatronic system with a lot of possibilities to apply other types of controllers.

Head-Disk Interface Technology: Challenges and Approaches

NASA Astrophysics Data System (ADS)

Liu, Bo

Magnetic hard disk drive (HDD) technology is believed to be one of the most successful examples of modern mechatronics systems. The mechanical beauty of magnetic HDD includes simple but super high accuracy positioning head, positioning technology, high speed and stability spindle motor technology, and head-disk interface technology which keeps the millimeter sized slider flying over a disk surface at nanometer level slider-disk spacing. This paper addresses the challenges and possible approaches on how to further reduce the slider disk spacing whilst retaining the stability and robustness level of head-disk systems for future advanced magnetic disk drives.

Multiprog virtual laboratory applied to PLC programming learning

NASA Astrophysics Data System (ADS)

Shyr, Wen-Jye

2010-10-01

This study develops a Multiprog virtual laboratory for a mechatronics education designed to teach how to programme a programmable logic controller (PLC). The study was carried out with 34 students in the Department of Industry Education and Technology at National Changhua University of Education in Taiwan. In total, 17 students were assigned to each group, experimental and control. Two laboratory exercises were designed to provide students with experience in PLC programming. The results show that the experiments supported by Multiprog virtual laboratory user-friendly control interfaces generate positive meaningful results in regard to students' knowledge and understanding of the material.

Workshop report: US-China workshop on smart structures and smart systems

NASA Astrophysics Data System (ADS)

Tomizuka, Masayoshi

2006-03-01

A Joint U.S.-China workshop on the topic of Integrated Sensing Systems, Mechatronics and Smart Structures Technologies was held in Jinan, China in October 2005 to evaluate the current status of research and education in the topic areas in the United States and China, to identify critical and strategic research and educational issues of mutual interest, and to identify joint research projects and potential research teams for collaborative research activities. The workshop included a series of presentations by leading researchers and educators from the United States and China and group discussions on the workshop objectives.

Design and Evaluation of a new mechatronic platform for assessment and prevention of fall risks

PubMed Central

2012-01-01

Background Studying the responses in human behaviour to external perturbations during daily motor tasks is of key importance for understanding mechanisms of balance control and for investigating the functional response of targeted subjects. Experimental platforms as far developed entail a low number of perturbations and, only in few cases, have been designed to measure variables used at run time to trigger events during a certain motor task. Methods This work introduces a new mechatronic device, named SENLY, that provides balance perturbations while subjects carry out daily motor tasks (e.g., walking, upright stance). SENLY mainly consists of two independently-controlled treadmills that destabilize balance by suddenly perturbing belts movements in the horizontal plane. It is also provided with force sensors, which can be used at run time to estimate the ground reaction forces and identify events along the gait cycle in order to trigger the platform perturbation. The paper also describes the customized procedures adopted to calibrate the platform and the first testing trials aimed at evaluating its performance. Results SENLY allows to measure both vertical ground reaction forces and their related location more precisely and more accurately than other platforms of the same size. Moreover, the platform kinematic and kinetic performance meets all required specifications, with a negligible influence of the instrumental noise. Conclusion A new perturbing platform able to reproduce different slipping paradigms while measuring GRFs at run time in order to enable the asynchronous triggering during the gait cycle was designed and developed. Calibration procedures and pilot tests show that SENLY allows to suitably estimate dynamical features of the load and to standardize experimental sessions, improving the efficacy of functional analysis. PMID:22838638

Stiffness control of a nylon twisted coiled actuator for use in mechatronic rehabilitation devices.

PubMed

Edmonds, Brandon P R; Trejos, Ana Luisa

2017-07-01

Mechatronic rehabilitation devices, especially wearables, have been researched extensively and proven to be promising additions to physical therapy, but most designs utilize traditional actuators providing unnatural, robot-like movements. Therefore, many researchers have focused on the development of actuators that mimic biological properties to provide patients with improved results, safety, and comfort. Recently, a twisted-coiled actuator (TCA) made from nylon thread has been found to possess many of these important properties when heated, such as variable stiffness, flexibility, and high power density. So far, TCAs have been characterized in controlled environments to define their fundamental properties under simple loading configurations. However, for an actuator like this to be implemented in a biomimetic design such as an exoskeleton, it needs to be characterized and controlled as a biological muscle. One major control law that natural muscles exhibit is stiffness control, allowing humans to passively avoid injury from external forces, or move the limbs in a controlled or high impact motion. This type of control is created by the antagonistic muscle arrangement. In this paper, an antagonistic apparatus was developed to model the TCAs from a biological standpoint, the stiffness was characterized with respect to the TCA temperature, and a fully functional stiffness and position controller was implemented with an incorporated TCA thermal model. The stiffness was found to have a linear relationship to the TCA temperatures (R 2 =0.95). The controller performed with a stiffness accuracy of 98.95% and a position accuracy of 92.7%. A final trial with varying continuous position input and varying stepped stiffness input exhibited position control with R 2 =0.9638.

Fiber optical sensor system for shape and haptics for flexible instruments in minimally invasive surgery: overview and status quo

NASA Astrophysics Data System (ADS)

Ledermann, Christoph; Pauer, Hendrikje; Woern, Heinz

2014-05-01

In minimally invasive surgery, exible mechatronic instruments promise to improve the overall performance of surgical interventions. However, those instruments require highly developed sensors in order to provide haptic feedback to the surgeon or to enable (semi-)autonomous tasks. Precisely, haptic sensors and a shape sensor are required. In this paper, we present our ber optical sensor system of Fiber Bragg Gratings, which consists of a shape sensor, a kinesthetic sensor and a tactile sensor. The status quo of each of the three sensors is described, as well as the concept to integrate them into one ber optical sensor system.

Medical Device for Automated Prick Test Reading.

PubMed

Justo, Xabier; Diaz, Inaki; Gil, Jorge Juan; Gastaminza, Gabriel

2018-05-01

Allergy tests are routinely performed in most hospitals everyday. However, measuring the outcomes of these tests is still a very laborious manual task. Current methods and systems lack of precision and repeatability. This paper presents a novel mechatronic system that is able to scan a patient's entire arm and provide allergists with precise measures of wheals for diagnosis. The device is based on 3-D laser technology and specific algorithms have been developed to process the information gathered. This system aims to automate the reading of skin prick tests and make gains in speed, accuracy, and reliability. Several experiments have been performed to evaluate the performance of the system.

On Board Data Acquisition System with Intelligent Transducers for Unmanned Aerial Vehicles

NASA Astrophysics Data System (ADS)

Rochala, Zdzisław

2012-02-01

This report presents conclusions from research project no. ON50900363 conducted at the Mechatronics Department, Military University of Technology in the years 2007-2010. As the main object of the study involved the preparation of a concept and the implementation of an avionics data acquisition system intended for research during flight of unmanned aerial vehicles of the mini class, this article presents a design of an avionics system and describes equipment solutions of a distributed measurement system intended for data acquisition consisting of intelligent transducers. The data collected during a flight controlled by an operator confirmed proper operation of the individual components of the data acquisition system.

Mechatronics Education: From Paper Design to Product Prototype Using LEGO NXT Parts

NASA Astrophysics Data System (ADS)

Lofaro, Daniel M.; Le, Tony Truong Giang; Oh, Paul

The industrial design cycle starts with design then simulation, prototyping, and testing. When the tests do not match the design requirements the design process is started over again. It is important for students to experience this process before they leave their academic institution. The high cost of the prototype phase, due to CNC/Rapid Prototype machine costs, makes hands on study of this process expensive for students and the academic institutions. This document shows that the commercially available LEGO NXT Robot kit is a viable low cost surrogate to the expensive industrial CNC/Rapid Prototype portion of the industrial design cycle.

Opto-mechatronics issues in solid immersion lens based near-field recording

NASA Astrophysics Data System (ADS)

Park, No-Cheol; Yoon, Yong-Joong; Lee, Yong-Hyun; Kim, Joong-Gon; Kim, Wan-Chin; Choi, Hyun; Lim, Seungho; Yang, Tae-Man; Choi, Moon-Ho; Yang, Hyunseok; Rhim, Yoon-Chul; Park, Young-Pil

2007-06-01

We analyzed the effects of an external shock on a collision problem in a solid immersion lens (SIL) based near-field recording (NFR) through a shock response analysis and proposed a possible solution to this problem with adopting a protector and safety mode. With this proposed method the collision between SIL and media can be avoided. We showed possible solution for contamination problem in SIL based NFR through a numerical air flow analysis. We also introduced possible solid immersion lens designs to increase the fabrication and assembly tolerances of an optical head with replicated lens. Potentially, these research results could advance NFR technology for commercial product.

An Automated Mouse Tail Vascular Access System by Vision and Pressure Feedback.

PubMed

Chang, Yen-Chi; Berry-Pusey, Brittany; Yasin, Rashid; Vu, Nam; Maraglia, Brandon; Chatziioannou, Arion X; Tsao, Tsu-Chin

2015-08-01

This paper develops an automated vascular access system (A-VAS) with novel vision-based vein and needle detection methods and real-time pressure feedback for murine drug delivery. Mouse tail vein injection is a routine but critical step for preclinical imaging applications. Due to the small vein diameter and external disturbances such as tail hair, pigmentation, and scales, identifying vein location is difficult and manual injections usually result in poor repeatability. To improve the injection accuracy, consistency, safety, and processing time, A-VAS was developed to overcome difficulties in vein detection noise rejection, robustness in needle tracking, and visual servoing integration with the mechatronics system.

SHERPA Electromechanical Test Bed

NASA Technical Reports Server (NTRS)

Wason, John D.

2005-01-01

SHERPA (Strap-on High-altitude Entry Reconnaissance and Precision Aeromaneuver system) is a concept for low-cost-high-accuracy Martian reentry guidance for small scout-class missions with a capsule diameter of approximately 1 meter. This system uses moving masses to change the center of gravity of the capsule in order to control the lift generated by the controlled imbalance. This project involved designing a small proof-of-concept demonstration system that can be used to test the concept through bench-top testing, hardware-in-the-loop testing, and eventually through a drop test from a helicopter. This project has focused on the Mechatronic design aspects of the system including the mechanical, electrical, computer, and low-level control of the concept demonstration system.

Capsule endoscopy—A mechatronics perspective

NASA Astrophysics Data System (ADS)

Lin, Lin; Rasouli, Mahdi; Kencana, Andy Prima; Tan, Su Lim; Wong, Kai Juan; Ho, Khek Yu; Phee, Soo Jay

2011-03-01

The recent advances in integrated circuit technology, wireless communication, and sensor technology have opened the door for development of miniature medical devices that can be used for enhanced monitoring and treatment of medical conditions. Wireless capsule endoscopy is one of such medical devices that has gained significant attention during the past few years. It is envisaged that future wireless capsule endoscopies replace traditional endoscopy procedures by providing advanced functionalities such as active locomotion, body fluid/tissue sampling, and drug delivery. Development of energy-efficient miniaturized actuation mechanisms is a key step toward achieving this goal. Here, we review some of the actuators that could be integrated into future wireless capsules and discuss the existing challenges.

Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

PubMed Central

Fischer, Gregory S.; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W.; Tempany, Clare M.; Hata, Nobuhiko; Fichtinger, Gabor

2011-01-01

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system. PMID:21686038

Methodology for cloud-based design of robots

NASA Astrophysics Data System (ADS)

Ogorodnikova, O. M.; Vaganov, K. A.; Putimtsev, I. D.

2017-09-01

This paper presents some important results for cloud-based designing a robot arm by a group of students. Methodology for the cloud-based design was developed and used to initiate interdisciplinary project about research and development of a specific manipulator. The whole project data files were hosted by Ural Federal University data center. The 3D (three-dimensional) model of the robot arm was created using Siemens PLM software (Product Lifecycle Management) and structured as a complex mechatronics product by means of Siemens Teamcenter thin client; all processes were performed in the clouds. The robot arm was designed in purpose to load blanks up to 1 kg into the work space of the milling machine for performing student's researches.

Comparison of three optical methods to study erythrocyte aggregation.

PubMed

Zhao, H; Wang, X; Stoltz, J F

1999-01-01

The aim of this work was to evaluate three optical methods designed to determine erythrocyte aggregation: Erythroaggregometer (EA; Regulest, France), Laser-assisted Optical Rotational Cell Analyzer (LORCA; Mechatronics, Netherlands) and Fully Automatic Erythrocyte Aggregometer (FAEA; Myrenne, GmbH, Germany). Blood samples were taken from fifty donors (26 males and 24 females). The aggregation of normal red blood cell (RBC) and RBCs suspended in three normo- and hyperaggregating suspending media was studied. The results revealed some significant correlations between parameters measured by these instruments, in particular, between the indexes of aggregation of EA and LORCA. Further, RBC aggregation of multiple myeloma patients was also studied and a hyper erythrocyte aggregation state was found by EA and LORCA.

Experimental characterization of a binary actuated parallel manipulator

NASA Astrophysics Data System (ADS)

Giuseppe, Carbone

2016-05-01

This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

Fluorene-based macromolecular nanostructures and nanomaterials for organic (opto)electronics.

PubMed

Xie, Ling-Hai; Yang, Su-Hui; Lin, Jin-Yi; Yi, Ming-Dong; Huang, Wei

2013-10-13

Nanotechnology not only opens up the realm of nanoelectronics and nanophotonics, but also upgrades organic thin-film electronics and optoelectronics. In this review, we introduce polymer semiconductors and plastic electronics briefly, followed by various top-down and bottom-up nano approaches to organic electronics. Subsequently, we highlight the progress in polyfluorene-based nanoparticles and nanowires (nanofibres), their tunable optoelectronic properties as well as their applications in polymer light-emitting devices, solar cells, field-effect transistors, photodetectors, lasers, optical waveguides and others. Finally, an outlook is given with regard to four-element complex devices via organic nanotechnology and molecular manufacturing that will spread to areas such as organic mechatronics in the framework of robotic-directed science and technology.

Optimization of the Robotic Joint Equipped with Epicyloidal Gear and Direct Drive for Space Applications

NASA Astrophysics Data System (ADS)

Seweryn, Karol; Grassmann, Kamil; Ciesielska, Monika; Rybus, Tomasz; Turek, Michal

2013-09-01

One of the most critical element in the orbital manipulators are kinematic joints. Joints must be adapted to work in tough conditions of space environment and must ensure the greatest efficiency and work without backlash. At the Space Mechatronics and Robotics Laboratory (LMRS) of the Space Research Centre, PAS our team designed and built a lightweight kinematic pair based on a new concept. The new concept is based on the epicycloid two-stage gearbox with torque motor. In this paper we have focused on optimization of the joint design for space application. The optimization was focused on the minimization of the mass and backlash effects and on maximizing the joint efficiency.

Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions.

PubMed

Fischer, Gregory S; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W; Tempany, Clare M; Hata, Nobuhiko; Fichtinger, Gabor

2008-06-13

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.

Transdisciplinary integration and interfacing software in mechatronic system for carbon sequestration and harvesting energy in the agricultural soils for rewarding farmers through green certificates

NASA Astrophysics Data System (ADS)

Pop, P. P.; Pop-Vadean, A.; Barz, C.; Latinovic, T.

2017-01-01

In this article we will present a transdisciplinary approach to carbon sequestration in agricultural soils. The software provides a method proposed to measure the amount of carbon that can be captured from different soil types and different crop. The application has integrated an intuitive interface, is portable and calculate the number of green certificates as a reward for farmers financial support for environmental protection. We plan to initiate a scientific approach to environmental protection through financial incentives for agriculture fits in EU rules by taxing big polluters and rewarding those who maintain a suitable environment for the development of ecological and competitive agriculture.

Research on fabrication of aspheres at the Center of Optics Technology (University of Applied Science in Aalen); Techical Digest

NASA Astrophysics Data System (ADS)

Boerret, Rainer; Burger, Jochen; Bich, Andreas; Gall, Christoph; Hellmuth, Thomas

2005-05-01

The Center of Optics Technology at the University of Applied Science, founded in 2003, is part of the School of Optics and Mechatronics. It completes the existing optical engineering department with a full optical fabrication and metrology chain and serves in parallel as a technology transfer center, to provide area industries with the most up-to-date technology in optical fabrication and engineering. Two examples of research work will be presented. The first example is the optimizing of the grinding process for high precision aspheres, the other is generating and polishing of a freeform optical element which is used as a phase plate.

Research on fabrication of aspheres at the Center of Optics Technology (University of Applied Science in Aalen); Techical Digest

NASA Astrophysics Data System (ADS)

Boerret, Rainer; Burger, Jochen; Bich, Andreas; Gall, Christoph; Hellmuth, Thomas

2005-05-01

The Center of Optics Technology at the University of Applied Science, founded in 2003, is part of the School of Optics & Mechatronics. It completes the existing optical engineering department with a full optical fabrication and metrology chain and serves in parallel as a technology transfer center, to provide area industries with the most up-to-date technology in optical fabrication and engineering. Two examples of research work will be presented. The first example is the optimizing of the grinding process for high precision aspheres, the other is generating and polishing of a freeform optical element which is used as a phase plate.

Preliminary Results of a New Auxiliary Mechatronic Near-Field Radar System to 3D Mammography for Early Detection of Breast Cancer †

PubMed Central

Molaei, Ali; Obermeier, Richard; Westwood, Andrew; Martinez, Aida; Martinez Lorenzo, Jose Angel

2018-01-01

Accurate and early detection of breast cancer is of high importance, as it is directly associated with the patients’ overall well-being during treatment and their chances of survival. Uncertainties in current breast imaging methods can potentially cause two main problems: (1) missing newly formed or small tumors; and (2) false alarms, which could be a source of stress for patients. A recent study at the Massachusetts General Hospital (MGH) indicates that using Digital Breast Tomosynthesis (DBT) can reduce the number of false alarms, when compared to conventional mammography. Despite the image quality enhancement DBT provides, the accurate detection of cancerous masses is still limited by low radiological contrast (about 1%) between the fibro-glandular tissue and affected tissue at X-ray frequencies. In a lower frequency region, at microwave frequencies, the contrast is comparatively higher (about 10%) between the aforementioned tissues; yet, microwave imaging suffers from low spatial resolution. This work reviews conventional X-ray breast imaging and describes the preliminary results of a novel near-field radar imaging mechatronic system (NRIMS) that can be fused with the DBT, in a co-registered fashion, to combine the advantages of both modalities. The NRIMS consists of two antipodal Vivaldi antennas, an XY positioner, and an ethanol container, all of which are particularly designed based on the DBT physical specifications. In this paper, the independent performance of the NRIMS is assessed by (1) imaging a bearing ball immersed in sunflower oil and (2) computing the heat Specific Absorption Rate (SAR) due to the electromagnetic power transmitted into the breast. The preliminary results demonstrate that the system is capable of generating images of the ball. Furthermore, the SAR results show that the system complies with the standards set for human trials. As a result, a configuration based on this design might be suitable for use in realistic clinical applications. PMID:29370106

Preliminary Results of a New Auxiliary Mechatronic Near-Field Radar System to 3D Mammography for Early Detection of Breast Cancer.

PubMed

Ghanbarzadeh Dagheyan, Ashkan; Molaei, Ali; Obermeier, Richard; Westwood, Andrew; Martinez, Aida; Martinez Lorenzo, Jose Angel

2018-01-25

Accurate and early detection of breast cancer is of high importance, as it is directly associated with the patients' overall well-being during treatment and their chances of survival. Uncertainties in current breast imaging methods can potentially cause two main problems: (1) missing newly formed or small tumors; and (2) false alarms, which could be a source of stress for patients. A recent study at the Massachusetts General Hospital (MGH) indicates that using Digital Breast Tomosynthesis (DBT) can reduce the number of false alarms, when compared to conventional mammography. Despite the image quality enhancement DBT provides, the accurate detection of cancerous masses is still limited by low radiological contrast (about 1%) between the fibro-glandular tissue and affected tissue at X-ray frequencies. In a lower frequency region, at microwave frequencies, the contrast is comparatively higher (about 10%) between the aforementioned tissues; yet, microwave imaging suffers from low spatial resolution. This work reviews conventional X-ray breast imaging and describes the preliminary results of a novel near-field radar imaging mechatronic system (NRIMS) that can be fused with the DBT, in a co-registered fashion, to combine the advantages of both modalities. The NRIMS consists of two antipodal Vivaldi antennas, an XY positioner, and an ethanol container, all of which are particularly designed based on the DBT physical specifications. In this paper, the independent performance of the NRIMS is assessed by (1) imaging a bearing ball immersed in sunflower oil and (2) computing the heat Specific Absorption Rate (SAR) due to the electromagnetic power transmitted into the breast. The preliminary results demonstrate that the system is capable of generating images of the ball. Furthermore, the SAR results show that the system complies with the standards set for human trials. As a result, a configuration based on this design might be suitable for use in realistic clinical applications.

A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation.

PubMed

Malosio, Matteo; Negri, Simone Pio; Pedrocchi, Nicola; Vicentini, Federico; Caimmi, Marco; Molinari Tosatti, Lorenzo

2012-01-01

The ankle represents a fairly complex bone structure, resulting in kinematics that hinders a flawless robot-assisted recovery of foot motility in impaired subjects. The paper proposes a novel device for ankle-foot neuro-rehabilitation based on a mechatronic redesign of the remarkable Agile Eye spherical robot on the basis of clinical requisites. The kinematic design allows the positioning of the ankle articular center close to the machine rotation center with valuable benefits in term of therapy functions. The prototype, named PKAnkle, Parallel Kinematic machine for Ankle rehabilitation, provides a 6-axes load cell for the measure of subject interaction forces/torques, and it integrates a commercial EMG-acquisition system. Robot control provides active and passive therapeutic exercises.

Novel method for fabrication of monolithic multi-cavity molds and wafer optics

NASA Astrophysics Data System (ADS)

Wielandts, Marc; Wielandts, Remi

2015-10-01

One lens at a time on axis diamond turning or grinding of lens arrays with a large number of lenses is conventionally impractical because of the difficulties to shift and balance the substrate for each lens position. A novel method for automatic indexing was developed. This method uses an innovative mechatronics tooling (patent pending) that allows dynamic indexing at constant work spindle speed for maximum productivity and thermal stability of the work spindle while the balancing condition is maintained. In this paper we shall compare the machining capabilities of this method to free-form machining techniques, discuss about the main issues, present the concept and design of the working prototype and specific test bed, and present the results of the first cutting tests.

Injection Process Control of the Well at the Hydrodynamic Research of Coalbed

NASA Astrophysics Data System (ADS)

Odnokopylov, I. G.; Galtseva, O. V.; Krasnov, I. Yu; Smirnov, A. O.; Karpov, M. S.; Surzhikova, O. A.; Kuznetsov, V. V.; Li, J.

2017-04-01

This scientific work is devoted to the study results of water injection process into the well at the hydrodynamic research by using the high pressure unregulated pump. The injection process should be accompanied by the retention of some hydraulic parameters at constant level during some time. Various variants for use of mechatronic nodes for automatization of water injection process are considered. Scheme for reducing the load on the pump and equipment in hydraulic system and also for improving the quality control system with high accuracy is shown. Simulation results of injection process into the well at the pressure and consumption fixation and recommendations for the use of the proposed schemes depending on the technological process are given.

Large-Scale 3D Printing: The Way Forward

NASA Astrophysics Data System (ADS)

Jassmi, Hamad Al; Najjar, Fady Al; Ismail Mourad, Abdel-Hamid

2018-03-01

Research on small-scale 3D printing has rapidly evolved, where numerous industrial products have been tested and successfully applied. Nonetheless, research on large-scale 3D printing, directed to large-scale applications such as construction and automotive manufacturing, yet demands a great a great deal of efforts. Large-scale 3D printing is considered an interdisciplinary topic and requires establishing a blended knowledge base from numerous research fields including structural engineering, materials science, mechatronics, software engineering, artificial intelligence and architectural engineering. This review article summarizes key topics of relevance to new research trends on large-scale 3D printing, particularly pertaining (1) technological solutions of additive construction (i.e. the 3D printers themselves), (2) materials science challenges, and (3) new design opportunities.

Coupled modeling and simulation of electro-elastic materials at large strains

NASA Astrophysics Data System (ADS)

Possart, Gunnar; Steinmann, Paul; Vu, Duc-Khoi

2006-03-01

In the recent years various novel materials have been developed that respond to the application of electrical loading by large strains. An example is the class of so-called electro-active polymers (EAP). Certainly these materials are technologically very interesting, e.g. for the design of actuators in mechatronics or in the area of artificial tissues. This work focuses on the phenomenological modeling of such materials within the setting of continuum-electro-dynamics specialized to the case of electro-hyperelastostatics and the corresponding computational setting. Thereby a highly nonlinear coupled problem for the deformation and the electric potential has to be considered. The finite element method is applied to solve the underlying equations numerically and some exemplary applications are presented.

A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

Nguyen, Canh Toan; Phung, Hoa; Dat Nguyen, Tien; Lee, Choonghan; Kim, Uikyum; Lee, Donghyouk; Moon, Hyungpil; Koo, Jachoon; Nam, Jae-do; Ryeol Choi, Hyouk

2014-06-01

A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators.

Intelligent robot trends and predictions for the new millennium

NASA Astrophysics Data System (ADS)

Hall, Ernest L.; Mundhenk, Terrell N.

1999-08-01

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor but little funding. In factory automation such robotics machines can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. In honor of the new millennium, this paper will present a discussion of futuristic trends and predictions. However, in keeping with technical tradition, a new technique for 'Follow the Leader' will also be presented in the hope of it becoming a new, useful and non-obvious technique.

Photoelectric panel with equatorial mounting of drive

NASA Astrophysics Data System (ADS)

Kukhta, M. S.; Krauinsh, P. Y.; Krauinsh, D. P.; Sokolov, A. P.; Mainy, S. B.

2018-03-01

The relevance of the work is determined by the need to create effective models for sunny energy. The article considers a photoelectric panel equipped with a system for tracking the sun. Efficiency of the system is provided by equatorial mounting, which compensates for the rotation of the Earth by rotating the sunny panel in the plane of the celestial equator. The specificity of climatic and geographical conditions of Tomsk is estimated. The dynamics of power variations of photoelectric panels with equatorial mounting during seasonal fluctuations in Tomsk is calculated. A mobile photovoltaic panel with equatorial mounting of the drive has been developed. The methods of design strategy for placing photovoltaic panels in the architectural environment of the city are presented. Key words: sunny energy, photovoltaics, equatorial mounting, mechatronic model, wave reducer, electric drive.

Matching of energetic, mechanic and control characteristics of positioning actuator

NASA Astrophysics Data System (ADS)

Y Nosova, N.; Misyurin, S. Yu; Kreinin, G. V.

2017-12-01

The problem of preliminary choice of parameters of the automated drive power channel is discussed. The drive of the mechatronic complex divides into two main units - power and control. The first determines the energy capabilities and, as a rule, the overall dimensions of the complex. The sufficient capacity of the power unit is a necessary condition for successful solution of control tasks without excessive complication of the control system structure. Preliminary selection of parameters is carried out based on the condition of providing the necessary drive power. The proposed approach is based on: a research of a sufficiently developed but not excessive dynamic model of the power block with the help of a conditional test control system; a transition to a normalized model with the formation of similarity criteria; constructing the synthesis procedure.

From the History of Conferences on the Machine and Mechanism Science

NASA Astrophysics Data System (ADS)

Wojnarowski, J.

2016-08-01

In the course of the past sixty years of the Polish Committee for the Theory of Machines and Mechanisms (PC TMM) 24 scientific and didactic conferences have been held. The subject matter of these conferences, generally organized every other year, comprised problems of the classification, analysis and synthesis of mechanisms, the dynamics of machine systems, investigations concerning self-excited vibrations, the stability of the systems, the control of machines and biomechanics. The numbers of submitted papers as well as the number of participants substantiate the need of organizing such conferences, their importance and the activity of the Polish Committee of TMM for the purpose of creating a platform for the presentation and discussion of new research methods in the domain of mechanisms, machines, biomechanics and mechatronics.

Methods for intraoperative, sterile pose-setting of patient-specific microstereotactic frames

NASA Astrophysics Data System (ADS)

Vollmann, Benjamin; Müller, Samuel; Kundrat, Dennis; Ortmaier, Tobias; Kahrs, Lüder A.

2015-03-01

This work proposes new methods for a microstereotactic frame based on bone cement fixation. Microstereotactic frames are under investigation for minimal invasive temporal bone surgery, e.g. cochlear implantation, or for deep brain stimulation, where products are already on the market. The correct pose of the microstereotactic frame is either adjusted outside or inside the operating room and the frame is used for e.g. drill or electrode guidance. We present a patientspecific, disposable frame that allows intraoperative, sterile pose-setting. Key idea of our approach is bone cement between two plates that cures while the plates are positioned with a mechatronics system in the desired pose. This paper includes new designs of microstereotactic frames, a system for alignment and first measurements to analyze accuracy and applicable load.

Development and validation of a numerical model for cross-section optimization of a multi-part probe for soft tissue intervention.

PubMed

Frasson, L; Neubert, J; Reina, S; Oldfield, M; Davies, B L; Rodriguez Y Baena, F

2010-01-01

The popularity of minimally invasive surgical procedures is driving the development of novel, safer and more accurate surgical tools. In this context a multi-part probe for soft tissue surgery is being developed in the Mechatronics in Medicine Laboratory at Imperial College, London. This study reports an optimization procedure using finite element methods, for the identification of an interlock geometry able to limit the separation of the segments composing the multi-part probe. An optimal geometry was obtained and the corresponding three-dimensional finite element model validated experimentally. Simulation results are shown to be consistent with the physical experiments. The outcome of this study is an important step in the provision of a novel miniature steerable probe for surgery.

Optical Gripper

NASA Astrophysics Data System (ADS)

Jalba, C. K.; Muminovic, A.; Epple, S.; Barz, C.; Nasui, V.

2017-05-01

With increasing automation, many work processes become more and more complex. Most technical products can no longer be developed and manufactured by a single department. They are often the product of different divisions and require cooperation from different specialist areas. For example, in the Western world, a simple coffee maker is no longer so much in demand. If the buyer has the possibility to choose between a simple coffee maker and a coffee machine with very complex functions, the choice will probably fall to the more complex variant. Technical progress also applies to other technical products, such as grippers and manipulators. In this paper, it is shown how grasping processes can be redefined and developed with interdisciplinary technical approaches. Both conventional and latest developments in mechanical engineering, production technology, mechatronics and sensor technology will be considered.

VRACK: measuring pedal kinematics during stationary bike cycling.

PubMed

Farjadian, Amir B; Kong, Qingchao; Gade, Venkata K; Deutsch, Judith E; Mavroidis, Constantinos

2013-06-01

Ankle impairment and lower limb asymmetries in strength and coordination are common symptoms for individuals with selected musculoskeletal and neurological impairments. The virtual reality augmented cycling kit (VRACK) was designed as a compact mechatronics system for lower limb and mobility rehabilitation. The system measures interaction forces and cardiac activity during cycling in a virtual environment. The kinematics measurement was added to the system. Due to the constrained problem definition, the combination of inertial measurement unit (IMU) and Kalman filtering was recruited to compute the optimal pedal angular displacement during dynamic cycling exercise. Using a novel benchmarking method the accuracy of IMU-based kinematics measurement was evaluated. Relatively accurate angular measurements were achieved. The enhanced VRACK system can serve as a rehabilitation device to monitor biomechanical and physiological variables during cycling on a stationary bike.

Recent Cooperative Research Activities of HDD and Flexible Media Transport Technologies in Japan

NASA Astrophysics Data System (ADS)

Ono, Kyosuke

This paper presents the recent status of industry-university cooperative research activities in Japan on the mechatronics of information storage and input/output equipment. There are three research committees for promoting information exchange on technical problems and research topics of head-disk interface in hard disk drives (HDD), flexible media transport and image printing processes which are supported by the Japan Society of Mechanical Engineering (JSME), the Japanese Society of Tribologists (JAST) and the Japan Society of Precision Engineering (JSPE). For hard disk drive technology, the Storage Research Consortium (SRC) is supporting more than 40 research groups in various different universities to perform basic research for future HDD technology. The past and present statuses of these activities are introduced, particularly focusing on HDD and flexible media transport mechanisms.

Optimization of Smart Structure for Improving Servo Performance of Hard Disk Drive

NASA Astrophysics Data System (ADS)

Kajiwara, Itsuro; Takahashi, Masafumi; Arisaka, Toshihiro

Head positioning accuracy of the hard disk drive should be improved to meet today's increasing performance demands. Vibration suppression of the arm in the hard disk drive is very important to enhance the servo bandwidth of the head positioning system. In this study, smart structure technology is introduced into the hard disk drive to suppress the vibration of the head actuator. It has been expected that the smart structure technology will contribute to the development of small and light-weight mechatronics devices with the required performance. First, modeling of the system is conducted with finite element method and modal analysis. Next, the actuator location and the control system are simultaneously optimized using genetic algorithm. Vibration control effect with the proposed vibration control mechanisms has been evaluated by some simulations.

A mechatronics platform to study prosthetic hand control using EMG signals.

PubMed

Geethanjali, P

2016-09-01

In this paper, a low-cost mechatronics platform for the design and development of robotic hands as well as a surface electromyogram (EMG) pattern recognition system is proposed. This paper also explores various EMG classification techniques using a low-cost electronics system in prosthetic hand applications. The proposed platform involves the development of a four channel EMG signal acquisition system; pattern recognition of acquired EMG signals; and development of a digital controller for a robotic hand. Four-channel surface EMG signals, acquired from ten healthy subjects for six different movements of the hand, were used to analyse pattern recognition in prosthetic hand control. Various time domain features were extracted and grouped into five ensembles to compare the influence of features in feature-selective classifiers (SLR) with widely considered non-feature-selective classifiers, such as neural networks (NN), linear discriminant analysis (LDA) and support vector machines (SVM) applied with different kernels. The results divulged that the average classification accuracy of the SVM, with a linear kernel function, outperforms other classifiers with feature ensembles, Hudgin's feature set and auto regression (AR) coefficients. However, the slight improvement in classification accuracy of SVM incurs more processing time and memory space in the low-level controller. The Kruskal-Wallis (KW) test also shows that there is no significant difference in the classification performance of SLR with Hudgin's feature set to that of SVM with Hudgin's features along with AR coefficients. In addition, the KW test shows that SLR was found to be better in respect to computation time and memory space, which is vital in a low-level controller. Similar to SVM, with a linear kernel function, other non-feature selective LDA and NN classifiers also show a slight improvement in performance using twice the features but with the drawback of increased memory space requirement and time. This prototype facilitated the study of various issues of pattern recognition and identified an efficient classifier, along with a feature ensemble, in the implementation of EMG controlled prosthetic hands in a laboratory setting at low-cost. This platform may help to motivate and facilitate prosthetic hand research in developing countries.

Research on the use of data fusion technology to evaluate the state of electromechanical equipment

NASA Astrophysics Data System (ADS)

Lin, Lin

2018-04-01

Aiming at the problems of different testing information modes and the coexistence of quantitative and qualitative information in the state evaluation of electromechanical equipment, the paper proposes the use of data fusion technology to evaluate the state of electromechanical equipment. This paper introduces the state evaluation process of mechanical and electrical equipment in detail, uses the D-S evidence theory to fuse the decision-making layers of mechanical and electrical equipment state evaluation and carries out simulation tests. The simulation results show that it is feasible and effective to apply the data fusion technology to the state evaluation of the mechatronic equipment. After the multiple decision-making information provided by different evaluation methods are fused repeatedly and the useful information is extracted repeatedly, the fuzziness of judgment can be reduced and the state evaluation Credibility.

Humanoid robot Lola: design and walking control.

PubMed

Buschmann, Thomas; Lohmeier, Sebastian; Ulbrich, Heinz

2009-01-01

In this paper we present the humanoid robot LOLA, its mechatronic hardware design, simulation and real-time walking control. The goal of the LOLA-project is to build a machine capable of stable, autonomous, fast and human-like walking. LOLA is characterized by a redundant kinematic configuration with 7-DoF legs, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution of the legs to achieve good dynamic performance. Trajectory generation and control aim at faster, more flexible and robust walking. Center of mass trajectories are calculated in real-time from footstep locations using quadratic programming and spline collocation methods. Stabilizing control uses hybrid position/force control in task space with an inner joint position control loop. Inertial stabilization is achieved by modifying the contact force trajectories.

Experiences in the creation of an electromyography database to help hand amputated persons.

PubMed

Atzori, Manfredo; Gijsberts, Arjan; Heynen, Simone; Hager, Anne-Gabrielle Mittaz; Castellimi, Claudio; Caputo, Barbara; Müller, Henning

2012-01-01

Currently, trans-radial amputees can only perform a few simple movements with prosthetic hands. This is mainly due to low control capabilities and the long training time that is required to learn controlling them with surface electromyography (sEMG). This is in contrast with recent advances in mechatronics, thanks to which mechanical hands have multiple degrees of freedom and in some cases force control. To help improve the situation, we are building the NinaPro (Non-Invasive Adaptive Prosthetics) database, a database of about 50 hand and wrist movements recorded from several healthy and currently very few amputated persons that will help the community to test and improve sEMG-based natural control systems for prosthetic hands. In this paper we describe the experimental experiences and practical aspects related to the data acquisition.

Supramolecular luminescence from oligofluorenol-based supramolecular polymer semiconductors.

PubMed

Zhang, Guang-Wei; Wang, Long; Xie, Ling-Hai; Lin, Jin-Yi; Huang, Wei

2013-11-13

Supramolecular luminescence stems from non-covalent exciton behaviors of active π-segments in supramolecular entities or aggregates via intermolecular forces. Herein, a π-conjugated oligofluorenol, containing self-complementary double hydrogen bonds, was synthesized using Suzuki coupling as a supramolecular semiconductor. Terfluorenol-based random supramolecular polymers were confirmed via concentration-dependent nuclear magnetic resonance (NMR) and dynamic light scattering (DLS). The photoluminescent spectra of the TFOH-1 solution exhibit a green emission band (g-band) at approximately ~520 nm with reversible features, as confirmed through titration experiments. Supramolecular luminescence of TFOH-1 thin films serves as robust evidence for the aggregates of g-band. Our results suggest that the presence of polyfluorene ketone defects is a sufficient condition, rather than a sufficient-necessary condition for the g-band. Supramolecular electroluminescence will push organic devices into the fields of supramolecular optoelectronics, spintronics, and mechatronics.

Novel device for creating continuous curvilinear capsulorhexis.

PubMed

Soylak, Mustafa

2016-01-01

The purpose of this paper is to develop a novel capsulorhexis system. Mechatronics Laboratory, University of Erciyes and Kayseri Maya Eye Hospital. A 3D model was created and simulations were conducted to develop a new device which was designed, fabricated and tested for continuous curvilinear capsulorhexis (CCC). The name of this system is the electro-mechanical capsulorhexis system (EMCS). The 3D model was created by using a commercial design software and a 3D printer was used to fabricate the EMCS Finite element analysis and geometrical relation tests of the EMCS for different sized lenses were performed. The results show that the EMCS is a perfect solution for capsulorhexis surgeries, without mechanical or geometrical problems. The EMCS can open the anterior lens capsule more easily and effectively than manual CCC applications and needs less experience.

Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

PubMed

Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

2003-01-01

The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

Development of Open Brain Simulator for Human Biomechatronics

NASA Astrophysics Data System (ADS)

Otake, Mihoko; Takagi, Toshihisa; Asama, Hajime

Modeling and simulation based on mechanisms is important in order to design and control mechatronic systems. In particular, in-depth understanding and realistic modeling of biological systems is indispensable for biomechatronics. This paper presents open brain simulator, which estimates the neural state of human through external measurement for the purpose of improving motor and social skills. Macroscopic anatomical nervous systems model was built which can be connected to the musculoskeletal model. Microscopic anatomical and physiological neural models were interfaced to the macroscopic model. Neural activities of somatosensory area and Purkinje cell were calculated from motion capture data. The simulator provides technical infrastructure for human biomechatronics, which is promising for the novel diagnosis of neurological disorders and their treatments through medication and movement therapy, and for motor learning support system supporting acquisition of motor skill considering neural mechanism.

A disturbance observer-based adaptive control approach for flexure beam nano manipulators.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-01-01

This paper presents a systematic modeling and control methodology for a two-dimensional flexure beam-based servo stage supporting micro/nano manipulations. Compared with conventional mechatronic systems, such systems have major control challenges including cross-axis coupling, dynamical uncertainties, as well as input saturations, which may have adverse effects on system performance unless effectively eliminated. A novel disturbance observer-based adaptive backstepping-like control approach is developed for high precision servo manipulation purposes, which effectively accommodates model uncertainties and coupling dynamics. An auxiliary system is also introduced, on top of the proposed control scheme, to compensate the input saturations. The proposed control architecture is deployed on a customized-designed nano manipulating system featured with a flexure beam structure and voice coil actuators (VCA). Real time experiments on various manipulating tasks, such as trajectory/contour tracking, demonstrate precision errors of less than 1%. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Analysis of Nonlinear Dynamics in Linear Compressors Driven by Linear Motors

NASA Astrophysics Data System (ADS)

Chen, Liangyuan

2018-03-01

The analysis of dynamic characteristics of the mechatronics system is of great significance for the linear motor design and control. Steady-state nonlinear response characteristics of a linear compressor are investigated theoretically based on the linearized and nonlinear models. First, the influence factors considering the nonlinear gas force load were analyzed. Then, a simple linearized model was set up to analyze the influence on the stroke and resonance frequency. Finally, the nonlinear model was set up to analyze the effects of piston mass, spring stiffness, driving force as an example of design parameter variation. The simulating results show that the stroke can be obtained by adjusting the excitation amplitude, frequency and other adjustments, the equilibrium position can be adjusted by adjusting the DC input, and to make the more efficient operation, the operating frequency must always equal to the resonance frequency.

Condition-based diagnosis of mechatronic systems using a fractional calculus approach

NASA Astrophysics Data System (ADS)

Gutiérrez-Carvajal, Ricardo Enrique; Flávio de Melo, Leonimer; Maurício Rosário, João; Tenreiro Machado, J. A.

2016-07-01

While fractional calculus (FC) is as old as integer calculus, its application has been mainly restricted to mathematics. However, many real systems are better described using FC equations than with integer models. FC is a suitable tool for describing systems characterised by their fractal nature, long-term memory and chaotic behaviour. It is a promising methodology for failure analysis and modelling, since the behaviour of a failing system depends on factors that increase the model's complexity. This paper explores the proficiency of FC in modelling complex behaviour by tuning only a few parameters. This work proposes a novel two-step strategy for diagnosis, first modelling common failure conditions and, second, by comparing these models with real machine signals and using the difference to feed a computational classifier. Our proposal is validated using an electrical motor coupled with a mechanical gear reducer.

Supramolecular Luminescence from Oligofluorenol-Based Supramolecular Polymer Semiconductors

PubMed Central

Zhang, Guang-Wei; Wang, Long; Xie, Ling-Hai; Lin, Jin-Yi; Huang, Wei

2013-01-01

Supramolecular luminescence stems from non-covalent exciton behaviors of active π-segments in supramolecular entities or aggregates via intermolecular forces. Herein, a π-conjugated oligofluorenol, containing self-complementary double hydrogen bonds, was synthesized using Suzuki coupling as a supramolecular semiconductor. Terfluorenol-based random supramolecular polymers were confirmed via concentration-dependent nuclear magnetic resonance (NMR) and dynamic light scattering (DLS). The photoluminescent spectra of the TFOH-1 solution exhibit a green emission band (g-band) at approximately ~520 nm with reversible features, as confirmed through titration experiments. Supramolecular luminescence of TFOH-1 thin films serves as robust evidence for the aggregates of g-band. Our results suggest that the presence of polyfluorene ketone defects is a sufficient condition, rather than a sufficient-necessary condition for the g-band. Supramolecular electroluminescence will push organic devices into the fields of supramolecular optoelectronics, spintronics, and mechatronics. PMID:24232455

Semiautonomous teleoperation system with vision guidance

NASA Astrophysics Data System (ADS)

Yu, Wai; Pretlove, John R. G.

1998-12-01

This paper describes the ongoing research work on developing a telerobotic system in Mechatronic Systems and Robotics Research group at the University of Surrey. As human operators' manual control of remote robots always suffer from reduced performance and difficulties in perceiving information from the remote site, a system with a certain level of intelligence and autonomy will help to solve some of these problems. Thus, this system has been developed for this purpose. It also serves as an experimental platform to test the idea of using the combination of human and computer intelligence in teleoperation and finding out the optimum balance between them. The system consists of a Polhemus- based input device, a computer vision sub-system and a graphical user interface which communicates the operator with the remote robot. The system description is given in this paper as well as the preliminary experimental results of the system evaluation.

A review on creatinine measurement techniques.

PubMed

Mohabbati-Kalejahi, Elham; Azimirad, Vahid; Bahrami, Manouchehr; Ganbari, Ahmad

2012-08-15

This paper reviews the entire recent global tendency for creatinine measurement. Creatinine biosensors involve complex relationships between biology and micro-mechatronics to which the blood is subjected. Comparison between new and old methods shows that new techniques (e.g. Molecular Imprinted Polymers based algorithms) are better than old methods (e.g. Elisa) in terms of stability and linear range. All methods and their details for serum, plasma, urine and blood samples are surveyed. They are categorized into five main algorithms: optical, electrochemical, impedometrical, Ion Selective Field-Effect Transistor (ISFET) based technique and chromatography. Response time, detection limit, linear range and selectivity of reported sensors are discussed. Potentiometric measurement technique has the lowest response time of 4-10 s and the lowest detection limit of 0.28 nmol L(-1) belongs to chromatographic technique. Comparison between various techniques of measurements indicates that the best selectivity belongs to MIP based and chromatographic techniques. Copyright © 2012 Elsevier B.V. All rights reserved.

Utilization of the UV laser with picosecond pulses for the formation of surface microstructures on elastomeric plastics

NASA Astrophysics Data System (ADS)

Antoszewski, B.; Tofil, S.; Scendo, M.; Tarelnik, W.

2017-08-01

Elastomeric plastics belong to a wide range of polymeric materials with special properties. They are used as construction material for seals and other components in many branches of industry and, in particular, in the biomedical industry, mechatronics, electronics and chemical equipment. The micromachining of surfaces of these materials can be used to build micro-flow, insulating, dispensing systems and chemical and biological reactors. The paper presents results of research on the effects of micro-machining of selected elastomeric plastics using a UV laser emitting picosecond pulses. The authors see the prospective application of the developed technology in the sealing technique in particular to shaping the sealing pieces co-operating with the surface of the element. The result of the study is meant to show parameters of the UV laser’s performance when producing typical components such as grooves, recesses for optimum ablation in terms of quality and productivity.

Room temperature giant and linear magnetoresistance in topological insulator Bi2Te3 nanosheets.

PubMed

Wang, Xiaolin; Du, Yi; Dou, Shixue; Zhang, Chao

2012-06-29

Topological insulators, a new class of condensed matter having bulk insulating states and gapless metallic surface states, have demonstrated fascinating quantum effects. However, the potential practical applications of the topological insulators are still under exploration worldwide. We demonstrate that nanosheets of a Bi(2)Te(3) topological insulator several quintuple layers thick display giant and linear magnetoresistance. The giant and linear magnetoresistance achieved is as high as over 600% at room temperature, with a trend towards further increase at higher temperatures, as well as being weakly temperature-dependent and linear with the field, without any sign of saturation at measured fields up to 13 T. Furthermore, we observed a magnetic field induced gap below 10 K. The observation of giant and linear magnetoresistance paves the way for 3D topological insulators to be useful for practical applications in magnetoelectronic sensors such as disk reading heads, mechatronics, and other multifunctional electromagnetic applications.

Measurement of erythrocyte deformability by two laser diffraction methods.

PubMed

Wang, X; Zhao, H; Zhuang, F Y; Stoltz, J F

1999-01-01

The aim of this work is to study the deformability of red blood cells (RBC) by two laser diffraction methods: the Laser-assisted Optical Rotational Cell Analyser (LORCA, Mechatronics, Amsterdam, Netherlands) and a Shear Stress Diffractometer (RHEODYN SSD, Myrenne, Roetgen, Germany). Experiments were carried out on 46 healthy human subjects. The elongation index EI of normal and hardened RBCs (obtained by heating blood at 49 degrees C or by incubating RBCs in solutions of diamide) was measured. The results showed that the standard deviations of the experimental data for normal RBCs were relatively small, especially at high shear stresses (more than 3.0 Pa), but higher than those reported before. Some correlations between the results given by the two instruments were also found. It should be noted that for hardened RBCs, the standard deviations of the measurements were important compared with the mean values in the two instruments.

Recent trends for practical rehabilitation robotics, current challenges and the future.

PubMed

Yakub, Fitri; Md Khudzari, Ahmad Zahran; Mori, Yasuchika

2014-03-01

This paper presents and studies various selected literature primarily from conference proceedings, journals and clinical tests of the robotic, mechatronics, neurology and biomedical engineering of rehabilitation robotic systems. The present paper focuses of three main categories: types of rehabilitation robots, key technologies with current issues and future challenges. Literature on fundamental research with some examples from commercialized robots and new robot development projects related to rehabilitation are introduced. Most of the commercialized robots presented in this paper are well known especially to robotics engineers and scholars in the robotic field, but are less known to humanities scholars. The field of rehabilitation robot research is expanding; in light of this, some of the current issues and future challenges in rehabilitation robot engineering are recalled, examined and clarified with future directions. This paper is concluded with some recommendations with respect to rehabilitation robots.

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

NASA Astrophysics Data System (ADS)

Liang, Conghui; Ceccarelli, Marco; Takeda, Yukio

2012-12-01

In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.

Mechatronical systems and experimental methods for investigations on tribology of electrical contacts

NASA Astrophysics Data System (ADS)

Franek, Friedrich; Neuhaus, Alexander; Reichart, Martin; Schrank, Clemens

2008-08-01

The investigation of electrical low power switching contacts, including dry-circuit, is characterized as a highly interdisciplinary research field. The knowledge of plasma physics, the influence of kinetics on contact phenomena, material science and metallurgy, as well as thermal aspects and tribology, is demanded. The methods usually used at the Austrian Center of Competence for Tribology are e.g. defined contact make and break along two-independent axis using model switches, high-resolution measurement of displacement and electrical values, including the detection of arcs, contact force measurement in the kHz and cN range (one-axis and two-axis systems), on-line optical investigations (especially time lapse movie systems), state of the art 3D surface topography measurement of eroded contact surfaces, and (electron-) microscopical evaluation of metallographic cross sections. Some aspects of this methodology are presented in this paper.

Research on Rigid Body Motion Tracing in Space based on NX MCD

NASA Astrophysics Data System (ADS)

Wang, Junjie; Dai, Chunxiang; Shi, Karen; Qin, Rongkang

2018-03-01

In the use of MCD (Mechatronics Concept Designer) which is a module belong to SIEMENS Ltd industrial design software UG (Unigraphics NX), user can define rigid body and kinematic joint to make objects move according to the existing plan in simulation. At this stage, user may have the desire to see the path of some points in the moving object intuitively. In response to this requirement, this paper will compute the pose through the transformation matrix which can be available from the solver engine, and then fit these sampling points through B-spline curve. Meanwhile, combined with the actual constraints of rigid bodies, the traditional equal interval sampling strategy was optimized. The result shown that this method could satisfy the demand and make up for the deficiency in traditional sampling method. User can still edit and model on this 3D curve. Expected result has been achieved.

The modern instrumentation used for monitoring and controlling the main parameters of the regenerative electro-mechano-hydraulic drive systems

NASA Astrophysics Data System (ADS)

Cristescu, Corneliu; Drumea, Petrin; Krevey, Petrica

2009-01-01

In this work is presented the modern instrumentation used for monitoring and controlling the main parameters for one regenerative drive system, used to recovering the kinetic energy of motor vehicles, lost in the braking phase, storing and using this energy in the starting or accelerating phases. Is presented a Romanian technical solution for a regenerative driving system, based on a hybrid solution containing a hydro-mechanic module and an existing thermal motor drive, all conceived as a mechatronics system. In order to monitoring and controlling the evolution of the main parameters, the system contains a series of sensors and transducers that provide the moment, rotation, temperature, flow and pressure values. The main sensors and transducers of the regenerative drive system, their principal features and tehnical conecting solutions are presented in this paper, both with the menaging electronic and informational subsystems.

ARM-based control system for terry rapier loom

NASA Astrophysics Data System (ADS)

Shi, Weimin; Gu, Yeqing; Wu, Zhenyu; Wang, Fan

2007-12-01

In this paper, a novel ARM-based mechatronics control technique applied in terry rapier loom was presented. Electronic weft selection, electronic fluff, electronic let-off and take-up motions system, which consists of position and speedcontrolled servomechanisms, were studied. The control system configuration, operation principle, and mathematical models of electronic drives system were analyzed. The synchronism among all mechanical motions and an improved intelligent control algorithm for the warp let-off tension control was discussed. The result indict that, by applying electronic and embedded control techniques and the individual servomechanisms, the electronic weft selection, electronic let-off device and electronic take-up device in HGA732T terry rapier loom have greatly simplified the initial complicated mechanism, kept the warp tension constant from full to empty beam, set the variable weft density, eliminated the start mark effectively, promoted its flexibility, reliability and properties, and improved the fabric quality.

Students' responses to authentic assessment designed to develop commitment to performing at their best

NASA Astrophysics Data System (ADS)

Guzzomi, Andrew L.; Male, Sally A.; Miller, Karol

2017-05-01

Engineering educators should motivate and support students in developing not only technical competence but also professional competence including commitment to excellence. We developed an authentic assessment to improve students' understanding of the importance of 'perfection' in engineering - whereby 50% good enough will not be acceptable in industry. Subsequently we aimed to motivate them to practise performing at their best when they practice engineering. Students in a third-year mechanical and mechatronic engineering unit completed a team design project designed with authentic assessment features to replicate industry expectations and a novel marking scheme to encourage the pursuit of excellence. We report mixed responses from students. Students' ratings of their levels of effort on this assessment indicate that many perceived a positive influence on their effort. However, students' comments included several that were consistent with students experiencing the assessment as alienating.

Multimode marine engine room simulation system based on field bus technology

NASA Astrophysics Data System (ADS)

Zheng, Huayao; Deng, Linlin; Guo, Yi

2003-09-01

Developing multi mode MER (Marine Engine Room) Labs is the main work in Marine Simulation Center, which is the key lab of Communication Ministry of China. It includes FPP (Fixed Pitch Propeller) and CPP (Controllable Pitch Propeller) mode MER simulation systems, integrated electrical propulsion mode MER simulation system, physical mode MER lab, etc. FPP mode simulation system, which was oriented to large container ship, had been completed since 1999, and got second level of Shanghai Municipal Science and Technical Progress award. This paper mainly introduces the recent development and achievements of Marine Simulation Center. Based on the Lon Works field bus, the structure characteristics and control strategies of completely distributed intelligent control network are discussed. The experiment mode of multi-nodes field bus detection and control system is described. Besides, intelligent fault diagnosis technology about some mechatronics integration control systems explored is also involved.

Dry etching technologies for the advanced binary film

NASA Astrophysics Data System (ADS)

Iino, Yoshinori; Karyu, Makoto; Ita, Hirotsugu; Yoshimori, Tomoaki; Azumano, Hidehito; Muto, Makoto; Nonaka, Mikio

2011-11-01

ABF (Advanced Binary Film) developed by Hoya as a photomask for 32 (nm) and larger specifications provides excellent resistance to both mask cleaning and 193 (nm) excimer laser and thereby helps extend the lifetime of the mask itself compared to conventional photomasks and consequently reduces the semiconductor manufacturing cost [1,2,3]. Because ABF uses Ta-based films, which are different from Cr film or MoSi films commonly used for photomask, a new process is required for its etching technology. A patterning technology for ABF was established to perform the dry etching process for Ta-based films by using the knowledge gained from absorption layer etching for EUV mask that required the same Ta-film etching process [4]. Using the mask etching system ARES, which is manufactured by Shibaura Mechatronics, and its optimized etching process, a favorable CD (Critical Dimension) uniformity, a CD linearity and other etching characteristics were obtained in ABF patterning. Those results are reported here.

Data Fusion Based on Optical Technology for Observation of Human Manipulation

NASA Astrophysics Data System (ADS)

Falco, Pietro; De Maria, Giuseppe; Natale, Ciro; Pirozzi, Salvatore

2012-01-01

The adoption of human observation is becoming more and more frequent within imitation learning and programming by demonstration approaches (PbD) to robot programming. For robotic systems equipped with anthropomorphic hands, the observation phase is very challenging and no ultimate solution exists. This work proposes a novel mechatronic approach to the observation of human hand motion during manipulation tasks. The strategy is based on the combined use of an optical motion capture system and a low-cost data glove equipped with novel joint angle sensors, based on optoelectronic technology. The combination of the two information sources is obtained through a sensor fusion algorithm based on the extended Kalman filter (EKF) suitably modified to tackle the problem of marker occlusions, typical of optical motion capture systems. This approach requires a kinematic model of the human hand. Another key contribution of this work is a new method to calibrate this model.

Efficient 10 kW diode-pumped Nd:YAG rod laser

NASA Astrophysics Data System (ADS)

Akiyama, Yasuhiro; Takada, Hiroyuki; Sasaki, Mitsuo; Yuasa, Hiroshi; Nishida, Naoto

2003-03-01

As a tool for high speed and high precision material processing such as cutting and welding, we developed a rod-type all-solid-state laser with an average power of more than 10 kW, an electrical-optical efficiency of more than 20%, and a laser head volume of less than 0.05 m3. We developed a highly efficient diode pumped module, and successfully obtained electrical-optical efficiencies of 22% in CW operation and 26% in QCW operation at multi-kW output powers. We also succeeded to reduce the laser head volume, and obtained the output power of 12 kW with an efficiency of 23%, and laser head volume of 0.045 m3. We transferred the technology to SHIBAURA mechatronics corp., who started to provide the LD pumped Nd:YAG laser system with output power up to 4.5 kW. We are now continuing development for further high power laser equipment.

Culturing immobilized plant cells for the TUBUL space experiments on the DELTA and 12S Missions

NASA Astrophysics Data System (ADS)

Sieberer, Björn J.; Emons, Anne Mie C.; Vos, Jan W.

2007-09-01

For the TUBUL experiments during the DELTA mission in April 2004 and 12S mission in March/April 2006 on board the Soyuz capsule and the International Space Station we developed a method to culture and chemically fix plant suspension culture cells. The aim of the ten day experiment was to investigate the effect of microgravity on single plant cells. Fully automated experiment cassettes (Plunger Box Units) were developed by Centre for Concepts in Mechatronics (Nuenen, the Netherlands). Tobacco BY- 2 cells were immobilized in a semi- solid agarose matrix that was reinforced by a nylon mesh. This assembly allowed liquid medium refreshment, oxygen supply and chemical fixation, including a post- fixative wash. The method was optimized for post- flight analysis of cell structure, shape and size, cell division, and the microtubule cytoskeleton. The viability of cells in the agarose matrix was similar to cells grown in liquid medium under laboratory conditions, only the stationary growth phase was reached six days later.

Investigation of ecological parameters of four-stroke SI engine, with pneumatic fuel injection system

NASA Astrophysics Data System (ADS)

Marek, W.; Śliwiński, K.

2016-09-01

The publication presents the results of tests to determine the impact of using waste fuels, alcohol, to power the engine, on the ecological parameters of the combustion engine. Alternatively fuelled with a mixture of iso- and n-butanol, indicated with "X" and "END, and gasoline and a mixture of fuel and alcohol. The object of the study was a four-stroke engine with spark ignition designed to work with a generator. Motor power was held by the modified system of pneumatic injection using hot exhaust gases developed by Prof. Stanislaw Jarnuszkiewicz, controlled by modern mechatronic systems. Tests were conducted at a constant speed for the intended use of the engine. The subject of the research was to determine the control parameters such as ignition timing, mixture composition and the degree of exhaust gas recirculation on the ecological parameters of the engine. Tests were carried out using partially quality power control. In summary we present the findings of this phase of the study.

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies.

PubMed

Proietti, Tommaso; Crocher, Vincent; Roby-Brami, Agnes; Jarrasse, Nathanael

2016-01-01

Since the late 1990s, there has been a burst of research on robotic devices for poststroke rehabilitation. Robot-mediated therapy produced improvements on recovery of motor capacity; however, so far, the use of robots has not shown qualitative benefit over classical therapist-led training sessions, performed on the same quantity of movements. Multidegree-of-freedom robots, like the modern upper-limb exoskeletons, enable a distributed interaction on the whole assisted limb and can exploit a large amount of sensory feedback data, potentially providing new capabilities within standard rehabilitation sessions. Surprisingly, most publications in the field of exoskeletons focused only on mechatronic design of the devices, while little details were given to the control aspects. On the contrary, we believe a paramount aspect for robots potentiality lies on the control side. Therefore, the aim of this review is to provide a taxonomy of currently available control strategies for exoskeletons for neurorehabilitation, in order to formulate appropriate questions toward the development of innovative and improved control strategies.

A review of magnetic resonance imaging compatible manipulators in surgery.

PubMed

Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M

2006-04-01

Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.

I(CES)-cubes: a modular self-reconfigurable bipartite robotic system

NASA Astrophysics Data System (ADS)

Unsal, Cem; Kiliccote, Han; Khosla, Pradeep K.

1999-08-01

In this manuscript, we introduce I(CES)-Cubes, a class of 3D modular robotic system that is capable of reconfiguring itself in order to adapt to its environment. This is a bipartite system, i.e. a collection of (i) active elements capable of actuation, and (ii) passive elements acting as connectors between actuated elements. Active elements, called links, are 3-DOF manipulators that are capable of attaching/detaching themselves to/from the passive elements. The cubes can then be positioned and oriented using links, which are independent mechatronic elements. Self- reconfiguration property enables the system to performed locomotion tasks over difficult terrain. For example, the system would be capable of moving over obstacles and climbing stairs. These task are performed by positing and orienting cubes and links to form a 3D network with required shape and position. This paper describes the design of the passive and active elements, the attachment mechanics, and several reconfiguration scenarios. Specifics of the hardware implementation and result of experiments with current prototypes are also given.

[Mechatronic in functional endoscopic sinus surgery. First experiences with the daVinci Telemanipulatory System].

PubMed

Strauss, G; Winkler, D; Jacobs, S; Trantakis, C; Dietz, A; Bootz, F; Meixensberger, J; Falk, V

2005-07-01

This study examines the advantages and disadvantages of a commercial telemanipulator system (daVinci, Intuitive Surgical, USA) with computer-guided instruments in functional endoscopic sinus surgery (FESS). We performed five different surgical FESS steps on 14 anatomical preparation and compared them with conventional FESS. A total of 140 procedures were examined taking into account the following parameters: degrees of freedom (DOF), duration , learning curve, force feedback, human-machine-interface. Telemanipulatory instruments have more DOF available then conventional instrumentation in FESS. The average time consumed by configuration of the telemanipulator is around 9+/-2 min. Missing force feedback is evaluated mainly as a disadvantage of the telemanipulator. Scaling was evaluated as helpful. The ergonomic concept seems to be better than the conventional solution. Computer guided instruments showed better results for the available DOF of the instruments. The human-machine-interface is more adaptable and variable then in conventional instrumentation. Motion scaling and indexing are characteristics of the telemanipulator concept which are helpful for FESS in our study.

Liquid-handling Lego robots and experiments for STEM education and research

PubMed Central

Gerber, Lukas C.; Calasanz-Kaiser, Agnes; Hyman, Luke; Voitiuk, Kateryna; Patil, Uday

2017-01-01

Liquid-handling robots have many applications for biotechnology and the life sciences, with increasing impact on everyday life. While playful robotics such as Lego Mindstorms significantly support education initiatives in mechatronics and programming, equivalent connections to the life sciences do not currently exist. To close this gap, we developed Lego-based pipetting robots that reliably handle liquid volumes from 1 ml down to the sub-μl range and that operate on standard laboratory plasticware, such as cuvettes and multiwell plates. These robots can support a range of science and chemistry experiments for education and even research. Using standard, low-cost household consumables, programming pipetting routines, and modifying robot designs, we enabled a rich activity space. We successfully tested these activities in afterschool settings with elementary, middle, and high school students. The simplest robot can be directly built from the widely used Lego Education EV3 core set alone, and this publication includes building and experiment instructions to set the stage for dissemination and further development in education and research. PMID:28323828

Keep focussing: striatal dopamine multiple functions resolved in a single mechanism tested in a simulated humanoid robot

PubMed Central

Fiore, Vincenzo G.; Sperati, Valerio; Mannella, Francesco; Mirolli, Marco; Gurney, Kevin; Friston, Karl; Dolan, Raymond J.; Baldassarre, Gianluca

2014-01-01

The effects of striatal dopamine (DA) on behavior have been widely investigated over the past decades, with “phasic” burst firings considered as the key expression of a reward prediction error responsible for reinforcement learning. Less well studied is “tonic” DA, where putative functions include the idea that it is a regulator of vigor, incentive salience, disposition to exert an effort and a modulator of approach strategies. We present a model combining tonic and phasic DA to show how different outflows triggered by either intrinsically or extrinsically motivating stimuli dynamically affect the basal ganglia by impacting on a selection process this system performs on its cortical input. The model, which has been tested on the simulated humanoid robot iCub interacting with a mechatronic board, shows the putative functions ascribed to DA emerging from the combination of a standard computational mechanism coupled to a differential sensitivity to the presence of DA across the striatum. PMID:24600422

CT-guided robotically-assisted infiltration of foot and ankle joints.

PubMed

Wiewiorski, Martin; Valderrabano, Victor; Kretzschmar, Martin; Rasch, Helmut; Markus, Tanja; Dziergwa, Severine; Kos, Sebastian; Bilecen, Deniz; Jacob, Augustinus Ludwig

2009-01-01

It was our aim to describe a CT-guided robotically-assisted infiltration technique for diagnostic injections in foot and ankle orthopaedics. CT-guided mechatronically-assisted joint infiltration was performed on 16 patients referred to the orthopaedic department for diagnostic foot and ankle assessment. All interventions were performed using an INNOMOTION-assistance device on a multislice CT scanner in an image-guided therapy suite. Successful infiltration was defined as CT localization of contrast media in the target joint. Additionally, pre- and post-interventional VAS pain scores were assessed. All injections (16/16 joints) were technically successful. Contrast media deposit was documented in all targeted joints. Significant relief of pain was noted by all 16 patients (p<0.01). CT-guided robotically-assisted intervention is an exact, reliable and safe application method for diagnostic infiltration of midfoot and hindfoot joints. The high accuracy and feasibility in a clinical environment make it a viable alternative to the commonly used fluoroscopic-guided procedures.

A haptic pedal for surgery assistance.

PubMed

Díaz, Iñaki; Gil, Jorge Juan; Louredo, Marcos

2014-09-01

The research and development of mechatronic aids for surgery is a persistent challenge in the field of robotic surgery. This paper presents a new haptic pedal conceived to assist surgeons in the operating room by transmitting real-time surgical information through the foot. An effective human-robot interaction system for medical practice must exchange appropriate information with the operator as quickly and accurately as possible. Moreover, information must flow through the appropriate sensory modalities for a natural and simple interaction. However, users of current robotic systems might experience cognitive overload and be increasingly overwhelmed by data streams from multiple modalities. A new haptic channel is thus explored to complement and improve existing systems. A preliminary set of experiments has been carried out to evaluate the performance of the proposed system in a virtual surgical drilling task. The results of the experiments show the effectiveness of the haptic pedal in providing surgical information through the foot. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Liquid-handling Lego robots and experiments for STEM education and research.

PubMed

Gerber, Lukas C; Calasanz-Kaiser, Agnes; Hyman, Luke; Voitiuk, Kateryna; Patil, Uday; Riedel-Kruse, Ingmar H

2017-03-01

Liquid-handling robots have many applications for biotechnology and the life sciences, with increasing impact on everyday life. While playful robotics such as Lego Mindstorms significantly support education initiatives in mechatronics and programming, equivalent connections to the life sciences do not currently exist. To close this gap, we developed Lego-based pipetting robots that reliably handle liquid volumes from 1 ml down to the sub-μl range and that operate on standard laboratory plasticware, such as cuvettes and multiwell plates. These robots can support a range of science and chemistry experiments for education and even research. Using standard, low-cost household consumables, programming pipetting routines, and modifying robot designs, we enabled a rich activity space. We successfully tested these activities in afterschool settings with elementary, middle, and high school students. The simplest robot can be directly built from the widely used Lego Education EV3 core set alone, and this publication includes building and experiment instructions to set the stage for dissemination and further development in education and research.

A novel mechatronic system for measuring end-point stiffness: mechanical design and preliminary tests.

PubMed

Masia, L; Sandini, G; Morasso, P G

2011-01-01

Measuring arm stiffness is of great interest for many disciplines from biomechanics to medicine especially because modulation of impedance represents one of the main mechanism underlying control of movement and interaction with external environment. Previous works have proposed different methods to identify multijoint hand stiffness by using planar or even tridimensional haptic devices, but the associated computational burden makes them not easy to implement. We present a novel mechanism conceived for measuring multijoint planar stiffness by a single measurement and in a reduced execution time. A novel mechanical rotary device applies cyclic radial perturbation to human arm of a known displacement and the force is acquired by means of a 6-axes commercial load cell. The outcomes suggest that the system is not only reliable but allows obtaining a bi-dimensional estimation of arm stiffness in reduced amount of time and the results are comparable with those reported in previous researches. © 2011 IEEE

A dedicated on-line detecting system for auto air dryers

NASA Astrophysics Data System (ADS)

Shi, Chao-yu; Luo, Zai

2013-10-01

According to the correlative automobile industry standard and the requirements of manufacturer, this dedicated on-line detecting system is designed against the shortage of low degree automatic efficiency and detection precision of auto air dryer in the domestic. Fast automatic detection is achieved by combining the technology of computer control, mechatronics and pneumatics. This system can detect the speciality performance of pressure regulating valve and sealability of auto air dryer, in which online analytical processing of test data is available, at the same time, saving and inquiring data is achieved. Through some experimental analysis, it is indicated that efficient and accurate detection of the performance of auto air dryer is realized, and the test errors are less than 3%. Moreover, we carry out the type A evaluation of uncertainty in test data based on Bayesian theory, and the results show that the test uncertainties of all performance parameters are less than 0.5kPa, which can meet the requirements of operating industrial site absolutely.

Multi-thresholds for fault isolation in the presence of uncertainties.

PubMed

Touati, Youcef; Mellal, Mohamed Arezki; Benazzouz, Djamel

2016-05-01

Monitoring of the faults is an important task in mechatronics. It involves the detection and isolation of faults which are performed by using the residuals. These residuals represent numerical values that define certain intervals called thresholds. In fact, the fault is detected if the residuals exceed the thresholds. In addition, each considered fault must activate a unique set of residuals to be isolated. However, in the presence of uncertainties, false decisions can occur due to the low sensitivity of certain residuals towards faults. In this paper, an efficient approach to make decision on fault isolation in the presence of uncertainties is proposed. Based on the bond graph tool, the approach is developed in order to generate systematically the relations between residuals and faults. The generated relations allow the estimation of the minimum detectable and isolable fault values. The latter is used to calculate the thresholds of isolation for each residual. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Robotic Billiards: Understanding Humans in Order to Counter Them.

PubMed

Nierhoff, Thomas; Leibrandt, Konrad; Lorenz, Tamara; Hirche, Sandra

2016-08-01

Ongoing technological advances in the areas of computation, sensing, and mechatronics enable robotic-based systems to interact with humans in the real world. To succeed against a human in a competitive scenario, a robot must anticipate the human behavior and include it in its own planning framework. Then it can predict the next human move and counter it accordingly, thus not only achieving overall better performance but also systematically exploiting the opponent's weak spots. Pool is used as a representative scenario to derive a model-based planning and control framework where not only the physics of the environment but also a model of the opponent is considered. By representing the game of pool as a Markov decision process and incorporating a model of the human decision-making based on studies, an optimized policy is derived. This enables the robot to include the opponent's typical game style into its tactical considerations when planning a stroke. The results are validated in simulations and real-life experiments with an anthropomorphic robot playing pool against a human.

Estimation of the stapes-bone thickness in the stapedotomy surgical procedure using a machine-learning technique.

PubMed

Kaburlasos, V G; Petridis, V; Brett, P N; Baker, D A

1999-12-01

Stapedotomy is a surgical procedure aimed at the treatment of hearing impairment due to otosclerosis. The treatment consists of drilling a hole through the stapes bone in the inner ear in order to insert a prosthesis. Safety precautions require knowledge of the nonmeasurable stapes thickness. The technical goal herein has been the design of high-level controls for an intelligent mechatronics drilling tool in order to enable the estimation of stapes thickness from measurable drilling data. The goal has been met by learning a map between drilling features, hence no model of the physical system has been necessary. Learning has been achieved as explained in this paper by a scheme, namely the d-sigma Fuzzy Lattice Neurocomputing (d sigma-FLN) scheme for classification, within the framework of fuzzy lattices. The successful application of the d sigma-FLN scheme is demonstrated in estimating the thickness of a stapes bone "on-line" using drilling data obtained experimentally in the laboratory.

Fabrication of amorphous micro-ring arrays in crystalline silicon using ultrashort laser pulses

NASA Astrophysics Data System (ADS)

Fuentes-Edfuf, Yasser; Garcia-Lechuga, Mario; Puerto, Daniel; Florian, Camilo; Garcia-Leis, Adianez; Sanchez-Cortes, Santiago; Solis, Javier; Siegel, Jan

2017-05-01

We demonstrate a simple way to fabricate amorphous micro-rings in crystalline silicon using direct laser writing. This method is based on the fact that the phase of a thin surface layer can be changed into the amorphous phase by irradiation with a few ultrashort laser pulses (800 nm wavelength and 100 fs duration). Surface-depressed amorphous rings with a central crystalline disk can be fabricated without the need for beam shaping, featuring attractive optical, topographical, and electrical properties. The underlying formation mechanism and phase change pathway have been investigated by means of fs-resolved microscopy, identifying fluence-dependent melting and solidification dynamics of the material as the responsible mechanism. We demonstrate that the lateral dimensions of the rings can be scaled and that the rings can be stitched together, forming extended arrays of structures not limited to annular shapes. This technique and the resulting structures may find applications in a variety of fields such as optics, nanoelectronics, and mechatronics.

Radiation Transport Calculation of the UGXR Collimators for the Jules Horowitz Reactor (JHR)

NASA Astrophysics Data System (ADS)

Chento, Yelko; Hueso, César; Zamora, Imanol; Fabbri, Marco; Fuente, Cristina De La; Larringan, Asier

2017-09-01

Jules Horowitz Reactor (JHR), a major infrastructure of European interest in the fission domain, will be built and operated in the framework of an international cooperation, including the development and qualification of materials and nuclear fuel used in nuclear industry. For this purpose UGXR Collimators, two multi slit gamma and X-ray collimation mechatronic systems, will be installed at the JHR pool and at the Irradiated Components Storage pool. Expected amounts of radiation produced by the spent fuel and X-ray accelerator implies diverse aspects need to be verified to ensure adequate radiological zoning and personnel radiation protection. A computational methodology was devised to validate the Collimators design by means of coupling different engineering codes. In summary, several assessments were performed by means of MCNP5v1.60 to fulfil all the radiological requirements in Nominal scenario (TEDE < 25µSv/h) and in Maintenance scenario (TEDE < 2mSv/h) among others, detailing the methodology, hypotheses and assumptions employed.

Use of tactile feedback to control exploratory movements to characterize object compliance.

PubMed

Su, Zhe; Fishel, Jeremy A; Yamamoto, Tomonori; Loeb, Gerald E

2012-01-01

Humans have been shown to be good at using active touch to perceive subtle differences in compliance. They tend to use highly stereotypical exploratory strategies, such as applying normal force to a surface. We developed similar exploratory and perceptual algorithms for a mechatronic robotic system (Barrett arm/hand system) equipped with liquid-filled, biomimetic tactile sensors (BioTac(®) from SynTouch LLC). The distribution of force on the fingertip was measured by the electrical resistance of the conductive liquid trapped between the elastomeric skin and a cluster of four electrodes on the flat fingertip surface of the rigid core of the BioTac. These signals provided closed-loop control of exploratory movements, while the distribution of skin deformations, measured by more lateral electrodes and by the hydraulic pressure, were used to estimate material properties of objects. With this control algorithm, the robot plus tactile sensor was able to discriminate the relative compliance of various rubber samples.

Strategic planning of developing automatic optical inspection (AOI) technologies in Taiwan

NASA Astrophysics Data System (ADS)

Fan, K. C.; Hsu, C.

2005-01-01

In most domestic hi-tech industries in Taiwan, the automatic optical inspection (AOI) equipment is mostly imported. In view of the required specifications, AOI consists of the integration of mechanical-electrical-optical-information technologies. In the past two decades, traditional industries have lost their competitiveness due to the low profit rate. It is possible to promote a new AOI industry in Taiwan through the integration of its strong background in mechatronic technology in positioning stages with the optical image processing techniques. The market requirements are huge not only in domestic need but also in global need. This is the main reason to promote the AOI research for the coming years in Taiwan. Focused industrial applications will be in IC, PCB, LCD, communication, and MEMS parts. This paper will analyze the domestic and global AOI equipment market, summarize the necessary fish bone technology diagrams, survey the actual industrial needs, and propose the strategic plan to be promoted in Taiwan.

The Robonaut 2 Hand - Designed to do Work with Tools

NASA Technical Reports Server (NTRS)

Bridgwater, L. B.; Ihrke, C. A.; Diftler, M. A.; Abdallah, M. E.; Radford, N. A.; Rogers, J. M.; Yayathi, S.; Askew, R. S.; Linn, D. M.

2011-01-01

The second generation Robonaut hand has many advantages over its predecessor. This mechatronic device is more dexterous and has improved force control and sensing giving it the capability to grasp and actuate a wider range of tools. It can achieve higher peak forces at higher speeds than the original. Developed as part of a partnership between General Motors and NASA, the hand is designed to more closely approximate a human hand. Having a more anthropomorphic design allows the hand to attain a larger set of useful grasps for working with human interfaces. Key to the hand s improved performance is the use of lower friction drive elements and a redistribution of components from the hand to the forearm, permitting more sensing in the fingers and palm where it is most important. The following describes the design, mechanical/electrical integration, and control features of the hand. Lessons learned during the development and initial operations along with planned refinements to make it more effective are presented.

A Verification Method of Inter-Task Cooperation in Embedded Real-time Systems and its Evaluation

NASA Astrophysics Data System (ADS)

Yoshida, Toshio

In software development process of embedded real-time systems, the design of the task cooperation process is very important. The cooperating process of such tasks is specified by task cooperation patterns. Adoption of unsuitable task cooperation patterns has fatal influence on system performance, quality, and extendibility. In order to prevent repetitive work caused by the shortage of task cooperation performance, it is necessary to verify task cooperation patterns in an early software development stage. However, it is very difficult to verify task cooperation patterns in an early software developing stage where task program codes are not completed yet. Therefore, we propose a verification method using task skeleton program codes and a real-time kernel that has a function of recording all events during software execution such as system calls issued by task program codes, external interrupts, and timer interrupt. In order to evaluate the proposed verification method, we applied it to the software development process of a mechatronics control system.

Ontological modelling of knowledge management for human-machine integrated design of ultra-precision grinding machine

NASA Astrophysics Data System (ADS)

Hong, Haibo; Yin, Yuehong; Chen, Xing

2016-11-01

Despite the rapid development of computer science and information technology, an efficient human-machine integrated enterprise information system for designing complex mechatronic products is still not fully accomplished, partly because of the inharmonious communication among collaborators. Therefore, one challenge in human-machine integration is how to establish an appropriate knowledge management (KM) model to support integration and sharing of heterogeneous product knowledge. Aiming at the diversity of design knowledge, this article proposes an ontology-based model to reach an unambiguous and normative representation of knowledge. First, an ontology-based human-machine integrated design framework is described, then corresponding ontologies and sub-ontologies are established according to different purposes and scopes. Second, a similarity calculation-based ontology integration method composed of ontology mapping and ontology merging is introduced. The ontology searching-based knowledge sharing method is then developed. Finally, a case of human-machine integrated design of a large ultra-precision grinding machine is used to demonstrate the effectiveness of the method.

Permanent magnets as biasing mechanism for improving the performance of circular dielectric elastomer out-of-plane actuators

NASA Astrophysics Data System (ADS)

Loew, P.; Rizzello, G.; Seelecke, S.

2017-04-01

Dielectric Elastomers (DE) represent an attractive technology for the realization of mechatronic actuators, due to their lightweight, high energy density, high energy efficiency, scalability, and low noise features. In order to produce a stroke, a DE membrane needs to be pre-loaded with a mechanical biasing mechanism. In our previous works, we compared the stroke achieved with different biasing mechanisms for a circular out-of-plane DE Actuator (DEA), i.e., hanging masses, linear and bi-stable springs. The novel contribution of this paper is the investigation of a biasing design approach based on permanent magnets. The resulting magnet-based actuators are usually more compact than the spring-based ones, allowing to obtain more compact systems. Two design solutions are proposed and compared, namely a first one characterized by a stable actuation, and a second one which permits to achieve a higher stroke, but it is intrinsically unstable. The effectiveness of the novel design solution is assessed by means of several experiments.

Er Effect of Low Molecular Liquid Crystal on One-Sided Patterned Electrodes

NASA Astrophysics Data System (ADS)

Kikuchi, Takehito; Inoue, Akio; Furusho, Junji; Kawamuki, Ryohei

Several kinds of ER fluids (ERF) have been developed and have been applied to some mechatronics devices and processing technologies. In many conventional applications of ERFs, these devices consist of bilateral electrodes to apply electric field in ERF. However, the electric field of several kV/mm may be necessary to generate an ER effect sufficiently for practical purposes. The gap between a pair of electrodes should be, therefore, maintained narrowly and exactly for fears of short-circuit. At the same time, this electrode system also requires an interconnection on driving parts. To improve these disadvantages, we proposed "one-sided patterned electrode" (OSPE) systems in previous works. In this report, we confirmed the flow characteristics of low molecular liquid crystal (LMLC) on OSPE. Next, we also confirmed the different characteristics depending on the pattern type. Depending on results of electro-static analysis, we conclude that such a difference may results from the directors of LC molecules derived by electric field.

Research and application on imaging technology of line structure light based on confocal microscopy

NASA Astrophysics Data System (ADS)

Han, Wenfeng; Xiao, Zexin; Wang, Xiaofen

2009-11-01

In 2005, the theory of line structure light confocal microscopy was put forward firstly in China by Xingyu Gao and Zexin Xiao in the Institute of Opt-mechatronics of Guilin University of Electronic Technology. Though the lateral resolution of line confocal microscopy can only reach or approach the level of the traditional dot confocal microscopy. But compared with traditional dot confocal microscopy, it has two advantages: first, by substituting line scanning for dot scanning, plane imaging only performs one-dimensional scanning, with imaging velocity greatly improved and scanning mechanism simplified, second, transfer quantity of light is greatly improved by substituting detection hairline for detection pinhole, and low illumination CCD is used directly to collect images instead of photoelectric intensifier. In order to apply the line confocal microscopy to practical system, based on the further research on the theory of the line confocal microscopy, imaging technology of line structure light is put forward on condition of implementation of confocal microscopy. Its validity and reliability are also verified by experiments.

A short overview of upper limb rehabilitation devices

NASA Astrophysics Data System (ADS)

Macovei, S.; Doroftei, I.

2016-08-01

As some studies show, the number of people over 65 years old increases constantly, leading to the need of solution to provide services regarding patient mobility. Diseases, accidents and neurologic problems affect hundreds of people every day, causing pain and lost of motor functions. The ability of using the upper limb is indispensable for a human being in everyday activities, making easy tasks like drinking a glass of water a real challenge. We can agree that physiotherapy promotes recovery, but not at an optimal level, due to limited financial and human resources. Hence, the need of robot-assisted rehabilitation emerges. A robot for upper-limb exercises should have a design that can accurately control interaction forces and progressively adapt assistance to the patients’ abilities and also to record the patient's motion and evolution. In this paper a short overview of upper limb rehabilitation devices is presented. Our goal is to find the shortcomings of the current developed devices in terms of utility, ease of use and costs, for future development of a mechatronic system for upper limb rehabilitation.

Intelligent robot trends for 1998

NASA Astrophysics Data System (ADS)

Hall, Ernest L.

1998-10-01

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent technical and economic trends. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has a 1.1 billion-dollar market in the U.S. and is growing. Feasibility studies results are presented which also show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

Conception of the system for traffic measurements based on piezoelectric foils

NASA Astrophysics Data System (ADS)

Płaczek, M.

2016-08-01

A concept of mechatronic system for traffic measurements based on the piezoelectric transducers used as sensors is presented. The aim of the work project is to theoretically and experimentally analyse the dynamic response of road infrastructure forced by vehicles motion. The subject of the project is therefore on the borderline of civil engineering and mechanical and covers a wide range of issues in both these areas. To measure the dynamic response of the tested pieces of road infrastructure application of piezoelectric, in particular piezoelectric transducers in the form of piezoelectric films (MFC - Macro Fiber Composite) is proposed. The purpose is to verify the possibility to use composite piezoelectric transducers as sensors used in traffic surveillance systems - innovative methods of controlling the road infrastructure and traffic. Presented paper reports works that were done in order to receive the basic information about analysed systems and their behaviour under excitation by passing vehicles. It is very important to verify if such kind of systems can be controlled by the analysis of the dynamic response of road infrastructure measured using piezoelectric transducers. Obtained results show that it could be possible.

Design and control of an embedded vision guided robotic fish with multiple control surfaces.

PubMed

Yu, Junzhi; Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.

A curved ultrasonic actuator optimized for spherical motors: design and experiments.

PubMed

Leroy, Edouard; Lozada, José; Hafez, Moustapha

2014-08-01

Multi-degree-of-freedom angular actuators are commonly used in numerous mechatronic areas such as omnidirectional robots, robot articulations or inertially stabilized platforms. The conventional method to design these devices consists in placing multiple actuators in parallel or series using gimbals which are bulky and difficult to miniaturize. Motors using a spherical rotor are interesting for miniature multidegree-of-freedom actuators. In this paper, a new actuator is proposed. It is based on a curved piezoelectric element which has its inner contact surface adapted to the diameter of the rotor. This adaptation allows to build spherical motors with a fully constrained rotor and without a need for additional guiding system. The work presents a design methodology based on modal finite element analysis. A methodology for mode selection is proposed and a sensitivity analysis of the final geometry to uncertainties and added masses is discussed. Finally, experimental results that validate the actuator concept on a single degree-of-freedom ultrasonic motor set-up are presented. Copyright © 2014 Elsevier B.V. All rights reserved.

An online condition monitoring system implemented an internet connectivity and FTP for low speed slew bearing

NASA Astrophysics Data System (ADS)

Caesarendra, W.; Kosasih, B.; Tjahjowidodo, T.; Ariyanto, M.; Daryl, LWQ; Pamungkas, D.

2018-04-01

Rapid and reliable information in slew bearing maintenance is not trivial issue. This paper presents the online monitoring system to assist maintenance engineer in order to monitor the bearing condition of low speed slew bearing in sheet metal company. The system is able to pass the vibration information from the place where the bearing and accelerometer sensors are attached to the data center; and from the data center it can be access by opening the online monitoring website from any place and by any person. The online monitoring system is built using some programming languages such as C language, MATLAB, PHP, HTML and CSS. Generally, the flow process is start with the automatic vibration data acquisition; then features are calculated from the acquired vibration data. These features are then sent to the data center; and form the data center, the vibration features can be seen through the online monitoring website. This online monitoring system has been successfully applied in School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong.

Robonaut 2 - The First Humanoid Robot in Space

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Radford, N. A.; Mehling, J. S.; Abdallah, M. E.; Bridgwater, L. B.; Sanders, A. M.; Askew, R. S.; Linn, D. M.; Yamokoski, J. D.; Permenter, F. A.;

Digital control analysis and design of a field-sensed magnetic suspension system.

PubMed

Li, Jen-Hsing; Chiou, Juing-Shian

2015-03-13

Magnetic suspension systems are mechatronic systems and crucial in several engineering applications, such as the levitation of high-speed trains, frictionless bearings, and wind tunnels. Magnetic suspension systems are nonlinear and unstable systems; therefore, they are suitable educational benchmarks for testing various modeling and control methods. This paper presents the digital modeling and control of magnetic suspension systems. First, the magnetic suspension system is stabilized using a digital proportional-derivative controller. Subsequently, the digital model is identified using recursive algorithms. Finally, a digital mixed linear quadratic regulator (LQR)/H∞ control is adopted to stabilize the magnetic suspension system robustly. Simulation examples and a real-world example are provided to demonstrate the practicality of the study results. In this study, a digital magnetic suspension system model was developed and reviewed. In addition, equivalent state and output feedback controls for magnetic suspension systems were developed. Using this method, the controller design for magnetic suspension systems was simplified, which is the novel contribution of this study. In addition, this paper proposes a complete digital controller design procedure for magnetic suspension systems.

International Conference of Applied Science and Technology for Infrastructure Engineering

NASA Astrophysics Data System (ADS)

Elvina Santoso, Shelvy; Hardianto, Ekky

2017-11-01

Preface: International Conference of Applied Science and Technology for Infrastructure Engineering (ICASIE) 2017. The International Conference of Applied Science and Technology for Infrastructure Engineering (ICASIE) 2017 has been scheduled and successfully taken place at Swiss-Bell Inn Hotel, Surabaya, Indonesia, on August 5th 2017 organized by Department of Civil Infrastructure Engineering, Faculty of Vocation, Institut Teknologi Sepuluh Nopember (ITS). This annual event aims to create synergies between government, private sectors; employers; practitioners; and academics. This conference has different theme each year and “MATERIAL FOR INFRASTUCTURE ENGINEERING” will be taken for this year’s main theme. In addition, we also provide a platform for various other sub-theme topic including but not limited to Geopolymer Concrete and Materials Technology, Structural Dynamics, Engineering, and Sustainability, Seismic Design and Control of Structural Vibrations, Innovative and Green Buildings, Project Management, Transportation and Highway Engineering, Geotechnical Engineering, Water Engineering and Resources Management, Surveying and Geospatial Engineering, Coastal Engineering, Geophysics, Energy, Electronic and Mechatronic, Industrial Process, and Data Mining. List of Organizers, Journal Editors, Steering Committee, International Scientific Committee, Chairman, Keynote Speakers are available in this pdf.

Towards a research pole in photonics in Western Romania

NASA Astrophysics Data System (ADS)

Duma, Virgil-Florin; Negrutiu, Meda L.; Sinescu, Cosmin; Rominu, Mihai; Miutescu, Eftimie; Burlea, Amelia; Vlascici, Miomir; Gheorghiu, Nicolae; Cira, Octavian; Hutiu, Gheorghe; Mnerie, Corina; Demian, Dorin; Marcauteanu, Corina; Topala, Florin; Rolland, Jannick P.; Voiculescu, Ioana; Podoleanu, Adrian G.

2014-07-01

We present our efforts in establishing a Research Pole in Photonics in the future Arad-Timisoara metropolitan area projected to unite two major cities of Western Romania. Research objectives and related training activities of various institutions and groups that are involved are presented in their evolution during the last decade. The multi-disciplinary consortium consists principally of two universities, UAVA (Aurel Vlaicu University of Arad) and UMF (Victor Babes Medicine and Pharmacy University of Timisoara), but also of the Arad County Emergency University Hospital and several innovative SMEs, such as Bioclinica S.A. (the largest array of medical analysis labs in the region) and Inteliform S.R.L. (a competitive SME focused on mechatronics and mechanical engineering). A brief survey of the individual and joint projects of these institutions is presented, together with their teaching activities at graduate and undergraduate level. The research Pole collaborates in R&D, training and education in biomedical imaging with universities in USA and Europe. Collaborative activities, mainly on Optical Coherence Tomography (OCT) projects are presented in a multidisciplinary approach that includes optomechatronics, precision mechanics and optics, dentistry, medicine, and biology.

A Low Cost Mechatronics Device for STEM Education

NASA Astrophysics Data System (ADS)

Himes, Larry Eugene, Jr.

All of the low-cost STEM education devices currently available are limited in function which limits learning. The motivation was to design and develop a device that will intrigue post-secondary students to learn STEM education concepts in a hands-on manner. The device needed to be open source so as to lower the cost to make it available to more students. And, making it feature rich was important for use with multiple projects the students may encounter or build themselves as they grow. The device has provided visual and physical feedback to students making the device more intriguing to use. Using the open-source C compiler reduced cost for students to use the device and taught them how to use an industry standard programming language. Students enjoyed the WAV file rendering for sound effects and LED lighting effects from the device. Most interviewees were intrigued by the device for use in their training facilities and classrooms. There are a couple of multi-axis controllers available but none with position feedback. Ethernet or Bluetooth interfacing was mentioned as a future feature and it was encouraged by nearly all who were interviewed.

A cable-driven parallel robots application: modelling and simulation of a dynamic cable model in Dymola

NASA Astrophysics Data System (ADS)

Othman, M. F.; Kurniawan, R.; Schramm, D.; Ariffin, A. K.

2018-05-01

Modeling a cable model in multibody dynamics simulation tool which dynamically varies in length, mass and stiffness is a challenging task. Simulation of cable-driven parallel robots (CDPR) for instance requires a cable model that can dynamically change in length for every desired pose of the platform. Thus, in this paper, a detailed procedure for modeling and simulation of a dynamic cable model in Dymola is proposed. The approach is also applicable for other types of Modelica simulation environments. The cable is modeled using standard mechanical elements like mass, spring, damper and joint. The parameters of the cable model are based on the factsheet of the manufacturer and experimental results. Its dynamic ability is tested by applying it on a complete planar CDPR model in which the parameters are based on a prototype named CABLAR, which is developed in Chair of Mechatronics, University of Duisburg-Essen. The prototype has been developed to demonstrate an application of CDPR as a goods storage and retrieval machine. The performance of the cable model during the simulation is analyzed and discussed.

Biotic games and cloud experimentation as novel media for biophysics education

NASA Astrophysics Data System (ADS)

Riedel-Kruse, Ingmar; Blikstein, Paulo

2014-03-01

First-hand, open-ended experimentation is key for effective formal and informal biophysics education. We developed, tested and assessed multiple new platforms that enable students and children to directly interact with and learn about microscopic biophysical processes: (1) Biotic games that enable local and online play using galvano- and photo-tactic stimulation of micro-swimmers, illustrating concepts such as biased random walks, Low Reynolds number hydrodynamics, and Brownian motion; (2) an undergraduate course where students learn optics, electronics, micro-fluidics, real time image analysis, and instrument control by building biotic games; and (3) a graduate class on the biophysics of multi-cellular systems that contains a cloud experimentation lab enabling students to execute open-ended chemotaxis experiments on slimemolds online, analyze their data, and build biophysical models. Our work aims to generate the equivalent excitement and educational impact for biophysics as robotics and video games have had for mechatronics and computer science, respectively. We also discuss how scaled-up cloud experimentation systems can support MOOCs with true lab components and life-science research in general.

Bending continuous structures with SMAs: a novel robotic fish design.

PubMed

Rossi, C; Colorado, J; Coral, W; Barrientos, A

2011-12-01

In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators' control in terms of actuation speed and position accuracy is also addressed.

An in situ probe for on-line monitoring of cell density and viability on the basis of dark field microscopy in conjunction with image processing and supervised machine learning.

PubMed

Wei, Ning; You, Jia; Friehs, Karl; Flaschel, Erwin; Nattkemper, Tim Wilhelm

2007-08-15

Fermentation industries would benefit from on-line monitoring of important parameters describing cell growth such as cell density and viability during fermentation processes. For this purpose, an in situ probe has been developed, which utilizes a dark field illumination unit to obtain high contrast images with an integrated CCD camera. To test the probe, brewer's yeast Saccharomyces cerevisiae is chosen as the target microorganism. Images of the yeast cells in the bioreactors are captured, processed, and analyzed automatically by means of mechatronics, image processing, and machine learning. Two support vector machine based classifiers are used for separating cells from background, and for distinguishing live from dead cells afterwards. The evaluation of the in situ experiments showed strong correlation between results obtained by the probe and those by widely accepted standard methods. Thus, the in situ probe has been proved to be a feasible device for on-line monitoring of both cell density and viability with high accuracy and stability. (c) 2007 Wiley Periodicals, Inc.

Surface EMG in advanced hand prosthetics.

PubMed

Castellini, Claudio; van der Smagt, Patrick

2009-01-01

One of the major problems when dealing with highly dexterous, active hand prostheses is their control by the patient wearing them. With the advances in mechatronics, building prosthetic hands with multiple active degrees of freedom is realisable, but actively controlling the position and especially the exerted force of each finger cannot yet be done naturally. This paper deals with advanced robotic hand control via surface electromyography. Building upon recent results, we show that machine learning, together with a simple downsampling algorithm, can be effectively used to control on-line, in real time, finger position as well as finger force of a highly dexterous robotic hand. The system determines the type of grasp a human subject is willing to use, and the required amount of force involved, with a high degree of accuracy. This represents a remarkable improvement with respect to the state-of-the-art of feed-forward control of dexterous mechanical hands, and opens up a scenario in which amputees will be able to control hand prostheses in a much finer way than it has so far been possible.

MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement.

PubMed

Fischer, Gregory S; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Dimaio, Simon P; Tempany, Clare M; Hata, Nobuhiko; Fichtinger, Gabor

2008-06-01

Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. However, the benefits cannot be readily harnessed for interventional procedures due to difficulties that surround the use of high-field (1.5T or greater) MRI. The inability to use conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intraprostatic needle placement inside closed high-field MRI scanners. MRI compatibility of the robot has been evaluated under 3T MRI using standard prostate imaging sequences and average SNR loss is limited to 5%. Needle alignment accuracy of the robot under servo pneumatic control is better than 0.94 mm rms per axis. The complete system workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the robot mechanism and controller design, the system integration, and presents results of preliminary evaluation of the system.

Numerical simulations of the flow with the prescribed displacement of the airfoil and comparison with experiment

NASA Astrophysics Data System (ADS)

Řidký, V.; Šidlof, P.; Vlček, V.

2013-04-01

The work is devoted to comparing measured data with the results of numerical simulations. As mathematical model was used mathematical model whitout turbulence for incompressible flow In the experiment was observed the behavior of designed NACA0015 airfoil in airflow. For the numerical solution was used OpenFOAM computational package, this is open-source software based on finite volume method. In the numerical solution is prescribed displacement of the airfoil, which corresponds to the experiment. The velocity at a point close to the airfoil surface is compared with the experimental data obtained from interferographic measurements of the velocity field. Numerical solution is computed on a 3D mesh composed of about 1 million ortogonal hexahedron elements. The time step is limited by the Courant number. Parallel computations are run on supercomputers of the CIV at Technical University in Prague (HAL and FOX) and on a computer cluster of the Faculty of Mechatronics of Liberec (HYDRA). Run time is fixed at five periods, the results from the fifth periods and average value for all periods are then be compared with experiment.

Linear modeling of turbulent skin-friction reduction due to spanwise wall motion

NASA Astrophysics Data System (ADS)

Duque-Daza, Carlos; Baig, Mirza; Lockerby, Duncan; Chernyshenko, Sergei; Davies, Christopher; University of Warwick Team; Imperial College Team; Cardiff University Team

2012-11-01

We present a study on the effect of streamwise-travelling waves of spanwise wall velocity on the growth of near-wall turbulent streaks using a linearized formulation of the Navier-Stokes equations. The changes in streak amplification due to the travelling waves induced by the wall velocity are compared to published results of direct numerical simulation (DNS) predictions of the turbulent skin-friction reduction over a range of parameters; a clear correlation between these two sets of results is observed. Additional linearized simulations but at a much higher Reynolds numbers, more relevant to aerospace applications, produce results that show no marked differences to those obtained at low Reynolds number. It is also observed that a close correlation exists between DNS data of drag reduction and a very simple characteristic of the ``generalized'' Stokes layer generated by the streamwise-travelling waves. Carlos.Duque-Daza@warwick.ac.uk - School of Engineering, University of Warwick, Coventry CV4 7AL, UK caduqued@unal.edu.co - Department of Mechanical and Mechatronics Engineering, Universidad Nacional de Colombia.

A three degree of freedom manipulator used for store separation wind tunnel test

NASA Astrophysics Data System (ADS)

Wei, R.; Che, B.-H.; Sun, C.-B.; Zhang, J.; Lu, Y.-Q.

2018-06-01

A three degree of freedom manipulator is presented, which is used for store separation wind tunnel test. It is a kind of mechatronics product, have small volume and large moment of torque. The paper researched the design principle of wind tunnel test equipment, also introduced the transmission principle design, physical design, control system design, drive element selection calculation and verification, dynamics computation and static structural computation of the manipulator. To satisfy the design principle of wind tunnel test equipment, some optimization design are made include optimizes the structure of drive element and cable, fairing configuration, overall dimension so that to make the device more suitable for the wind tunnel test. Some tests are made to verify the parameters of the manipulator. The results show that the device improves the load from 100 Nm to 250 Nm, control accuracy from 0.1°to 0.05°in pitch and yaw, also improves load from 10 Nm to 20 Nm, control accuracy from 0.1°to 0.05°in roll.

Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

PubMed Central

Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface. PMID:24688413

Using ICT techniques for improving mechatronic systems' dependability

NASA Astrophysics Data System (ADS)

Miron, Emanuel; Silva, João P. M. A.; Machado, José; Olaru, Dumitru; Prisacaru, Gheorghe

2013-10-01

The use of analysis techniques for industrial controller's analysis, such as Simulation and Formal Verification, is complex on industrial context. This complexity is due to the fact that such techniques require sometimes high investment in specific skilled human resources that have sufficient theoretical knowledge in those domains. This paper aims, mainly, to show that it is possible to obtain a timed automata model for formal verification purposes, considering the CAD model of a mechanical component. This systematic approach can be used, by companies, for the analysis of industrial controllers programs. For this purpose, it is discussed, in the paper, the best way to systematize these procedures, and this paper describes, only, the first step of a complex process and promotes a discussion of the main difficulties that can be found and a possibility for handle those difficulties. A library for formal verification purposes is obtained from original 3D CAD models using Software as a Service platform (SaaS) that, nowadays, has become a common deliverable model for many applications, because SaaS is typically accessed by users via internet access.

Dry etching technologies for reflective multilayer

NASA Astrophysics Data System (ADS)

Iino, Yoshinori; Karyu, Makoto; Ita, Hirotsugu; Kase, Yoshihisa; Yoshimori, Tomoaki; Muto, Makoto; Nonaka, Mikio; Iwami, Munenori

2012-11-01

We have developed a highly integrated methodology for patterning Extreme Ultraviolet (EUV) mask, which has been highlighted for the lithography technique at the 14nm half-pitch generation and beyond. The EUV mask is characterized as a reflective-type mask which is completely different compared with conventional transparent-type of photo mask. And it requires not only patterning of absorber layer without damaging the underlying multi reflective layers (40 Si/Mo layers) but also etching multi reflective layers. In this case, the dry etch process has generally faced technical challenges such as the difficulties in CD control, etch damage to quartz substrate and low selectivity to the mask resist. Shibaura Mechatronics ARESTM mask etch system and its optimized etch process has already achieved the maximal etch performance at patterning two-layered absorber. And in this study, our process technologies of multi reflective layers will be evaluated by means of optimal combination of process gases and our optimized plasma produced by certain source power and bias power. When our ARES™ is used for multilayer etching, the user can choose to etch the absorber layer at the same time or etch only the multilayer.

Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

NASA Astrophysics Data System (ADS)

Boukhnifer, Moussa

2012-07-01

Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integral PI2 performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.

An ultra-high field strength MR image-guided robotic needle delivery system for in-bore small animal interventions.

PubMed

Gravett, Matthew; Cepek, Jeremy; Fenster, Aaron

2017-11-01

The purpose of this study was to develop and validate an image-guided robotic needle delivery system for accurate and repeatable needle targeting procedures in mouse brains inside the 12 cm inner diameter gradient coil insert of a 9.4 T MR scanner. Many preclinical research techniques require the use of accurate needle deliveries to soft tissues, including brain tissue. Soft tissues are optimally visualized in MR images, which offer high-soft tissue contrast, as well as a range of unique imaging techniques, including functional, spectroscopy and thermal imaging, however, there are currently no solutions for delivering needles to small animal brains inside the bore of an ultra-high field MR scanner. This paper describes the mechatronic design, evaluation of MR compatibility, registration technique, mechanical calibration, the quantitative validation of the in-bore image-guided needle targeting accuracy and repeatability, and demonstrated the system's ability to deliver needles in situ. Our six degree-of-freedom, MR compatible, mechatronic system was designed to fit inside the bore of a 9.4 T MR scanner and is actuated using a combination of piezoelectric and hydraulic mechanisms. The MR compatibility and targeting accuracy of the needle delivery system are evaluated to ensure that the system is precisely calibrated to perform the needle targeting procedures. A semi-automated image registration is performed to link the robot coordinates to the MR coordinate system. Soft tissue targets can be accurately localized in MR images, followed by automatic alignment of the needle trajectory to the target. Intra-procedure visualization of the needle target location and the needle were confirmed through MR images after needle insertion. The effects of geometric distortions and signal noise were found to be below threshold that would have an impact on the accuracy of the system. The system was found to have negligible effect on the MR image signal noise and geometric distortion. The system was mechanically calibrated and the mean image-guided needle targeting and needle trajectory accuracies were quantified in an image-guided tissue mimicking phantom experiment to be 178 ± 54 μm and 0.27 ± 0.65°, respectively. An MR image-guided system for in-bore needle deliveries to soft tissue targets in small animal models has been developed. The results of the needle targeting accuracy experiments in phantoms indicate that this system has the potential to deliver needles to the smallest soft tissue structures relevant in preclinical studies, at a wide variety of needle trajectories. Future work in the form of a fully-automated needle driver with precise depth control would benefit this system in terms of its applicability to a wider range of animal models and organ targets. © 2017 American Association of Physicists in Medicine.

Adaptive observer-based control for an IPMC actuator under varying humidity conditions

NASA Astrophysics Data System (ADS)

Bernat, Jakub; Kolota, Jakub

2018-05-01

As ionic polymer metal composites (IPMC) are increasingly applied to mechatronic systems, many new IPMC modeling efforts have been reported in the literature. The demands of rapidly growing technology has generated interest in advancing the intrinsic actuation and sensing capabilities of IPMC. Classical IPMC applications need constant hydration to operate. On the other hand, for IPMCs operating in air, the water content of the polymer varies with the humidity level of the ambient environment, which leads to its strong humidity-dependent behavior. Furthermore, decreasing water content over time plays a crucial role in the effectiveness of IPMC. Therefore, the primary challenge of this work is to accurately model this phenomenon. The principal contribution of the paper is a new IPMC model, which considers the change of moisture content. A novel nonlinear adaptive observer is designed to determine the unknown electric potential and humidity level in the polymer membrane. This approach effectively determines the moisture content of the IPMC during long-term continuous operation in air. This subsequently allows us to develop an effective back-stepping control algorithm that considers varying moisture content. Data from experiments are presented to support the effectiveness of the observation process, which is shown in illustrative examples.

A Haptic Guided Robotic System for Endoscope Positioning and Holding.

PubMed

Cabuk, Burak; Ceylan, Savas; Anik, Ihsan; Tugasaygi, Mehtap; Kizir, Selcuk

2015-01-01

To determine the feasibility, advantages, and disadvantages of using a robot for holding and maneuvering the endoscope in transnasal transsphenoidal surgery. The system used in this study was a Stewart Platform based robotic system that was developed by Kocaeli University Department of Mechatronics Engineering for positioning and holding of endoscope. After the first use on an artificial head model, the system was used on six fresh postmortem bodies that were provided by the Morgue Specialization Department of the Forensic Medicine Institute (Istanbul, Turkey). The setup required for robotic system was easy, the time for registration procedure and setup of the robot takes 15 minutes. The resistance was felt on haptic arm in case of contact or friction with adjacent tissues. The adaptation process was shorter with the mouse to manipulate the endoscope. The endoscopic transsphenoidal approach was achieved with the robotic system. The endoscope was guided to the sphenoid ostium with the help of the robotic arm. This robotic system can be used in endoscopic transsphenoidal surgery as an endoscope positioner and holder. The robot is able to change the position easily with the help of an assistant and prevents tremor, and provides a better field of vision for work.

A finite element model of rigid body structures actuated by dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

Simone, F.; Linnebach, P.; Rizzello, G.; Seelecke, S.

2018-06-01

This paper presents on finite element (FE) modeling and simulation of dielectric elastomer actuators (DEAs) coupled with articulated structures. DEAs have proven to represent an effective transduction technology for the realization of large deformation, low-power consuming, and fast mechatronic actuators. However, the complex dynamic behavior of the material, characterized by nonlinearities and rate-dependent phenomena, makes it difficult to accurately model and design DEA systems. The problem is further complicated in case the DEA is used to activate articulated structures, which increase both system complexity and implementation effort of numerical simulation models. In this paper, we present a model based tool which allows to effectively implement and simulate complex articulated systems actuated by DEAs. A first prototype of a compact switch actuated by DEA membranes is chosen as reference study to introduce the methodology. The commercially available FE software COMSOL is used for implementing and coupling a physics-based dynamic model of the DEA with the external structure, i.e., the switch. The model is then experimentally calibrated and validated in both quasi-static and dynamic loading conditions. Finally, preliminary results on how to use the simulation tool to optimize the design are presented.

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove.

PubMed

Ben-Tzvi, Pinhas; Ma, Zhou

2015-11-01

This paper presents the design, implementation and experimental validation of a novel robotic haptic exoskeleton device to measure the user's hand motion and assist hand motion while remaining portable and lightweight. The device consists of a five-finger mechanism actuated with miniature DC motors through antagonistically routed cables at each finger, which act as both active and passive force actuators. The SAFE Glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. The glove is adaptable to a wide variety of finger sizes without constraining the range of motion. This makes it possible to accurately and comfortably track the complex motion of the finger and thumb joints associated with common movements of hand functions, including grip and release patterns. The glove can be wirelessly linked to a computer for displaying and recording the hand status through 3D Graphical User Interface (GUI) in real-time. The experimental results demonstrate that the SAFE Glove is capable of reliably modeling hand kinematics, measuring finger motion and assisting hand grasping motion. Simulation and experimental results show the potential of the proposed system in rehabilitation therapy and virtual reality applications.

Integrated piezoelectric actuators in deep drawing tools

NASA Astrophysics Data System (ADS)

Neugebauer, R.; Mainda, P.; Drossel, W.-G.; Kerschner, M.; Wolf, K.

2011-04-01

The production of car body panels are defective in succession of process fluctuations. Thus the produced car body panel can be precise or damaged. To reduce the error rate, an intelligent deep drawing tool was developed at the Fraunhofer Institute for Machine Tools and Forming Technology IWU in cooperation with Audi and Volkswagen. Mechatronic components in a closed-loop control is the main differentiating factor between an intelligent and a conventional deep drawing tool. In correlation with sensors for process monitoring, the intelligent tool consists of piezoelectric actuators to actuate the deep drawing process. By enabling the usage of sensors and actuators at the die, the forming tool transform to a smart structure. The interface between sensors and actuators will be realized with a closed-loop control. The content of this research will present the experimental results with the piezoelectric actuator. For the analysis a production-oriented forming tool with all automotive requirements were used. The disposed actuators are monolithic multilayer actuators of the piezo injector system. In order to achieve required force, the actuators are combined in a cluster. The cluster is redundant and economical. In addition to the detailed assembly structures, this research will highlight intensive analysis with the intelligent deep drawing tool.

A novel constrained H2 optimization algorithm for mechatronics design in flexure-linked biaxial gantry.

PubMed

Ma, Jun; Chen, Si-Lu; Kamaldin, Nazir; Teo, Chek Sing; Tay, Arthur; Mamun, Abdullah Al; Tan, Kok Kiong

2017-11-01

The biaxial gantry is widely used in many industrial processes that require high precision Cartesian motion. The conventional rigid-link version suffers from breaking down of joints if any de-synchronization between the two carriages occurs. To prevent above potential risk, a flexure-linked biaxial gantry is designed to allow a small rotation angle of the cross-arm. Nevertheless, the chattering of control signals and inappropriate design of the flexure joint will possibly induce resonant modes of the end-effector. Thus, in this work, the design requirements in terms of tracking accuracy, biaxial synchronization, and resonant mode suppression are achieved by integrated optimization of the stiffness of flexures and PID controller parameters for a class of point-to-point reference trajectories with same dynamics but different steps. From here, an H 2 optimization problem with defined constraints is formulated, and an efficient iterative solver is proposed by hybridizing direct computation of constrained projection gradient and line search of optimal step. Comparative experimental results obtained on the testbed are presented to verify the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Technical skills measurement based on a cyber-physical system for endovascular surgery simulation.

PubMed

Tercero, Carlos; Kodama, Hirokatsu; Shi, Chaoyang; Ooe, Katsutoshi; Ikeda, Seiichi; Fukuda, Toshio; Arai, Fumihito; Negoro, Makoto; Kwon, Guiryong; Najdovski, Zoran

2013-09-01

Quantification of medical skills is a challenge, particularly simulator-based training. In the case of endovascular intervention, it is desirable that a simulator accurately recreates the morphology and mechanical characteristics of the vasculature while enabling scoring. For this purpose, we propose a cyber-physical system composed of optical sensors for a catheter's body motion encoding, a magnetic tracker for motion capture of an operator's hands, and opto-mechatronic sensors for measuring the interaction of the catheter tip with the vasculature model wall. Two pilot studies were conducted for measuring technical skills, one for distinguishing novices from experts and the other for measuring unnecessary motion. The proficiency levels were measurable between expert and novice and also between individual novice users. The results enabled scoring of the user's proficiency level, using sensitivity, reaction time, time to complete a task and respect for tissue integrity as evaluation criteria. Additionally, unnecessary motion was also measurable. The development of cyber-physical simulators for other domains of medicine depend on the study of photoelastic materials for human tissue modelling, and enables quantitative evaluation of skills using surgical instruments and a realistic representation of human tissue. Copyright © 2012 John Wiley & Sons, Ltd.

DLR HABLEG- High Altitude Balloon Launched Experimental Glider

NASA Astrophysics Data System (ADS)

Wlach, S.; Schwarzbauch, M.; Laiacker, M.

2015-09-01

The group Flying Robots at the DLR Institute of Robotics and Mechatronics in Oberpfaffenhofen conducts research on solar powered high altitude aircrafts. Due to the high altitude and the almost infinite mission duration, these platforms are also denoted as High Altitude Pseudo-Satellites (HAPS). This paper highlights some aspects of the design, building, integration and testing of a flying experimental platform for high altitudes. This unmanned aircraft, with a wingspan of 3 m and a mass of less than 10 kg, is meant to be launched as a glider from a high altitude balloon in 20 km altitude and shall investigate technologies for future large HAPS platforms. The aerodynamic requirements for high altitude flight included the development of a launch method allowing for a safe transition to horizontal flight from free-fall with low control authority. Due to the harsh environmental conditions in the stratosphere, the integration of electronic components in the airframe is a major effort. For regulatory reasons a reliable and situation dependent flight termination system had to be implemented. In May 2015 a flight campaign was conducted. The mission was a full success demonstrating that stratospheric research flights are feasible with rather small aircrafts.

Dynamic characteristics and mechatronics model for maglev blood pump

NASA Astrophysics Data System (ADS)

Sun, Kun; Chen, Chen

2017-01-01

Magnetic bearing system(MBs) has been developed in the new-generation blood pump due to its low power consumption, low blood trauma and high durability. However, MBs for a blood pump were almost influenced by a series of factors such as hemodynamics, rotation speeds and actuator response in working fluids, compared with those applied in other industrial fields. In this study, the dynamic characteristics of MBs in fluid environments, including the influence of the pumping fluid and rotation of the impeller on the radial dynamic model were investigated by measuring the frequency response to sinusoidal excitation upon coils, and the response of radial displacement during a raise in the speed. The excitation tests were conducted under conditions in which the blood pump was levitated in air and water and with or without rotation. The experimental and simulated results indicate that rotations of the impeller affected the characteristics of MBs in water apparently, and the vibration in water was decreased, compared with that in air due to the hydraulic force. During the start-up and rotation, the actuator failed to operate fully and timely, and the voltage supplied can be chosen under the consideration of the rotor displacement and consumption.

Modulation and multiplexing in ultra-broadband photonic internet: Part II

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2011-06-01

In this paper, there is presented a review of our today's understanding of the ultimately broadband photonic Internet. A simple calculation is presented showing the estimate of the throughput of the core photonic network branches. Optoelectronic components, circuits, systems and signals, together with analogous electronic entities and common software layers, are building blocks of the contemporary Internet. Participation of photonics in development of the physical layer in the future Internet will probably increase. The photonics leads now to a better usage of the available bandwidth (increase of the spectral efficiency measured in Bit/s/Hz), increase in the transmission rate (from Gbps, via Tbps up to probably Pbps), increase in the transmission distance without signal regeneration (in distortion compensated active optical cables), increase in energy/power efficiency measured in W/Gbps, etc. Photonics may lead, in the future, to fully transparent optical networks and, thus, to essential increase in bandwidth and network reliability. It is expected that photonics (with biochemistry, electronics and mechatronics) may build psychological and physiological interface for humans to the future global network. The following optical signal multiplexing methods were considered, which are possible without O/E/O conversion: TDM-OTDM, FDM-CO-OFDM, OCDM-OCDMA, WDM-DWDM.

Ultra-broadband photonic internet

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2011-06-01

In this paper, there is presented a review of our today's understanding of the ultimately broadband photonic Internet. A simple calculation is presented showing the estimate of the throughput of the core photonic network branches. Optoelectronic components, circuits, systems and signals, together with analogous electronic entities and common software layers, are building blocks of the contemporary Internet. Participation of photonics in development of the physical layer in the future Internet will probably increase. The photonics leads now to a better usage of the available bandwidth (increase of the spectral efficiency measured in Bit/s/Hz), increase in the transmission rate (from Gbps, via Tbps up to probably Pbps), increase in the transmission distance without signal regeneration (in distortion compensated active optical cables), increase in energy/power efficiency measured in W/Gbps, etc. Photonics may lead, in the future, to fully transparent optical networks and, thus, to essential increase in bandwidth and network reliability. It is expected that photonics (with biochemistry, electronics and mechatronics) may build psychological and physiological interface for humans to the future global network. The following optical signal multiplexing methods were considered, which are possible without O/E/O conversion: TDM-OTDM, FDM-CO-OFDM, OCDM-OCDMA, WDM-DWDM.

Modulation and multiplexing in ultra-broadband photonic internet: Part I

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2011-06-01

In this paper, there is presented a review of our today's understanding of the ultimately broadband photonic Internet. A simple calculation is presented showing the estimate of the throughput of the core photonic network branches. Optoelectronic components, circuits, systems and signals, together with analogous electronic entities and common software layers, are building blocks of the contemporary Internet. Participation of photonics in development of the physical layer in the future Internet will probably increase. The photonics leads now to a better usage of the available bandwidth (increase of the spectral efficiency measured in Bit/s/Hz), increase in the transmission rate (from Gbps, via Tbps up to probably Pbps), increase in the transmission distance without signal regeneration (in distortion compensated active optical cables), increase in energy/power efficiency measured in W/Gbps, etc. Photonics may lead, in the future, to fully transparent optical networks and, thus, to essential increase in bandwidth and network reliability. It is expected that photonics (with biochemistry, electronics and mechatronics) may build psychological and physiological interface for humans to the future global network. The following optical signal multiplexing methods were considered, which are possible without O/E/O conversion: TDM-OTDM, FDM-CO-OFDM, OCDM-OCDMA, WDM-DWDM.

BTDI detector technology for reconnaissance application

NASA Astrophysics Data System (ADS)

Hilbert, Stefan; Eckardt, Andreas; Krutz, David

2017-11-01

The Institute of Optical Sensor Systems (OS) at the Robotics and Mechatronics Center of the German Aerospace Center (DLR) has more than 30 years of experience with high-resolution imaging technology. This paper shows the institute's scientific results of the leading-edge detector design in a BTDI (Bidirectional Time Delay and Integration) architecture. This project demonstrates an approved technological design for high or multi-spectral resolution spaceborne instruments. DLR OS and BAE Systems were driving the technology of new detectors and the FPA design for future projects, new manufacturing accuracy in order to keep pace with ambitious scientific and user requirements. Resulting from customer requirements and available technologies the current generation of space borne sensor systems is focusing on VIS/NIR high spectral resolution to meet the requirements on earth and planetary observation systems. The combination of large swath and high-spectral resolution with intelligent control applications and new focal plane concepts opens the door to new remote sensing and smart deep space instruments. The paper gives an overview of the detector development and verification program at DLR on detector module level and key parameters like SNR, linearity, spectral response, quantum efficiency, PRNU, DSNU and MTF.

A novel instrument for generating angular increments of 1 nanoradian

NASA Astrophysics Data System (ADS)

Alcock, Simon G.; Bugnar, Alex; Nistea, Ioana; Sawhney, Kawal; Scott, Stewart; Hillman, Michael; Grindrod, Jamie; Johnson, Iain

2015-12-01

Accurate generation of small angles is of vital importance for calibrating angle-based metrology instruments used in a broad spectrum of industries including mechatronics, nano-positioning, and optic fabrication. We present a novel, piezo-driven, flexure device capable of reliably generating micro- and nanoradian angles. Unlike many such instruments, Diamond Light Source's nano-angle generator (Diamond-NANGO) does not rely on two separate actuators or rotation stages to provide coarse and fine motion. Instead, a single Physik Instrumente NEXLINE "PiezoWalk" actuator provides millimetres of travel with nanometre resolution. A cartwheel flexure efficiently converts displacement from the linear actuator into rotary motion with minimal parasitic errors. Rotation of the flexure is directly measured via a Magnescale "Laserscale" angle encoder. Closed-loop operation of the PiezoWalk actuator, using high-speed feedback from the angle encoder, ensures that the Diamond-NANGO's output drifts by only ˜0.3 nrad rms over ˜30 min. We show that the Diamond-NANGO can reliably move with unprecedented 1 nrad (˜57 ndeg) angular increments over a range of >7000 μrad. An autocollimator, interferometer, and capacitive displacement sensor are used to independently confirm the Diamond-NANGO's performance by simultaneously measuring the rotation of a reflective cube.

Online Wavelet Complementary velocity Estimator.

PubMed

Righettini, Paolo; Strada, Roberto; KhademOlama, Ehsan; Valilou, Shirin

2018-02-01

In this paper, we have proposed a new online Wavelet Complementary velocity Estimator (WCE) over position and acceleration data gathered from an electro hydraulic servo shaking table. This is a batch estimator type that is based on the wavelet filter banks which extract the high and low resolution of data. The proposed complementary estimator combines these two resolutions of velocities which acquired from numerical differentiation and integration of the position and acceleration sensors by considering a fixed moving horizon window as input to wavelet filter. Because of using wavelet filters, it can be implemented in a parallel procedure. By this method the numerical velocity is estimated without having high noise of differentiators, integration drifting bias and with less delay which is suitable for active vibration control in high precision Mechatronics systems by Direct Velocity Feedback (DVF) methods. This method allows us to make velocity sensors with less mechanically moving parts which makes it suitable for fast miniature structures. We have compared this method with Kalman and Butterworth filters over stability, delay and benchmarked them by their long time velocity integration for getting back the initial position data. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Sub-pixel localisation of passive micro-coil fiducial markers in interventional MRI.

PubMed

Rea, Marc; McRobbie, Donald; Elhawary, Haytham; Tse, Zion T H; Lamperth, Michael; Young, Ian

2009-04-01

Electromechanical devices enable increased accuracy in surgical procedures, and the recent development of MRI-compatible mechatronics permits the use of MRI for real-time image guidance. Integrated imaging of resonant micro-coil fiducials provides an accurate method of tracking devices in a scanner with increased flexibility compared to gradient tracking. Here we report on the ability of ten different image-processing algorithms to track micro-coil fiducials with sub-pixel accuracy. Five algorithms: maximum pixel, barycentric weighting, linear interpolation, quadratic fitting and Gaussian fitting were applied both directly to the pixel intensity matrix and to the cross-correlation matrix obtained by 2D convolution with a reference image. Using images of a 3 mm fiducial marker and a pixel size of 1.1 mm, intensity linear interpolation, which calculates the position of the fiducial centre by interpolating the pixel data to find the fiducial edges, was found to give the best performance for minimal computing power; a maximum error of 0.22 mm was observed in fiducial localisation for displacements up to 40 mm. The inherent standard deviation of fiducial localisation was 0.04 mm. This work enables greater accuracy to be achieved in passive fiducial tracking.

Novel design of a self powered and self sensing magneto-rheological damper

NASA Astrophysics Data System (ADS)

Meftahul Ferdaus, Mohammad; Rashid, M. M.; Bhuiyan, M. M. I.; Muthalif, Asan Gani Bin Abdul; Hasan, M. R.

2013-12-01

Magneto-rheological (MR) dampers are semi-active control devices and use MR fluids. Magneto-rheological dampers have successful applications in mechatronics engineering, civil engineering and numerous areas of engineering. At present, traditional MR damper systems, require a isolated power supply and dynamic sensor. This paper presents the achievability and accuracy of a self- powered and self-sensing magneto-rheological damper using harvested energy from the vibration and shock environment in which it is deployed and another important part of this paper is the increased yield stress of the Magneto rheological Fluids. Magneto rheological fluids using replacement of glass beads for Magnetic Particles to surge yield stress is implemented here. Clearly this shows better result on yield stress, viscosity, and settling rate. Also permanent magnet generator (PMG) is designed and attached to a MR damper. For evaluating the self-powered MR damper's vibration mitigating capacity, an Engine Mount System using the MR damper is simulated. The ideal stiffness of the PMG for the Engine Mount System (EMS) is calculated by numerical study. The vibration mitigating performance of the EMS employing the self-powered & self sensing MR damper is theoretically calculated and evaluated in the frequency domain.

The focus of Langenbeck's Archives of Surgery in the 21st century.

PubMed

Schneider, Martin; Weitz, Jürgen; Büchler, Markus W

2010-04-01

The Langenbeck's Archives of Surgery has been serving as a publication platform for clinical and scientific progress in the field of surgery for 150 years. In order to maintain this long-standing tradition throughout the coming decades, it will be mandatory to face the challenges posed by increasing specialization of surgical subdisciplines, modern technologies, and interdisciplinary treatment options. Continued efforts need to be directed at minimizing surgical trauma, not at least with respect to current demographic development. Adoption of progressive technologies from the fields of biophysics, mechatronics, and biomedical imaging solutions will likely gain a major impact on the further development of surgical operation techniques. Expanding insight from genomic and molecular medicine will facilitate personalized, interdisciplinary treatment concepts for malignant disease, in which surgical resection techniques will need to be integrated. The introduction of novel diagnostic and treatment concepts will mandate solid evaluation of their clinical effectiveness and safety, which can only be achieved by randomized, controlled trials in the field of surgery. Extracting study ideas from the contributions by clinicians and basic scientists, and promoting the conduction of clinical trials will therefore range among the most important tasks for the Langenbeck's Archives of Surgery in the 21st century.

A novel instrument for generating angular increments of 1 nanoradian.

PubMed

Alcock, Simon G; Bugnar, Alex; Nistea, Ioana; Sawhney, Kawal; Scott, Stewart; Hillman, Michael; Grindrod, Jamie; Johnson, Iain

2015-12-01

Accurate generation of small angles is of vital importance for calibrating angle-based metrology instruments used in a broad spectrum of industries including mechatronics, nano-positioning, and optic fabrication. We present a novel, piezo-driven, flexure device capable of reliably generating micro- and nanoradian angles. Unlike many such instruments, Diamond Light Source's nano-angle generator (Diamond-NANGO) does not rely on two separate actuators or rotation stages to provide coarse and fine motion. Instead, a single Physik Instrumente NEXLINE "PiezoWalk" actuator provides millimetres of travel with nanometre resolution. A cartwheel flexure efficiently converts displacement from the linear actuator into rotary motion with minimal parasitic errors. Rotation of the flexure is directly measured via a Magnescale "Laserscale" angle encoder. Closed-loop operation of the PiezoWalk actuator, using high-speed feedback from the angle encoder, ensures that the Diamond-NANGO's output drifts by only ∼0.3 nrad rms over ∼30 min. We show that the Diamond-NANGO can reliably move with unprecedented 1 nrad (∼57 ndeg) angular increments over a range of >7000 μrad. An autocollimator, interferometer, and capacitive displacement sensor are used to independently confirm the Diamond-NANGO's performance by simultaneously measuring the rotation of a reflective cube.

Microsurgery robots: addressing the needs of high-precision surgical interventions.

PubMed

Mattos, Leonardo S; Caldwell, Darwin G; Peretti, Giorgio; Mora, Francesco; Guastini, Luca; Cingolani, Roberto

2016-01-01

Robotics has a significant potential to enhance the overall capacity and efficiency of healthcare systems. Robots can help surgeons perform better quality operations, leading to reductions in the hospitalisation time of patients and in the impact of surgery on their postoperative quality of life. In particular, robotics can have a significant impact on microsurgery, which presents stringent requirements for superhuman precision and control of the surgical tools. Microsurgery is, in fact, expected to gain importance in a growing range of surgical specialties as novel technologies progressively enable the detection, diagnosis and treatment of diseases at earlier stages. Within such scenarios, robotic microsurgery emerges as one of the key components of future surgical interventions, and will be a vital technology for addressing major surgical challenges. Nonetheless, several issues have yet to be overcome in terms of mechatronics, perception and surgeon-robot interfaces before microsurgical robots can achieve their full potential in operating rooms. Research in this direction is progressing quickly and microsurgery robot prototypes are gradually demonstrating significant clinical benefits in challenging applications such as reconstructive plastic surgery, ophthalmology, otology and laryngology. These are reassuring results offering confidence in a brighter future for high-precision surgical interventions.

MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement

PubMed Central

Fischer, Gregory S.; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; DiMaio, Simon P.; Tempany, Clare M.; Hata, Nobuhiko; Fichtinger, Gabor

2010-01-01

Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. However, the benefits cannot be readily harnessed for interventional procedures due to difficulties that surround the use of high-field (1.5T or greater) MRI. The inability to use conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intraprostatic needle placement inside closed high-field MRI scanners. MRI compatibility of the robot has been evaluated under 3T MRI using standard prostate imaging sequences and average SNR loss is limited to 5%. Needle alignment accuracy of the robot under servo pneumatic control is better than 0.94 mm rms per axis. The complete system workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the robot mechanism and controller design, the system integration, and presents results of preliminary evaluation of the system. PMID:21057608

Ontology-based coupled optimisation design method using state-space analysis for the spindle box system of large ultra-precision optical grinding machine

NASA Astrophysics Data System (ADS)

Wang, Qianren; Chen, Xing; Yin, Yuehong; Lu, Jian

2017-08-01

With the increasing complexity of mechatronic products, traditional empirical or step-by-step design methods are facing great challenges with various factors and different stages having become inevitably coupled during the design process. Management of massive information or big data, as well as the efficient operation of information flow, is deeply involved in the process of coupled design. Designers have to address increased sophisticated situations when coupled optimisation is also engaged. Aiming at overcoming these difficulties involved in conducting the design of the spindle box system of ultra-precision optical grinding machine, this paper proposed a coupled optimisation design method based on state-space analysis, with the design knowledge represented by ontologies and their semantic networks. An electromechanical coupled model integrating mechanical structure, control system and driving system of the motor is established, mainly concerning the stiffness matrix of hydrostatic bearings, ball screw nut and rolling guide sliders. The effectiveness and precision of the method are validated by the simulation results of the natural frequency and deformation of the spindle box when applying an impact force to the grinding wheel.

Platforms for hyperspectral imaging, in-situ optical and acoustical imaging in urbanized regions

NASA Astrophysics Data System (ADS)

Bostater, Charles R.; Oney, Taylor

2016-10-01

Hyperspectral measurements of the water surface of urban coastal waters are presented. Oblique bidirectional reflectance factor imagery was acquired made in a turbid coastal sub estuary of the Indian River Lagoon, Florida and along coastal surf zone waters of the nearby Atlantic Ocean. Imagery was also collected using a pushbroom hyperspectral imager mounted on a fixed platform with a calibrated circular mechatronic rotation stage. Oblique imagery of the shoreline and subsurface features clearly shows subsurface bottom features and rip current features within the surf zone water column. In-situ hyperspectral optical signatures were acquired from a vessel as a function of depth to determine the attenuation spectrum in Palm Bay. A unique stationary platform methodology to acquire subsurface acoustic images showing the presence of moving bottom boundary nephelometric layers passing through the acoustic fan beam. The acoustic fan beam imagery indicated the presence of oscillatory subsurface waves in the urbanized coastal estuary. Hyperspectral imaging using the fixed platform techniques are being used to collect hyperspectral bidirectional reflectance factor (BRF) measurements from locations at buildings and bridges in order to provide new opportunities to advance our scientific understanding of aquatic environments in urbanized regions.

High strength fused silica flexures manufactured by femtosecond laser

NASA Astrophysics Data System (ADS)

Bellouard, Yves; Said, Ali A.; Dugan, Mark; Bado, Philippe

2009-02-01

Flexures are mechanical elements used in micro- and precision-engineering to precisely guide the motion of micro-parts. They consist of slender bodies that deform elastically upon the application of a force. Although counter-intuitive at first, fused silica is an attractive material for flexure. Pending that the machining process does not introduce surface flaws that would lead to catastrophic failure, the material has a theoretically high ultimate tensile strength of several GPa. We report on high-aspect ratio fused silica flexures manufactured by femtosecond laser combined with chemical etching. Notch-hinges with thickness as small as twenty microns and aspect ratios comparable to aspect ratios obtained by Deep- Reactive-Ion-Etching (DRIE) were fabricated and tested under different loading conditions. Multiple fracture tests were performed for various loading conditions and the cracks morphologies were analyzed using Scanning Electron Microscopy. The manufactured elements show outstanding mechanical properties with flexural strengths largely exceeding those obtained with other technologies and materials. Fused silica flexures offer a mean to combine integrated optics with micro-mechanics in a single monolithic substrate. Waveguides and mechanical elements can be combined in a monolithic devices opening new opportunities for integrated opto-mechatronics devices.

Energy harvesting concepts for small electric unmanned systems

NASA Astrophysics Data System (ADS)

Qidwai, Muhammad A.; Thomas, James P.; Kellogg, James C.; Baucom, Jared N.

2004-07-01

In this study, we identify and survey energy harvesting technologies for small electrically powered unmanned systems designed for long-term (>1 day) time-on-station missions. An environmental energy harvesting scheme will provide long-term, energy additions to the on-board energy source. We have identified four technologies that cover a broad array of available energy sources: solar, kinetic (wind) flow, autophagous structure-power (both combustible and metal air-battery systems) and electromagnetic (EM) energy scavenging. We present existing conceptual designs, critical system components, performance, constraints and state-of-readiness for each technology. We have concluded that the solar and autophagous technologies are relatively matured for small-scale applications and are capable of moderate power output levels (>1 W). We have identified key components and possible multifunctionalities in each technology. The kinetic flow and EM energy scavenging technologies will require more in-depth study before they can be considered for implementation. We have also realized that all of the harvesting systems require design and integration of various electrical, mechanical and chemical components, which will require modeling and optimization using hybrid mechatronics-circuit simulation tools. This study provides a starting point for detailed investigation into the proposed technologies for unmanned system applications under current development.

Design of a piezoelectric inchworm actuator and compliant end effector for minimally invasive surgery

NASA Astrophysics Data System (ADS)

Canfield, Shawn; Edinger, Ben; Frecker, Mary I.; Koopmann, Gary H.

1999-06-01

Recent advances in robotics, tele-robotics, smart material actuators, and mechatronics raise new possibilities for innovative developments in millimeter-scale robotics capable of manipulating objects only fractions of a millimeter in size. These advances can have a wide range of applications in the biomedical community. A potential application of this technology is in minimally invasive surgery (MIS). The focus of this paper is the development of a single degree of freedom prototype to demonstrate the viability of smart materials, force feedback and compliant mechanisms for minimally invasive surgery. The prototype is a compliant gripper that is 7-mm by 17-mm, made from a single piece of titanium that is designed to function as a needle driver for small scale suturing. A custom designed piezoelectric `inchworm' actuator drives the gripper. The integrated system is computer controlled providing a user interface device capable of force feedback. The design methodology described draws from recent advances in three emerging fields in engineering: design of innovative tools for MIS, design of compliant mechanisms, and design of smart materials and actuators. The focus of this paper is on the design of a millimeter-scale inchworm actuator for use with a compliant end effector in MIS.

Quantitative Magnetic Separation of Particles and Cells using Gradient Magnetic Ratcheting

PubMed Central

Murray, Coleman; Pao, Edward; Tseng, Peter; Aftab, Shayan; Kulkarni, Rajan; Rettig, Matthew; Di Carlo, Dino

2016-01-01

Extraction of rare target cells from biosamples is enabling for life science research. Traditional rare cell separation techniques, such as magnetic activated cell sorting (MACS), are robust but perform coarse, qualitative separations based on surface antigen expression. We report a quantitative magnetic separation technology using high-force magnetic ratcheting over arrays of magnetically soft micro-pillars with gradient spacing, and use the system to separate and concentrate magnetic beads based on iron oxide content (IOC) and cells based on surface expression. The system consists of a microchip of permalloy micro-pillar arrays with increasing lateral pitch and a mechatronic device to generate a cycling magnetic-field. Particles with higher IOC separate and equilibrate along the miro-pillar array at larger pitches. We develop a semi-analytical model that predicts behavior for particles and cells. Using the system, LNCaP cells were separated based on the bound quantity of 1μm anti-EpCAM particles as a metric for expression. The ratcheting cytometry system was able to resolve a ±13 bound particle differential, successfully distinguishing LNCaP from PC3 populations based on EpCAM expression, correlating with flow cytometry analysis. As a proof of concept, EpCAM-labeled cells from patient blood were isolated with 74% purity, demonstrating potential towards a quantitative magnetic separation instrument. PMID:26890496

A modern diagnostic approach for automobile systems condition monitoring

NASA Astrophysics Data System (ADS)

Selig, M.; Shi, Z.; Ball, A.; Schmidt, K.

2012-05-01

An important topic in automotive research and development is the area of active and passive safety systems. In general, it is grouped in active safety systems to prevent accidents and passive systems to reduce the impact of a crash. An example for an active system is ABS while a seat belt tensioner represents the group of passive systems. Current developments in the automotive industry try to link active with passive system components to enable a complete event sequence, beginning with the warning of the driver about a critical situation till the automatic emergency call after an accident. The cross-linking has an impact on the current diagnostic approach, which is described in this paper. Therefore, this contribution introduces a new diagnostic approach for automotive mechatronic systems. The concept is based on monitoring the messages which are exchanged via the automotive communication systems, e.g. the CAN bus. According to the authors' assumption, the messages on the bus are changing between faultless and faulty vehicle condition. The transmitted messages of the sensors and control units are different depending on the condition of the car. First experiments are carried and in addition, the hardware design of a suitable diagnostic interface is presented. Finally, first results will be presented and discussed.

Research of the load distribution in the wave kinematic reducer with a modified tooth profile and dependence of the load abilities in proportion to its gear ratio and overall dimensions

NASA Astrophysics Data System (ADS)

Stepanova, D. L.; Nikulin, P. A.

2017-01-01

Nowadays, there are many types of reducers based on work of gear trains, which transfer torque. The most popular reducers are with such type of gearing as an involute gear, a worm drive and an eccentrically cycloid gear. A new type of the reducer will be represented in this work. It is a wave reducer with the modified profile of the tooth close to the profile of the tooth of Novikov gearing. So such reducers can be widely used in drives of difficult technical mechanisms, for example, in mechatronics, robotics and in drives of exact positioning. In addition, the distribution of loading in gearing of teeth of a reducer was analyzed in this paper. It proves that the modified profile of the tooth allows distributing loading to several teeth in gearing. As a result, an admissible loading ability of a reducer becomes higher. The aim of the research is to define a possibility to reduce overall dimensions of a reducer without changing the gear ratio or to increase the gear ratio without changing overall dimensions. So, the result of this work will be used in further research.

A Mechatronic Loading Device to Stimulate Bone Growth via a Human Knee.

PubMed

Prabhala, Sai Krishna; Chien, Stanley; Yokota, Hiroki; Anwar, Sohel

2016-09-29

This paper presents the design of an innovative device that applies dynamic mechanical load to human knee joints. Dynamic loading is employed by applying cyclic and periodic force on a target area. The repeated force loading was considered to be an effective modality for repair and rehabilitation of long bones that are subject to ailments like fractures, osteoporosis, osteoarthritis, etc. The proposed device design builds on the knowledge gained in previous animal and mechanical studies. It employs a modified slider-crank linkage mechanism actuated by a brushless Direct Current (DC) motor and provides uniform and cyclic force. The functionality of the device was simulated in a software environment and the structural integrity was analyzed using a finite element method for the prototype construction. The device is controlled by a microcontroller that is programmed to provide the desired loading force at a predetermined frequency and for a specific duration. The device was successfully tested in various experiments for its usability and full functionality. The results reveal that the device works according to the requirements of force magnitude and operational frequency. This device is considered ready to be used for a clinical study to examine whether controlled knee-loading could be an effective regimen for treating the stated bone-related ailments.

A Mechatronic Loading Device to Stimulate Bone Growth via a Human Knee

PubMed Central

Prabhala, Sai Krishna; Chien, Stanley; Yokota, Hiroki; Anwar, Sohel

2016-01-01

This paper presents the design of an innovative device that applies dynamic mechanical load to human knee joints. Dynamic loading is employed by applying cyclic and periodic force on a target area. The repeated force loading was considered to be an effective modality for repair and rehabilitation of long bones that are subject to ailments like fractures, osteoporosis, osteoarthritis, etc. The proposed device design builds on the knowledge gained in previous animal and mechanical studies. It employs a modified slider-crank linkage mechanism actuated by a brushless Direct Current (DC) motor and provides uniform and cyclic force. The functionality of the device was simulated in a software environment and the structural integrity was analyzed using a finite element method for the prototype construction. The device is controlled by a microcontroller that is programmed to provide the desired loading force at a predetermined frequency and for a specific duration. The device was successfully tested in various experiments for its usability and full functionality. The results reveal that the device works according to the requirements of force magnitude and operational frequency. This device is considered ready to be used for a clinical study to examine whether controlled knee-loading could be an effective regimen for treating the stated bone-related ailments. PMID:27690057

Remote access laboratories in Australia and Europe

NASA Astrophysics Data System (ADS)

Ku, H.; Ahfock, T.; Yusaf, T.

2011-06-01

Remote access laboratories (RALs) were first developed in 1994 in Australia and Switzerland. The main purposes of developing them are to enable students to do their experiments at their own pace, time and locations and to enable students and teaching staff to get access to facilities beyond their institutions. Currently, most of the experiments carried out through RALs in Australia are heavily biased towards electrical, electronic and computer engineering disciplines. However, the experiments carried out through RALs in Europe had more variety, in addition to the traditional electrical, electronic and computer engineering disciplines, there were experiments in mechanical and mechatronic disciplines. It was found that RALs are now being developed aggressively in Australia and Europe and it can be argued that RALs will develop further and faster in the future with improving Internet technology. The rising costs of real experimental equipment will also speed up their development because by making the equipment remotely accessible, the cost can be shared by more universities or institutions and this will improve their cost-effectiveness. Their development would be particularly rapid in large countries with small populations such as Australia, Canada and Russia, because of the scale of economy. Reusability of software, interoperability in software implementation, computer supported collaborative learning and convergence with learning management systems are the required development of future RALs.

Medical robotics.

PubMed

Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

2011-01-01

Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

A new mechatronic assistance system for the neurosurgical operating theatre: implementation, assessment of accuracy and application concepts.

PubMed

Rachinger, Jens; Bumm, Klaus; Wurm, Jochen; Bohr, Christopher; Nissen, Urs; Dannenmann, Tim; Buchfelder, Michael; Iro, Heinrich; Nimsky, Christopher

2007-01-01

To introduce a new robotic system to the field of neurosurgery and report on a preliminary assessment of accuracy as well as on envisioned application concepts. Based on experience with another system (Evolution 1, URS Inc., Schwerin, Germany), technical advancements are discussed. The basic module is an industrial 6 degrees of freedom robotic arm with a modified control element. The system combines frameless stereotaxy, robotics, and endoscopy. The robotic reproducibility error and the overall error were evaluated. For accuracy testing CT markers were placed on a cadaveric head and pinpointed with the robot's tool tip, both fully automated and telemanipulatory. Applicability in a clinical setting, user friendliness, safety and flexibility were assessed. The new system is suitable for use in the neurosurgical operating theatre. Hard- and software are user-friendly and flexible. The mean reproducibility error was 0.052-0.062 mm, the mean overall error was 0.816 mm. The system is less cumbersome and much easier to use than the Evolution 1. With its user-friendly interface and reliable safety features, its high application accuracy and flexibility, the new system is a versatile robotic platform for various neurosurgical applications. Adaptations for different applications are currently being realized. Copyright (c) 2007 S. Karger AG, Basel.

Engineering design knowledge recycling in near-real-time

NASA Technical Reports Server (NTRS)

Leifer, Larry; Baya, Vinod; Toye, George; Baudin, Catherine; Underwood, Jody Gevins

1994-01-01

It is hypothesized that the capture and reuse of machine readable design records is cost beneficial. This informal engineering notebook design knowledge can be used to model the artifact and the design process. Design rationale is, in part, preserved and available for examination. Redesign cycle time is significantly reduced (Baya et al, 1992). These factors contribute to making it less costly to capture and reuse knowledge than to recreate comparable knowledge (current practice). To test the hypothesis, we have focused on validation of the concept and tools in two 'real design' projects this past year: (1) a short (8 month) turnaround project for NASA life science bioreactor researchers was done by a team of three mechanical engineering graduate students at Stanford University (in a class, ME210abc 'Mechatronic Systems Design and Methodology' taught by one of the authors, Leifer); and (2) a long range (8 to 20 year) international consortium project for NASA's Space Science program (STEP: satellite test of the equivalence principle). Design knowledge capture was supported this year by assigning the use of a Team-Design PowerBook. Design records were cataloged in near-real time. These records were used to qualitatively model the artifact design as it evolved. Dedal, an 'intelligent librarian' developed at NASA-ARC, was used to navigate and retrieve captured knowledge for reuse.

Effect of the bifurcation angle on the flow within a synthetic model of lower human airways

NASA Astrophysics Data System (ADS)

Espinosa Moreno, Andres Santiago; Duque Daza, Carlos Alberto

2016-11-01

The effect of the bifurcation angle on the flow pattern developed during respiratory inhalation and exhalation processes was explored numerically using a synthetic model of lower human airways featuring three generations of a dichotomous morphology as described by a Weibel model. Laminar flow simulations were performed for six bifurcation angles and four Reynolds numbers relevant to human respiratory flow. Numerical results of the inhalation process showed a peak displacement trend of the velocity profile towards the inner walls of the model. This displacement exhibited correlation with Dean-type secondary flow patterns, as well as with the onset and location of vortices. High wall shear stress regions on the inner walls were observed for a range of bifurcation angles. Noteworthy, specific bifurcation angles produced higher values of pressure drop, compared to the average behavior, as well as changes in the volumetric flow through the branches. Results of the simulations for exhalation process showed a different picture, mainly the appearance of symmetrical velocity profiles and the change of location of the regions of high wall shear stress. The use of this modelling methodology for biomedical applications is discussed considering the validity of the obtained results. Department of Mechanical and Mechatronics Engineering, Universidad Nacional de Colombia.

Effects of an angelica extract on human erythrocyte aggregation, deformation and osmotic fragility.

PubMed

Wang, X; Wei, L; Ouyang, J P; Muller, S; Gentils, M; Cauchois, G; Stoltz, J F

2001-01-01

In Chinese traditional medicine, angelica is widely used for its known clinical effects of ameliorating blood microcirculation. But the mechanism of these beneficial effects still remains unclear. In this work the rheological behaviour of human erythrocytes treated by angelica was studied in vitro. Normal RBCs incubated with an angelica extract at different concentrations (5, 10 or 20 mg/ml) for 60 min at 37 degrees C and then their aggregation, deformation and osmotic fragility were measured with different recently developed optical techniques, namely Erythroaggregometer (Regulest, Florange, France), LORCA (Mechatronics, Amsterdam) and Fragilimeter (Regulest, Florange, France). Experimental results show that angelica (20 mg/ml) significantly decreased normal RBCs' aggregation speed (p<0.01) and could inhibit the hyperaggregability caused by dextran 500. However, the strength of normal RBCs aggregates were not influenced by angelica. When a calcium ionophore A23187 (1.9 microM) was used to harden cell membrane, angelica (20 mg/ml) could significantly (p<0.01) protect erythrocytes against the loss of their deformability even it had no effects on normal RBCs deformation. Finally angelica (5 and 10 mg/ml) decreased significantly (p<0.01) normal RBCs osmotic fragility. In conclusion angelica plays a rheologically active role on human erythrocytes, and this study suggests a possible mechanism for angelica's positive effects against certain cardiovascular diseases.

The grinding behavior of ground copper powder for Cu/CNT nanocomposite fabrication by using the dry grinding process with a high-speed planetary ball mill

NASA Astrophysics Data System (ADS)

Choi, Heekyu; Bor, Amgalan; Sakuragi, Shiori; Lee, Jehyun; Lim, Hyung-Tae

2016-01-01

The behavior of ground copper powder for copper-carbon nanotube (copper-CNT) nanocomposite fabrication during high-speed planetary ball milling was investigated because the study of the behavior characteristics of copper powder has recently gained scientific interest. Also, studies of Cu/CNT composites have widely been done due to their useful applications to enhanced, advanced nano materials and components, which would significantly improve the properties of new mechatronics-integrated materials and components. This study varied experimental conditions such as the rotation speed and the grinding time with and without CNTs, and the particle size distribution, median diameter, crystal structure and size, and particle morphology were monitored for a given grinding time. We observed that pure copper powders agglomerated and that the morphology changed with changing rotation speed. The particle agglomerations were observed with maximum experiment conditions (700 rpm, 60 min) in this study of the grinding process for mechanical alloys in the case of pure copper powders because the grinding behavior of Cu/CNT agglomerations was affected by the addition of CNTs. Indeed, the powder morphology and the crystal size of the composite powder could be changed by increasing the grinding time and the rotation speed.

CMOS-TDI detector technology for reconnaissance application

NASA Astrophysics Data System (ADS)

Eckardt, Andreas; Reulke, Ralf; Jung, Melanie; Sengebusch, Karsten

2014-10-01

The Institute of Optical Sensor Systems (OS) at the Robotics and Mechatronics Center of the German Aerospace Center (DLR) has more than 30 years of experience with high-resolution imaging technology. This paper shows the institute's scientific results of the leading-edge detector design CMOS in a TDI (Time Delay and Integration) architecture. This project includes the technological design of future high or multi-spectral resolution spaceborne instruments and the possibility of higher integration. DLR OS and the Fraunhofer Institute for Microelectronic Circuits and Systems (IMS) in Duisburg were driving the technology of new detectors and the FPA design for future projects, new manufacturing accuracy and on-chip processing capability in order to keep pace with the ambitious scientific and user requirements. In combination with the engineering research, the current generation of space borne sensor systems is focusing on VIS/NIR high spectral resolution to meet the requirements on earth and planetary observation systems. The combination of large-swath and high-spectral resolution with intelligent synchronization control, fast-readout ADC (analog digital converter) chains and new focal-plane concepts opens the door to new remote-sensing and smart deep-space instruments. The paper gives an overview of the detector development status and verification program at DLR, as well as of new control possibilities for CMOS-TDI detectors in synchronization control mode.

Coherent scatter-controlled phase-change grating structures in silicon using femtosecond laser pulses.

PubMed

Fuentes-Edfuf, Yasser; Garcia-Lechuga, Mario; Puerto, Daniel; Florian, Camilo; Garcia-Leis, Adianez; Sanchez-Cortes, Santiago; Solis, Javier; Siegel, Jan

2017-07-04

Periodic structures of alternating amorphous-crystalline fringes have been fabricated in silicon using repetitive femtosecond laser exposure (800 nm wavelength and 120 fs duration). The method is based on the interference of the incident laser light with far- and near-field scattered light, leading to local melting at the interference maxima, as demonstrated by femtosecond microscopy. Exploiting this strategy, lines of highly regular amorphous fringes can be written. The fringes have been characterized in detail using optical microscopy combined modelling, which enables a determination of the three-dimensional shape of individual fringes. 2D micro-Raman spectroscopy reveals that the space between amorphous fringes remains crystalline. We demonstrate that the fringe period can be tuned over a range of 410 nm - 13 µm by changing the angle of incidence and inverting the beam scan direction. Fine control over the lateral dimensions, thickness, surface depression and optical contrast of the fringes is obtained via adjustment of pulse number, fluence and spot size. Large-area, highly homogeneous gratings composed of amorphous fringes with micrometer width and millimeter length can readily be fabricated. The here presented fabrication technique is expected to have applications in the fields of optics, nanoelectronics, and mechatronics and should be applicable to other materials.

A concept for fault tolerant design and improved availability of active composite elastic structures

NASA Astrophysics Data System (ADS)

Soeffker, D.; Wolters, K.; Krajcin, I.

2005-05-01

New functionalities, higher comfort and increasing performance requirements are often be solved by adding new technologies to existing (passive) solutions. Monitoring and control approaches uses additional sensors and actuators, new materials, microprocessors and new devices realizing new and improved functionalities. Two effects are becoming more and more interesting: (1) the lifetime of new actuators/materials strongly depends on the usage-history, (2) the functionality of the new composed systems depends on the fully functionality of all elements. In the consequence, the availability of such new systems is decreased by the number of elements and depends strongly on the use. These effects are known and act against new developments improving performance behavior also in mechanical engineering, automotive systems etc. This will be also the case for multifunctional composite or compound systems such as piezomaterials, magnetostrictive alloys or smart memory alloys (SMA) and is actually within the focus of the Structural-Health-Monitoring (SHM)-community. This contribution explains a new and systematically structured methodological approach to avoid and eliminate failures in mechatronical systems in an integrated and intelligent way to achieve a desirable or required amount of utilization in compliance with a defined failure rate. The result is an enhancement of the dependability of such a system.

Holographic otoscope for nano-displacement measurements of surfaces under dynamic excitation

PubMed Central

Flores-Moreno, J. M.; Furlong, Cosme; Rosowski, John J.; Harrington, Ellery; Cheng, Jeffrey T.; Scarpino, C.; Santoyo, F. Mendoza

2011-01-01

Summary We describe a novel holographic otoscope system for measuring nano-displacements of objects subjected to dynamic excitation. Such measurements are necessary to quantify the mechanical deformation of surfaces in mechanics, acoustics, electronics, biology and many other fields. In particular, we are interested in measuring the sound-induced motion of biological samples, such as an eardrum. Our holographic otoscope system consists of laser illumination delivery (IS), optical head (OH), and image processing computer (IP) systems. The IS delivers the object beam (OB) and the reference beam (RB) to the OH. The backscattered light coming from the object illuminated by the OB interferes with the RB at the camera sensor plane to be digitally recorded as a hologram. The hologram is processed by the IP using Fresnel numerical reconstruction algorithm, where the focal plane can be selected freely. Our holographic otoscope system is currently deployed in a clinic, and is packaged in a custom design. It is mounted in a mechatronic positioning system to increase its maneuverability degrees to be conveniently positioned in front of the object to be measured. We present representative results highlighting the versatility of our system to measure deformations of complex elastic surfaces in the wavelength scale including a copper foil membrane and postmortem tympanic membrane (TM). PMID:21898459

Automated Lab-on-a-Chip Technology for Fish Embryo Toxicity Tests Performed under Continuous Microperfusion (μFET).

PubMed

Zhu, Feng; Wigh, Adriana; Friedrich, Timo; Devaux, Alain; Bony, Sylvie; Nugegoda, Dayanthi; Kaslin, Jan; Wlodkowic, Donald

2015-12-15

The fish embryo toxicity (FET) biotest has gained popularity as one of the alternative approaches to acute fish toxicity tests in chemical hazard and risk assessment. Despite the importance and common acceptance of FET, it is still performed in multiwell plates and requires laborious and time-consuming manual manipulation of specimens and solutions. This work describes the design and validation of a microfluidic Lab-on-a-Chip technology for automation of the zebrafish embryo toxicity test common in aquatic ecotoxicology. The innovative device supports rapid loading and immobilization of large numbers of zebrafish embryos suspended in a continuous microfluidic perfusion as a means of toxicant delivery. Furthermore, we also present development of a customized mechatronic automation interface that includes a high-resolution USB microscope, LED cold light illumination, and miniaturized 3D printed pumping manifolds that were integrated to enable time-resolved in situ analysis of developing fish embryos. To investigate the applicability of the microfluidic FET (μFET) in toxicity testing, copper sulfate, phenol, ethanol, caffeine, nicotine, and dimethyl sulfoxide were tested as model chemical stressors. Results obtained on a chip-based system were compared with static protocols performed in microtiter plates. This work provides evidence that FET analysis performed under microperfusion opens a brand new alternative for inexpensive automation in aquatic ecotoxicology.

Parametric optimization in virtual prototyping environment of the control device for a robotic system used in thin layers deposition

NASA Astrophysics Data System (ADS)

Enescu (Balaş, M. L.; Alexandru, C.

2016-08-01

The paper deals with the optimal design of the control system for a 6-DOF robot used in thin layers deposition. The optimization is based on parametric technique, by modelling the design objective as a numerical function, and then establishing the optimal values of the design variables so that to minimize the objective function. The robotic system is a mechatronic product, which integrates the mechanical device and the controlled operating device.The mechanical device of the robot was designed in the CAD (Computer Aided Design) software CATIA, the 3D-model being then transferred to the MBS (Multi-Body Systems) environment ADAMS/View. The control system was developed in the concurrent engineering concept, through the integration with the MBS mechanical model, by using the DFC (Design for Control) software solution EASY5. The necessary angular motions in the six joints of the robot, in order to obtain the imposed trajectory of the end-effector, have been established by performing the inverse kinematic analysis. The positioning error in each joint of the robot is used as design objective, the optimization goal being to minimize the root mean square during simulation, which is a measure of the magnitude of the positioning error varying quantity.

Influence of AC system design on the realisation of tractive efforts by high adhesion locomotives

NASA Astrophysics Data System (ADS)

Spiryagin, Maksym; Wolfs, Peter; Cole, Colin; Stichel, Sebastian; Berg, Mats; Manfred, Plöchl

2017-08-01

The main task for heavy haul railway operators is to reduce the cost of exported minerals and enhance the long-term viability of rail transport operations through increasing productivity by running longer and heavier trains. The common opinion is that this is achievable by means of implementation of high adhesion locomotives with advanced AC traction technologies. Modern AC high adhesion locomotives are very complex mechatronic systems and can be designed with two alternative traction topologies of either bogie or individual axle controls. This paper describes a modelling approach for these two types of AC traction systems with the application of an advanced co-simulation methodology, where an electrical system and a traction algorithm are modelled in Matlab/Simulink, and a mechanical system is modelled in a multibody software package. Although the paper concentrates on the analysis of the functioning for these two types of traction control systems, the choice of reference slip values also has an influence on the performance of both systems. All these design variations and issues have been simulated for various adhesion conditions at the wheel-rail interface and their influence on the high traction performance of a locomotive equipped with two three-axle bogies has been discussed.

Development and validation of a new kind of coupling element for wheel-hub motors

NASA Astrophysics Data System (ADS)

Perekopskiy, Sergey; Kasper, Roland

2018-05-01

For the automotive industry, electric powered vehicles are becoming an increasingly relevant factor in the competition against climate change. Application of one special example - a wheel-hub motor, for electric powered vehicle can support this challenge. Patented slotless air gap winding invented at the chair of mechatronics of the Otto von Guericke University Magdeburg has great application potential in constantly growing e-mobility field, especially for wheel-hub motors based on this technology due to its advantages, such as a high gravimetric power density and high efficiency. However, advantages of this technology are decreased by its sensibility to the loads out of driving maneuvers by dimensional variations of air gap consistency. This article describes the development and validation of a coupling element for the designed wheel-hub motor. To find a suitable coupling concept first the assembly structure of the motor was analyzed and developed design of the coupling element was checked. Based on the geometry of the motor and wheel a detailed design of the coupling element was generated. The analytical approach for coupling element describes a potential of the possible loads on the coupling element. The FEM simulation of critical load cases for the coupling element validated results of the analytical approach.

Neuromorphic Vibrotactile Stimulation of Fingertips for Encoding Object Stiffness in Telepresence Sensory Substitution and Augmentation Applications

PubMed Central

Sorgini, Francesca; Massari, Luca; D’Abbraccio, Jessica; Petrovic, Petar B.; Carrozza, Maria Chiara; Newell, Fiona N.

2018-01-01

We present a tactile telepresence system for real-time transmission of information about object stiffness to the human fingertips. Experimental tests were performed across two laboratories (Italy and Ireland). In the Italian laboratory, a mechatronic sensing platform indented different rubber samples. Information about rubber stiffness was converted into on-off events using a neuronal spiking model and sent to a vibrotactile glove in the Irish laboratory. Participants discriminated the variation of the stiffness of stimuli according to a two-alternative forced choice protocol. Stiffness discrimination was based on the variation of the temporal pattern of spikes generated during the indentation of the rubber samples. The results suggest that vibrotactile stimulation can effectively simulate surface stiffness when using neuronal spiking models to trigger vibrations in the haptic interface. Specifically, fractional variations of stiffness down to 0.67 were significantly discriminated with the developed neuromorphic haptic interface. This is a performance comparable, though slightly worse, to the threshold obtained in a benchmark experiment evaluating the same set of stimuli naturally with the own hand. Our paper presents a bioinspired method for delivering sensory feedback about object properties to human skin based on contingency–mimetic neuronal models, and can be useful for the design of high performance haptic devices. PMID:29342076

Kinematics and Dynamics of Motion Control Based on Acceleration Control

NASA Astrophysics Data System (ADS)

Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

Research on MEMS sensor in hydraulic system flow detection

NASA Astrophysics Data System (ADS)

Zhang, Hongpeng; Zhang, Yindong; Liu, Dong; Ji, Yulong; Jiang, Jihai; Sun, Yuqing

2011-05-01

With the development of mechatronics technology and fault diagnosis theory, people regard flow information much more than before. Cheap, fast and accurate flow sensors are urgently needed by hydraulic industry. So MEMS sensor, which is small, low cost, well performed and easy to integrate, will surely play an important role in this field. Based on the new method of flow measurement which was put forward by our research group, this paper completed the measurement of flow rate in hydraulic system by setting up the mathematical model, using numerical simulation method and doing physical experiment. Based on viscous fluid flow equations we deduced differential pressure-velocity model of this new sensor and did optimization on parameters. Then, we designed and manufactured the throttle and studied the velocity and pressure field inside the sensor by FLUENT. Also in simulation we get the differential pressure-velocity curve .The model machine was simulated too to direct experiment. In the static experiments we calibrated the MEMS sensing element and built some sample sensors. Then in a hydraulic testing system we compared the sensor signal with a turbine meter. It presented good linearity and could meet general hydraulic system use. Based on the CFD curves, we analyzed the error reasons and made some suggestion to improve. In the dynamic test, we confirmed this sensor can realize high frequency flow detection by a 7 piston-pump.

HiL simulation in biomechanics: a new approach for testing total joint replacements.

PubMed

Herrmann, Sven; Kaehler, Michael; Souffrant, Robert; Rachholz, Roman; Zierath, János; Kluess, Daniel; Mittelmeier, Wolfram; Woernle, Christoph; Bader, Rainer

2012-02-01

Instability of artificial joints is still one of the most prevalent reasons for revision surgery caused by various influencing factors. In order to investigate instability mechanisms such as dislocation under reproducible, physiologically realistic boundary conditions, a novel test approach is introduced by means of a hardware-in-the-loop (HiL) simulation involving a highly flexible mechatronic test system. In this work, the underlying concept and implementation of all required units is presented enabling comparable investigations of different total hip and knee replacements, respectively. The HiL joint simulator consists of two units: a physical setup composed of a six-axes industrial robot and a numerical multibody model running in real-time. Within the multibody model, the anatomical environment of the considered joint is represented such that the soft tissue response is accounted for during an instability event. Hence, the robot loads and moves the real implant components according to the information provided by the multibody model while transferring back the position and resisting moment recorded. Functionality of the simulator is proved by testing the underlying control principles, and verified by reproducing the dislocation process of a standard total hip replacement. HiL simulations provide a new biomechanical testing tool for analyzing different joint replacement systems with respect to their instability behavior under realistic movements and physiological load conditions. Copyright © 2011 Elsevier Ireland Ltd. All rights reserved.

Holographic otoscope for nanodisplacement measurements of surfaces under dynamic excitation.

PubMed

Flores-Moreno, J M; Furlong, Cosme; Rosowski, John J; Harrington, Ellery; Cheng, Jeffrey T; Scarpino, C; Santoyo, F Mendoza

2011-01-01

We describe a novel holographic otoscope system for measuring nanodisplacements of objects subjected to dynamic excitation. Such measurements are necessary to quantify the mechanical deformation of surfaces in mechanics, acoustics, electronics, biology, and many other fields. In particular, we are interested in measuring the sound-induced motion of biological samples, such as an eardrum. Our holographic otoscope system consists of laser illumination delivery (IS), optical head (OH), and image processing computer (IP) systems. The IS delivers the object beam (OB) and the reference beam (RB) to the OH. The backscattered light coming from the object illuminated by the OB interferes with the RB at the camera sensor plane to be digitally recorded as a hologram. The hologram is processed by the IP using the Fresnel numerical reconstruction algorithm, where the focal plane can be selected freely. Our holographic otoscope system is currently deployed in a clinic, and is packaged in a custom design. It is mounted in a mechatronic positioning system to increase its maneuverability degrees to be conveniently positioned in front of the object to be measured. We present representative results highlighting the versatility of our system to measure deformations of complex elastic surfaces in the wavelength scale including a copper foil membrane and postmortem tympanic membrane. SCANNING 33: 342-352, 2011. © 2011 Wiley Periodicals, Inc. Copyright © 2011 Wiley Periodicals, Inc.

On the functional design of the DTU10 MW wind turbine scale model of LIFES50+ project

NASA Astrophysics Data System (ADS)

Bayati, I.; Belloli, M.; Bernini, L.; Fiore, E.; Giberti, H.; Zasso, A.

2016-09-01

This paper illustrates the mechatronic design of the wind tunnel scale model of the DTU 10MW reference wind turbine, for the LIFES50+ H2020 European project. This model was designed with the final goal of controlling the angle of attack of each blade by means of miniaturized servomotors, for implementing advanced individual pitch control (IPC) laws on a Floating Offshore Wind Turbine (FOWT) 1/75 scale model. Many design constraints were to be respected: among others, the rotor-nacelle overall mass due to aero-elastic scaling, the limited space of the nacelle, where to put three miniaturized servomotors and the main shaft one, with their own inverters/controllers, the slip rings for electrical rotary contacts, the highest stiffness as possible for the nacelle support and the blade-rotor connections, for ensuring the proper kinematic constraint, considering the first flapwise blade natural frequency, the performance of the servomotors to guarantee the wide frequency band due to frequency scale factors, etc. The design and technical solutions are herein presented and discussed, along with an overview of the building and verification process. Also a discussion about the goals achieved and constraints respected for the rigid wind turbine scale model (LIFES50+ deliverable D.3.1) and the further possible improvements for the IPC-aero-elastic scale model, which is being finalized at the time of this paper.

Mathematical models in simulation process in rehabilitation of persons with disabilities

NASA Astrophysics Data System (ADS)

Gorie, Nina; Dolga, Valer; Mondoc, Alina

2012-11-01

The problems of people with disability are varied. A disability may be physical, cognitive, mental, sensory, emotional, developmental or some combination of these. The major disabilities which can appear in people's lives are: the blindness, the deafness, the limb-girdle muscular dystrophy, the orthopedic impairment, the visual impairment. A disability is an umbrella term, covering impairments, activity limitations and participation restrictions. A disability may occur during a person's lifetime or may be present from birth. The authors conclude that some of these disabilities like physical, cognitive, mental, sensory, emotional, developmental can be rehabilitated. Starting from this state of affairs the authors present briefly the possibility of using certain mechatronic systems for rehabilitation of persons with different disabilities. The authors focus their presentation on alternative calling the Stewart platform in order to achieve the proposed goal. The authors present a mathematical model of systems theory approach under the parallel system and described its contents can. The authors analyze in a meaningful mathematical model describing the procedure of rehabilitation process. From the affected function biomechanics and taking into account medical recommendations the authors illustrate the mathematical models of rehabilitation work. The authors assemble a whole mathematical model of parallel structure and the rehabilitation process and making simulation and highlighting the results estimated. The authors present in the end work the results envisaged in the end analysis work, conclusions and steps for future work program..

Joint MS Degree Program between the Korea University of Technology and Education and the University of Kansas

NASA Astrophysics Data System (ADS)

Dougherty, R. L.; Kim, Kwang Su

This paper provides an overview of the Joint MS Degree Program between Korea University of Technology and Education’ s (KUT) Mechatronics Department and Kansas University’ s (KU) Mechanical Engineering Department. Discussions were initiated in early 2005 which resulted in a formal agreement being approved by both parties in mid-2007. The Joint MS Degree Program is composed of 30 semester credit hours, equally split between the two universities, with the actual degree being awarded by the institution at which the thesis work is performed. Issues addressed during the development of this Joint MS Program included: joint versus dual degrees, institutional acceptance of the transfer of fifteen hours of credit for an MS degree, different admissions requirements and procedures for the two institutions, financial support of the students, faculty advisors at each institution, Graduate Directors at each institution, transcript acknowledgement of the Joint Degree, residency requirements, English speaking requirements/abilities, thesis publication allowances/requirements, and time zone differences for virtual meetings. These issues have been addressed, and the Joint MS Degree Program is functioning with a small number of students having taken advantage of the opportunity since the Program’ s inception. Future considerations are: growing the number of students in the Program, expansion to other Departments besides KU-Mechanical Engineering and KUTMechatronics, including other universities in the Program, expansion to a Joint PhD Degree Program, and stronger funding resources.

Building an optomechatronics group in a young university in Western Romania

NASA Astrophysics Data System (ADS)

Duma, Virgil-Florin; Hutiu, Gheorghe; Cira, Octavian; Demian, Dorin; Mnerie, Corina; Kaposta, Iosif

2014-07-01

We present our experience regarding the establishing of an interdisciplinary group with Optics as one of its main topic at the Aurel Vlaicu University of Arad (UAVA) - linked with the improvement through research of our educational activities. The 3OM Group (in Opto-Mechatronics, Optical Metrology, and Optics and Mechanics) is described in its evolution from optomechanics to photonics, the latter with a focus on OCT (Optical Coherence Tomography) - with the national and the international collaborations established, with universities from Romania, Europe and USA. While the research directions of the 3OM Group are presented, they are linked with the educational components implemented in the various subjects we teach, for both undergraduate and graduate students, both in Mechanical and in Electrical Engineering. The main effort is to integrate education and research, to move teaching beyond the classical aspects to put the stress on hands-on-experiments, as well as on research-based activities - even with undergraduates. The main goals of this approach are to obtain an early orientation towards innovation and discovery, with a taste for novelties and with a clear focus on international standards. While this account is only one of many, it offers our experience in passing through the difficulties of developing both research and education in Optics in a young university in an emergent economy in Eastern Europe.

A neural interface provides long-term stable natural touch perception.

PubMed

Tan, Daniel W; Schiefer, Matthew A; Keith, Michael W; Anderson, James Robert; Tyler, Joyce; Tyler, Dustin J

2014-10-08

Touch perception on the fingers and hand is essential for fine motor control, contributes to our sense of self, allows for effective communication, and aids in our fundamental perception of the world. Despite increasingly sophisticated mechatronics, prosthetic devices still do not directly convey sensation back to their wearers. We show that implanted peripheral nerve interfaces in two human subjects with upper limb amputation provided stable, natural touch sensation in their hands for more than 1 year. Electrical stimulation using implanted peripheral nerve cuff electrodes that did not penetrate the nerve produced touch perceptions at many locations on the phantom hand with repeatable, stable responses in the two subjects for 16 and 24 months. Patterned stimulation intensity produced a sensation that the subjects described as natural and without "tingling," or paresthesia. Different patterns produced different types of sensory perception at the same location on the phantom hand. The two subjects reported tactile perceptions they described as natural tapping, constant pressure, light moving touch, and vibration. Changing average stimulation intensity controlled the size of the percept area; changing stimulation frequency controlled sensation strength. Artificial touch sensation improved the subjects' ability to control grasping strength of the prosthesis and enabled them to better manipulate delicate objects. Thus, electrical stimulation through peripheral nerve electrodes produced long-term sensory restoration after limb loss. Copyright © 2014, American Association for the Advancement of Science.

Characterization by spectroscopic Ellipsometry, the physical properties of silver nanoparticles.

NASA Astrophysics Data System (ADS)

Coanga, Jean-Maurice

2013-04-01

Physicists are able to change their minds through their experiments. I think it is time to go kick the curse and go further in research if we want a human future. I work in the Nano-Optics and Plasmonics research. I defined with ellipsomètrie the structure of new type of Nano particles of silver. It's same be act quickly to replace the old dirty leaded electronic-connexion chip and by the other hand to find a new way for the heath care of cancer disease by nanoparticles the next killers of bad cells. Silver nanoparticle layers are obtained by Spark Plasma Sintering are investigated as an alternative to lead alloy based material for solder joint in power mechatronics modules. These layers are characterized by mean of conventional techniques that is the dilatometry technique, the resistivity measurement through the van der Pauw method, and the flash laser technique. Furthermore, the nanoparticles of silver layer are deeply studied by UV-Visible spectroscopic ellipsometry. Spectroscopic angles parameters are determined in function of temperature and dielectric constants are deduced and analyzed through an optical model which takes into account a Drude and a Lorentz component within the Bruggeman effective medium approximation (EMA). The relaxation times and the electrical conductivity are plot in function of temperature. The obtained electrical conductivity give significant result in good agreement to those reported by four points electrical measurement method.

Analysis of a dielectric EAP as smart component for a neonatal respiratory simulator.

PubMed

Tognarelli, S; Deri, L; Cecchi, F; Scaramuzzo, R; Cuttano, A; Laschi, C; Menciassi, A; Dario, P

2013-01-01

Nowadays, respiratory syndrome represents the most common neonatal pathology. Nevertheless, being respiratory assistance in newborns a great challenge for neonatologists and nurses, use of simulation-based training is quickly becoming a valid meaning of clinical education for an optimal therapy outcome. Commercially available simulators, are, however, not able to represent complex breathing patterns and to evaluate specific alterations. The purpose of this work has been to develop a smart, lightweight, compliant system with variable rigidity able to replicate the anatomical behavior of the neonatal lung, with the final aim to integrate such system into an innovative mechatronic simulator device. A smart material based-system has been proposed and validated: Dielectric Electro Active Polymers (DEAP), coupled to a purposely shaped silicone camera, has been investigated as active element for a compliance change simulator able to replicate both physiological and pathological lung properties. Two different tests have been performed by using a bi-components camera (silicone shape coupled to PolyPower film) both as an isolated system and connected to an infant ventilator. By means of a pressure sensor held on the silicon structure, pressure values have been collected and compared for active and passive PolyPower working configuration. The obtained results confirm a slight pressure decrease in active configuration, that is in agreement with the film stiffness reduction under activation and demonstrates the real potentiality of DEAP for active volume changing of the proposed system.

A neural interface provides long-term stable natural touch perception

PubMed Central

Tan, Daniel W.; Schiefer, Matthew A.; Keith, Michael W.; Anderson, James Robert; Tyler, Joyce; Tyler, Dustin J.

2017-01-01

Touch perception on the fingers and hand is essential for fine motor control, contributes to our sense of self, allows for effective communication, and aids in our fundamental perception of the world. Despite increasingly sophisticated mechatronics, prosthetic devices still do not directly convey sensation back to their wearers. We show that implanted peripheral nerve interfaces in two human subjects with upper limb amputation provided stable, natural touch sensation in their hands for more than 1 year. Electrical stimulation using implanted peripheral nerve cuff electrodes that did not penetrate the nerve produced touch perceptions at many locations on the phantom hand with repeatable, stable responses in the two subjects for 16 and 24 months. Patterned stimulation intensity produced a sensation that the subjects described as natural and without “tingling,” or paresthesia. Different patterns produced different types of sensory perception at the same location on the phantom hand. The two subjects reported tactile perceptions they described as natural tapping, constant pressure, light moving touch, and vibration. Changing average stimulation intensity controlled the size of the percept area; changing stimulation frequency controlled sensation strength. Artificial touch sensation improved the subjects’ ability to control grasping strength of the prosthesis and enabled them to better manipulate delicate objects. Thus, electrical stimulation through peripheral nerve electrodes produced long-term sensory restoration after limb loss. PMID:25298320

Integrated microfluidic technology for sub-lethal and behavioral marine ecotoxicity biotests

NASA Astrophysics Data System (ADS)

Huang, Yushi; Reyes Aldasoro, Constantino Carlos; Persoone, Guido; Wlodkowic, Donald

2015-06-01

Changes in behavioral traits exhibited by small aquatic invertebrates are increasingly postulated as ethically acceptable and more sensitive endpoints for detection of water-born ecotoxicity than conventional mortality assays. Despite importance of such behavioral biotests, their implementation is profoundly limited by the lack of appropriate biocompatible automation, integrated optoelectronic sensors, and the associated electronics and analysis algorithms. This work outlines development of a proof-of-concept miniaturized Lab-on-a-Chip (LOC) platform for rapid water toxicity tests based on changes in swimming patterns exhibited by Artemia franciscana (Artoxkit M™) nauplii. In contrast to conventionally performed end-point analysis based on counting numbers of dead/immobile specimens we performed a time-resolved video data analysis to dynamically assess impact of a reference toxicant on swimming pattern of A. franciscana. Our system design combined: (i) innovative microfluidic device keeping free swimming Artemia sp. nauplii under continuous microperfusion as a mean of toxin delivery; (ii) mechatronic interface for user-friendly fluidic actuation of the chip; and (iii) miniaturized video acquisition for movement analysis of test specimens. The system was capable of performing fully programmable time-lapse and video-microscopy of multiple samples for rapid ecotoxicity analysis. It enabled development of a user-friendly and inexpensive test protocol to dynamically detect sub-lethal behavioral end-points such as changes in speed of movement or distance traveled by each animal.

Microrobotics for future gastrointestinal endoscopy.

PubMed

Menciassi, Arianna; Quirini, Marco; Dario, Paolo

2007-01-01

The impulse given by robotic technologies and imaging techniques to the development of a new way to conceive and perform surgery is clearly visible. Nowadays, minimally invasive surgical (MIS) procedures are often performed with the assistance of robots, such as the Da Vinci master-slave system, the AESOP robot with voice control, etc. In addition, mechatronic technologies are becoming the elective technologies for designing advanced hand-held surgical tools. The introduction of robotic technologies in endoscopy has been slower than in MIS, since the development of miniaturized robotic components for entering the small orifices of the human body is difficult. On the other hand, the large contribution that robotic technologies could bring to endoluminal techniques has been evident since the first development of instrumented catheters. In the 1990s, there was an increasing activity in the application of robotic technologies to improve endoscopic procedures in the gastrointestinal tract. The objective of robotic colonoscopy and gastroscopy was to obtain more effective diagnoses in terms of reduced pain for the patients, and to make uniform the diagnostic procedures, which too often depended on the manual abilities of the endoscopist. Currently, the availability of more reliable robotic technologies for miniaturization of size and integration of functions has allowed to conceive and develop robotic pills for the early screening of the digestive tract, with dramatic potential advantages for patients, endoscopists, and healthcare system.

Mechatronic design of haptic forceps for robotic surgery.

PubMed

Rizun, P; Gunn, D; Cox, B; Sutherland, G

2006-12-01

Haptic feedback increases operator performance and comfort during telerobotic manipulation. Feedback of grasping pressure is critical in many microsurgical tasks, yet no haptic interface for surgical tools is commercially available. Literature on the psychophysics of touch was reviewed to define the spectrum of human touch perception and the fidelity requirements of an ideal haptic interface. Mechanical design and control literature was reviewed to translate the psychophysical requirements to engineering specification. High-fidelity haptic forceps were then developed through an iterative process between engineering and surgery. The forceps are a modular device that integrate with a haptic hand controller to add force feedback for tool actuation in telerobotic or virtual surgery. Their overall length is 153 mm and their mass is 125 g. A contact-free voice coil actuator generates force feedback at frequencies up to 800 Hz. Maximum force output is 6 N (2N continuous) and the force resolution is 4 mN. The forceps employ a contact-free magnetic position sensor as well as micro-machined accelerometers to measure opening/closing acceleration. Position resolution is 0.6 microm with 1.3 microm RMS noise. The forceps can simulate stiffness greater than 20N/mm or impedances smaller than 15 g with no noticeable haptic artifacts or friction. As telerobotic surgery evolves, haptics will play an increasingly important role. Copyright 2006 John Wiley & Sons, Ltd.

Service oriented network architecture for control and management of home appliances

NASA Astrophysics Data System (ADS)

Hayakawa, Hiroshi; Koita, Takahiro; Sato, Kenya

2005-12-01

Recent advances in multimedia network systems and mechatronics have led to the development of a new generation of applications that associate the use of various multimedia objects with the behavior of multiple robotic actors. The connection of audio and video devices through high speed multimedia networks is expected to make the system more convenient to use. For example, many home appliances, such as a video camera, a display monitor, a video recorder, an audio system and so on, are being equipped with a communication interface in the near future. Recently some platforms (i.e. UPnP1, HAVi2 and so on) are proposed for constructing home networks; however, there are some issues to be solved to realize various services by connecting different equipment via the pervasive peer-to-peer network. UPnP offers network connectivity of PCs of intelligent home appliances, practically, which means to require a PC in the network to control other devices. Meanwhile, HAVi has been developed for intelligent AV equipments with sophisticated functions using high CPU power and large memory. Considering the targets of home alliances are embedded systems, this situation raises issues of software and hardware complexity, cost, power consumption and so on. In this study, we have proposed and developed the service oriented network architecture for control and management of home appliances, named SONICA (Service Oriented Network Interoperability for Component Adaptation), to address these issues described before.

New optical sensor systems for high-resolution satellite, airborne and terrestrial imaging systems

NASA Astrophysics Data System (ADS)

Eckardt, Andreas; Börner, Anko; Lehmann, Frank

2007-10-01

The department of Optical Information Systems (OS) at the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR) has more than 25 years experience with high-resolution imaging technology. The technology changes in the development of detectors, as well as the significant change of the manufacturing accuracy in combination with the engineering research define the next generation of spaceborne sensor systems focusing on Earth observation and remote sensing. The combination of large TDI lines, intelligent synchronization control, fast-readable sensors and new focal-plane concepts open the door to new remote-sensing instruments. This class of instruments is feasible for high-resolution sensor systems regarding geometry and radiometry and their data products like 3D virtual reality. Systemic approaches are essential for such designs of complex sensor systems for dedicated tasks. The system theory of the instrument inside a simulated environment is the beginning of the optimization process for the optical, mechanical and electrical designs. Single modules and the entire system have to be calibrated and verified. Suitable procedures must be defined on component, module and system level for the assembly test and verification process. This kind of development strategy allows the hardware-in-the-loop design. The paper gives an overview about the current activities at DLR in the field of innovative sensor systems for photogrammetric and remote sensing purposes.

Research on MEMS sensor in hydraulic system flow detection

NASA Astrophysics Data System (ADS)

Zhang, Hongpeng; Zhang, Yindong; Liu, Dong; Ji, Yulong; Jiang, Jihai; Sun, Yuqing

2010-12-01

With the development of mechatronics technology and fault diagnosis theory, people regard flow information much more than before. Cheap, fast and accurate flow sensors are urgently needed by hydraulic industry. So MEMS sensor, which is small, low cost, well performed and easy to integrate, will surely play an important role in this field. Based on the new method of flow measurement which was put forward by our research group, this paper completed the measurement of flow rate in hydraulic system by setting up the mathematical model, using numerical simulation method and doing physical experiment. Based on viscous fluid flow equations we deduced differential pressure-velocity model of this new sensor and did optimization on parameters. Then, we designed and manufactured the throttle and studied the velocity and pressure field inside the sensor by FLUENT. Also in simulation we get the differential pressure-velocity curve .The model machine was simulated too to direct experiment. In the static experiments we calibrated the MEMS sensing element and built some sample sensors. Then in a hydraulic testing system we compared the sensor signal with a turbine meter. It presented good linearity and could meet general hydraulic system use. Based on the CFD curves, we analyzed the error reasons and made some suggestion to improve. In the dynamic test, we confirmed this sensor can realize high frequency flow detection by a 7 piston-pump.

Quantitative Magnetic Separation of Particles and Cells Using Gradient Magnetic Ratcheting.

PubMed

Murray, Coleman; Pao, Edward; Tseng, Peter; Aftab, Shayan; Kulkarni, Rajan; Rettig, Matthew; Di Carlo, Dino

2016-04-13

Extraction of rare target cells from biosamples is enabling for life science research. Traditional rare cell separation techniques, such as magnetic activated cell sorting, are robust but perform coarse, qualitative separations based on surface antigen expression. A quantitative magnetic separation technology is reported using high-force magnetic ratcheting over arrays of magnetically soft micropillars with gradient spacing, and the system is used to separate and concentrate magnetic beads based on iron oxide content (IOC) and cells based on surface expression. The system consists of a microchip of permalloy micropillar arrays with increasing lateral pitch and a mechatronic device to generate a cycling magnetic field. Particles with higher IOC separate and equilibrate along the miropillar array at larger pitches. A semi-analytical model is developed that predicts behavior for particles and cells. Using the system, LNCaP cells are separated based on the bound quantity of 1 μm anti-epithelial cell adhesion molecule (EpCAM) particles as a metric for expression. The ratcheting cytometry system is able to resolve a ±13 bound particle differential, successfully distinguishing LNCaP from PC3 populations based on EpCAM expression, correlating with flow cytometry analysis. As a proof-of-concept, EpCAM-labeled cells from patient blood are isolated with 74% purity, demonstrating potential toward a quantitative magnetic separation instrument. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Fixed Nadir Focus Concentrated Solar Power Applying Reflective Array Tracking Method

NASA Astrophysics Data System (ADS)

Setiawan, B.; DAMayanti, A. M.; Murdani, A.; Habibi, I. I. A.; Wakidah, R. N.

2018-04-01

The Sun is one of the most potential renewable energy develoPMent to be utilized, one of its utilization is for solar thermal concentrators, CSP (Concentrated Solar Power). In CSP energy conversion, the concentrator is as moving the object by tracking the sunlight to reach the focus point. This method need quite energy consumption, because the unit of the concentrators has considerable weight, and use large CSP, means the existence of the usage unit will appear to be wider and heavier. The addition of weight and width of the unit will increase the torque to drive the concentrator and hold the wind gusts. One method to reduce energy consumption is direct the sunlight by the reflective array to nadir through CSP with Reflective Fresnel Lens concentrator. The focus will be below the nadir direction, and the position of concentrator will be fixed position even the angle of the sun’s elevation changes from morning to afternoon. So, the energy concentrated maximally, because it has been protected from wind gusts. And then, the possibility of dAMage and changes in focus construction will not occur. The research study and simulation of the reflective array (mechanical method) will show the reflective angle movement. The distance between reflectors and their angle are controlled by mechatronics. From the simulation using fresnel 1m2, and efficiency of solar energy is 60.88%. In restriction, the intensity of sunlight at the tropical circles 1KW/peak, from 6 AM until 6 PM.

Bath-Ambience-A Mechatronic System for Assisting the Caregivers of Bedridden People.

PubMed

Bezerra, Karolina; Machado, José; Carvalho, Vítor; Castro, Marcelo; Costa, Pedro; Matos, Demétrio; Soares, Filomena

2017-05-18

The health of older people is receiving special attention and dedication nowadays, with the aim of increasing their general wellbeing and quality of life. Studies into different aspects of the care of the elderly have found that emphasis should be given to solving problems related to bathing in different situations and environments. In particular, it is important to develop new assistive technologies to streamline and ease the burden of a caregiver's daily tasks. Generally-speaking, in the case of bedridden patients, bathing is typically carried out manually by a caregiver, using towels, sponges, and a water basin. Nevertheless, this apparently simple task needs some precautions in order to avoid the risk of microbial infections, falls and other injuries. With that in mind, this paper presents the design of a portable washing system, called Bath-Ambience, which enables bedridden patients to be bathed efficiently without having to be moved from their position. This portable system can be installed in different situations, both in a domestic setting, and in specialized institutions, and allows the caregiver to perform the bathing tasks without compromising health and safety, thereby making it possible to offer a comfortable and hygienic procedure to patients, improving their quality of life. This paper presents the design of the portable Bath-Ambience washing system, which provides efficient assistance for bathing bedridden patients without moving them to another place. This system is mainly dedicated for integration a smart home application in to allow bathing everywhere.

Bath-Ambience—A Mechatronic System for Assisting the Caregivers of Bedridden People

PubMed Central

Bezerra, Karolina; Machado, José; Carvalho, Vítor; Castro, Marcelo; Costa, Pedro; Matos, Demétrio; Soares, Filomena

2017-01-01

The health of older people is receiving special attention and dedication nowadays, with the aim of increasing their general wellbeing and quality of life. Studies into different aspects of the care of the elderly have found that emphasis should be given to solving problems related to bathing in different situations and environments. In particular, it is important to develop new assistive technologies to streamline and ease the burden of a caregiver’s daily tasks. Generally-speaking, in the case of bedridden patients, bathing is typically carried out manually by a caregiver, using towels, sponges, and a water basin. Nevertheless, this apparently simple task needs some precautions in order to avoid the risk of microbial infections, falls and other injuries. With that in mind, this paper presents the design of a portable washing system, called Bath-Ambience, which enables bedridden patients to be bathed efficiently without having to be moved from their position. This portable system can be installed in different situations, both in a domestic setting, and in specialized institutions, and allows the caregiver to perform the bathing tasks without compromising health and safety, thereby making it possible to offer a comfortable and hygienic procedure to patients, improving their quality of life. This paper presents the design of the portable Bath-Ambience washing system, which provides efficient assistance for bathing bedridden patients without moving them to another place. This system is mainly dedicated for integration a smart home application in to allow bathing everywhere. PMID:28524114

In vivo microrobots for natural orifice transluminal surgery. Current status and future perspectives.

PubMed

Forgione, A

2009-06-01

The possibility to operate inside the peritoneal cavity through small holes performed in hollow organs that is presented by Natural Orifice Transluminal Endoscopic Surgery (NOTES) represents a major paradigm shift in general surgery. While this new approach seems very appealing from patients' perspectives because it eliminates completely abdominal wall aggression and promises to reduce postoperative pain, it is very challenging for surgeons because of the major constraints imposed by both the mode of access and the limited technology currently available. For this reason NOTES applications at the present time are performed by only a few surgeons and mainly to perform non-complex procedures. While new devices are under development, many of them are trying mainly to simply improve current endoscopic platforms and seem not to offer breakthrough solutions. The numerous challenges introduced by natural orifice approaches require a radical shift in the conception of new technologies in order to make this emerging operative access safe and reproducible. The convergence of several enabling technologies in the field of miniaturization, communication and micro-mechatronics brings the possibility to realize on a large scale the revolutionary concept of miniature in vivo co-operative robots. These robots provide vision and task assistance without the constraints of the entry incision and have been shown in experimental settings to possess many qualities that could be ideal to partner with Natural Orifice Surgery. This article explores the current status of microrobotics as well as presents potential future scenarios of their applications in NOTES.

Comparison of three commercially available ektacytometers with different shearing geometries.

PubMed

Baskurt, Oguz K; Hardeman, M R; Uyuklu, Mehmet; Ulker, Pinar; Cengiz, Melike; Nemeth, Norbert; Shin, Sehyun; Alexy, Tamas; Meiselman, Herbert J

2009-01-01

In December 2008, the International Society for Clinical Hemorheology organized a workshop to evaluate and compare three ektacytometer instruments for measuring deformability of red blood cells (RBC): LORCA (Laser-assisted Optical Rotational Cell Analyzer, RR Mechatronics, Hoorn, The Netherlands), Rheodyn SSD (Myrenne GmbH, Roetgen, Germany) and RheoScan-D (RheoMeditech, Seoul, Korea). Intra-assay reproducibility and biological variation were determined using normal RBC, and cells with reduced deformability (i.e., 0.001-0.02% glutaradehyde (GA), 48 degrees C heat treatment) were employed as either the only RBC present or as a sub-population. Standardized difference values were used as measure of the power to detect differences between normal and treated cells. Salient results include: (1) All instruments had intra-assay variations below 5% for shear stress (SS)>1 Pa but a sharp increase was found for Rheodyn SSD and RheoScan-D at lower SS; (2) Biological variation was similar and markedly increased for SS<3-5 Pa; (3) All instruments detected GA-treated RBC with maximal power at 1-3 Pa, the presence of 10% or 40% GA-modified cells, and the effects of heat treatment. It is concluded that the LORCA, Rheodyn SSD and RheoScan-D all have acceptable precision and power for detecting reduced RBC deformability due to GA treatment or heat treatment, and that the SS range selected for the measurement of deformability is an important determinant of an instrument's power.

Towards automated visual flexible endoscope navigation.

PubMed

van der Stap, Nanda; van der Heijden, Ferdinand; Broeders, Ivo A M J

2013-10-01

The design of flexible endoscopes has not changed significantly in the past 50 years. A trend is observed towards a wider application of flexible endoscopes with an increasing role in complex intraluminal therapeutic procedures. The nonintuitive and nonergonomical steering mechanism now forms a barrier in the extension of flexible endoscope applications. Automating the navigation of endoscopes could be a solution for this problem. This paper summarizes the current state of the art in image-based navigation algorithms. The objectives are to find the most promising navigation system(s) to date and to indicate fields for further research. A systematic literature search was performed using three general search terms in two medical-technological literature databases. Papers were included according to the inclusion criteria. A total of 135 papers were analyzed. Ultimately, 26 were included. Navigation often is based on visual information, which means steering the endoscope using the images that the endoscope produces. Two main techniques are described: lumen centralization and visual odometry. Although the research results are promising, no successful, commercially available automated flexible endoscopy system exists to date. Automated systems that employ conventional flexible endoscopes show the most promising prospects in terms of cost and applicability. To produce such a system, the research focus should lie on finding low-cost mechatronics and technologically robust steering algorithms. Additional functionality and increased efficiency can be obtained through software development. The first priority is to find real-time, robust steering algorithms. These algorithms need to handle bubbles, motion blur, and other image artifacts without disrupting the steering process.

Design of a positioning system for a holographic otoscope

NASA Astrophysics Data System (ADS)

Dobrev, I.; Flores Moreno, J. M.; Furlong, C.; Harrington, E. J.; Rosowski, J. J.; Scarpino, C.

2010-08-01

Current ear examination procedures provide mostly qualitative information which results in insufficient or erroneous description of the patient's hearing. Much more quantitative and accurate results can be achieved with a holographic otoscope system currently under development. Various ways of accurate positioning and stabilization of the system in real-life conditions are being investigated by this project in an attempt to bring this new technology to the hospitals and clinics, in order to improve the quality of the treatments and operations of the human ear. The project is focused at developing a mechatronic system capable of positioning the holographic otoscope to the patient's ear and maintaining its relative orientation during the examination. The system will be able to be guided by the examiner, but it will maintain the chosen position automatically. To achieve that, various trajectories are being measured for existing otoscopes being guided by doctors in real medical conditions. Based on that, various kinematic configurations are to be synthesized and their stability and accuracy will be simulated and optimized with FEA. For simplification, the mechanism will contain no actuators, but only adjustable friction elements in a haptic feedback control system. This renders the positioning system safe and easily applicable to current examination rooms. Other means of stabilization of the system are being investigated such as custom designed packaging of all of the otoscope subsystems, interferometrically compensating for the heartbeat induced vibration of the tympanic membrane as well as methods for monitoring and active response to the motion of the patient's head.

Particle filter based hybrid prognostics for health monitoring of uncertain systems in bond graph framework

NASA Astrophysics Data System (ADS)

Jha, Mayank Shekhar; Dauphin-Tanguy, G.; Ould-Bouamama, B.

2016-06-01

The paper's main objective is to address the problem of health monitoring of system parameters in Bond Graph (BG) modeling framework, by exploiting its structural and causal properties. The system in feedback control loop is considered uncertain globally. Parametric uncertainty is modeled in interval form. The system parameter is undergoing degradation (prognostic candidate) and its degradation model is assumed to be known a priori. The detection of degradation commencement is done in a passive manner which involves interval valued robust adaptive thresholds over the nominal part of the uncertain BG-derived interval valued analytical redundancy relations (I-ARRs). The latter forms an efficient diagnostic module. The prognostics problem is cast as joint state-parameter estimation problem, a hybrid prognostic approach, wherein the fault model is constructed by considering the statistical degradation model of the system parameter (prognostic candidate). The observation equation is constructed from nominal part of the I-ARR. Using particle filter (PF) algorithms; the estimation of state of health (state of prognostic candidate) and associated hidden time-varying degradation progression parameters is achieved in probabilistic terms. A simplified variance adaptation scheme is proposed. Associated uncertainties which arise out of noisy measurements, parametric degradation process, environmental conditions etc. are effectively managed by PF. This allows the production of effective predictions of the remaining useful life of the prognostic candidate with suitable confidence bounds. The effectiveness of the novel methodology is demonstrated through simulations and experiments on a mechatronic system.

Closed-loop control of renal perfusion pressure in physiological experiments.

PubMed

Campos-Delgado, D U; Bonilla, I; Rodríguez-Martínez, M; Sánchez-Briones, M E; Ruiz-Hernández, E

2013-07-01

This paper presents the design, experimental modeling, and control of a pump-driven renal perfusion pressure (RPP)-regulatory system to implement precise and relatively fast RPP regulation in rats. The mechatronic system is a simple, low-cost, and reliable device to automate the RPP regulation process based on flow-mediated occlusion. Hence, the regulated signal is the RPP measured in the left femoral artery of the rat, and the manipulated variable is the voltage applied to a dc motor that controls the occlusion of the aorta. The control system is implemented in a PC through the LabView software, and a data acquisition board NI USB-6210. A simple first-order linear system is proposed to approximate the dynamics in the experiment. The parameters of the model are chosen to minimize the error between the predicted and experimental output averaged from eight input/output datasets at different RPP operating conditions. A closed-loop servocontrol system based on a pole-placement PD controller plus dead-zone compensation was proposed for this purpose. First, the feedback structure was validated in simulation by considering parameter uncertainty, and constant and time-varying references. Several experimental tests were also conducted to validate in real time the closed-loop performance for stepwise and fast switching references, and the results show the effectiveness of the proposed automatic system to regulate the RPP in the rat, in a precise, accurate (mean error less than 2 mmHg) and relatively fast mode (10-15 s of response time).

Assessment of destabilizing factor for automatic control systems in propulsion systems of mechatronic and maritime transport objects

NASA Astrophysics Data System (ADS)

Zhilenkov, A. A.; Kapitonov, A. A.

2017-10-01

It is known that many of today’s ships and vessels have a shaft generator as a part of their power plants. Modern automatic control systems used in the world’s fleet do not enable their shaft generators to operate in parallel with the main diesel generators for long-term sustenance of the total load of the ship network. On the other hand, according to our calculations and experiments, a shaft generator operated in parallel with the main power plant helps save at least 10% of fuel while making the power system of the ship more efficient, reliable, and eco-friendly. The fouling and corrosion of the propeller as well as the weather conditions of navigation affect its modulus of resistance. It changes the free component of the transient process of shaft generator stress frequency changes in transient processes. While the shaft generator and the diesel generator of the ship power plant are paralleled, there emerges an angle between their EMF. This results in equalizing currents generated between them. The altering torque in the drive-shaft line—propeller system causes torsional fluctuations of the ship shaft line. To compensate for the effect of destabilizing factors and torsional fluctuations of the shaft line on the dynamic characteristics of the transient process that alters the RPM of the main engine, sliding mode controls can be used. To synthesize such a control, one has to evaluate the effect of destabilizing factors.

Double degree master program: Optical Design

NASA Astrophysics Data System (ADS)

Bakholdin, Alexey; Kujawinska, Malgorzata; Livshits, Irina; Styk, Adam; Voznesenskaya, Anna; Ezhova, Kseniia; Ermolayeva, Elena; Ivanova, Tatiana; Romanova, Galina; Tolstoba, Nadezhda

2015-10-01

Modern tendencies of higher education require development of master programs providing achievement of learning outcomes corresponding to quickly variable job market needs. ITMO University represented by Applied and Computer Optics Department and Optical Design and Testing Laboratory jointly with Warsaw University of Technology represented by the Institute of Micromechanics and Photonics at The Faculty of Mechatronics have developed a novel international master double-degree program "Optical Design" accumulating the expertise of both universities including experienced teaching staff, educational technologies, and experimental resources. The program presents studies targeting research and professional activities in high-tech fields connected with optical and optoelectronics devices, optical engineering, numerical methods and computer technologies. This master program deals with the design of optical systems of various types, assemblies and layouts using computer modeling means; investigation of light distribution phenomena; image modeling and formation; development of optical methods for image analysis and optical metrology including optical testing, materials characterization, NDT and industrial control and monitoring. The goal of this program is training a graduate capable to solve a wide range of research and engineering tasks in optical design and metrology leading to modern manufacturing and innovation. Variability of the program structure provides its flexibility and adoption according to current job market demands and personal learning paths for each student. In addition considerable proportion of internship and research expands practical skills. Some special features of the "Optical Design" program which implements the best practices of both Universities, the challenges and lessons learnt during its realization are presented in the paper.

Spasticity Measurement Based on Tonic Stretch Reflex Threshold in Children with Cerebral Palsy Using the PediAnklebot.

PubMed

Germanotta, Marco; Taborri, Juri; Rossi, Stefano; Frascarelli, Flaminia; Palermo, Eduardo; Cappa, Paolo; Castelli, Enrico; Petrarca, Maurizio

2017-01-01

Nowadays, objective measures are becoming prominent in spasticity assessment, to overcome limitations of clinical scales. Among others, Tonic Stretch Reflex Threshold (TSRT) showed promising results. Previous studies demonstrated the validity and reliability of TSRT in spasticity assessment at elbow and ankle joints in adults. Purposes of the present study were to assess: (i) the feasibility of measuring TSRT to evaluate spasticity at the ankle joint in children with Cerebral Palsy (CP), and (ii) the correlation between objective measures and clinical scores. A mechatronic device, the pediAnklebot, was used to impose 50 passive stretches to the ankle of 10 children with CP and 3 healthy children, to elicit muscles response at 5 different velocities. Surface electromyography, angles, and angular velocities were recorded to compute dynamic stretch reflex threshold; TSRT was computed with a linear regression through angles and angular velocities. TSRTs for the most affected side of children with CP resulted into the biomechanical range (95.7 ± 12.9° and 86.7 ± 17.4° for Medial and Lateral Gastrocnemius, and 75.9 ± 12.5° for Tibialis Anterior). In three patients, the stretch reflex was not elicited in the less affected side. TSRTs were outside the biomechanical range in healthy children. However, no correlation was found between clinical scores and TSRT values. Here, we demonstrated the capability of TSRT to discriminate between spastic and non-spastic muscles, while no significant outcomes were found for the dorsiflexor muscle.

A new AS-display as part of the MIRO lightweight robot for surgical applications

NASA Astrophysics Data System (ADS)

Grossmann, Christoph M.

2010-02-01

The DLR MIRO is the second generation of versatile robot arms for surgical applications, developed at the Institute for Robotics and Mechatronics at Deutsche Zentrum für Luft- und Raumfahrt (DLR) in Oberpfaffenhofen, Germany. With its low weight of 10 kg and dimensions similar to those of the human arm, the MIRO robot can assist the surgeon directly at the operating table where space is scarce. The planned scope of applications of this robot arm ranges from guiding a laser unit for the precise separation of bone tissue in orthopedics to positioning holes for bone screws, robot assisted endoscope guidance and on to the multi-robot concept for endoscopic minimally invasive surgery. A stereo-endoscope delivers two full HD video streams that can even be augmented with information, e.g vectors indicating the forces that act on the surgical tool at any given moment. SeeFront's new autostereoscopic 3D display SF 2223, being a part of the MIRO assembly, will let the surgeon view the stereo video stream in excellent quality, in real time and without the need for any viewing aids. The presentation is meant to provide an insight into the principles at the basis of the SeeFront 3D technology and how they allow the creation of autostereoscopic display solutions ranging from smallest "stamp-sized" displays to 30" desktop versions, which all provide comfortable freedom of movement for the viewer along with excellent 3D image quality.

Microgravity and bone cell mechanosensitivity: FLOW experiment during the DELTA mission

NASA Astrophysics Data System (ADS)

Bacabac, Rommel G.; Van Loon, Jack J. W. A.; de Blieck-Hogervorst, Jolanda M. A.; Semeins, Cor M.; Zandieh-Doulabi, Behrouz; Helder, Marco N.; Smit, Theo H.; Klein-Nulend, Jenneke

2007-09-01

The catabolic effects of microgravity on mineral metabolism in bone organ cultures might be explained as resulting from an exceptional form of disuse. It is possible that the mechanosensitivity of bone cells is altered under near weightlessness conditions, which likely contributes to disturbed bone metabolism observed in astronauts. In the experiment "FLOW", we tested whether the production of early signaling molecules that are involved in the mechanical load-induced osteogenic response by bone cells is changed under microgravity conditions. FLOW was one of the Biological experiment entries to the Dutch Soyuz Mission "DELTA" (Dutch Expedition for Life Science, Technology and Atmospheric Research). FLOW was flown by the Soyuz craft, launched on April 19, 2004, on its way to the International Space Station. Primary osteocytes, osteoblasts, and periosteal fibroblasts were incubated in plunger boxes, developed by Centre for Concepts in Mechatronics, using plunger activation events for single pulse fluid shear stress stimulations. Due to unforeseen hardware complications, results from in-flight cultures are considered lost. Ground control experiments showed an accumulative increase of NO in medium for osteocytes (as well as for osteoblasts and periosteal fibroblasts). Data from the online-NO sensor showed that the NO produced in medium by osteocytes increased sharply after pulse shear stress stimulations. COX-2 mRNA expression revealed high levels in osteoblasts compared to the other cell types tested. In conclusion, preparations for the FLOW experiment and preliminary ground results indicate that the FLOW setup is viable for a future flight opportunity.

Organ culture bioreactors--platforms to study human intervertebral disc degeneration and regenerative therapy.

PubMed

Gantenbein, Benjamin; Illien-Jünger, Svenja; Chan, Samantha C W; Walser, Jochen; Haglund, Lisbet; Ferguson, Stephen J; Iatridis, James C; Grad, Sibylle

2015-01-01

In recent decades the application of bioreactors has revolutionized the concept of culturing tissues and organs that require mechanical loading. In intervertebral disc (IVD) research, collaborative efforts of biomedical engineering, biology and mechatronics have led to the innovation of new loading devices that can maintain viable IVD organ explants from large animals and human cadavers in precisely defined nutritional and mechanical environments over extended culture periods. Particularly in spine and IVD research, these organ culture models offer appealing alternatives, as large bipedal animal models with naturally occurring IVD degeneration and a genetic background similar to the human condition do not exist. Latest research has demonstrated important concepts including the potential of homing of mesenchymal stem cells to nutritionally or mechanically stressed IVDs, and the regenerative potential of "smart" biomaterials for nucleus pulposus or annulus fibrosus repair. In this review, we summarize the current knowledge about cell therapy, injection of cytokines and short peptides to rescue the degenerating IVD. We further stress that most bioreactor systems simplify the real in vivo conditions providing a useful proof of concept. Limitations are that certain aspects of the immune host response and pain assessments cannot be addressed with ex vivo systems. Coccygeal animal disc models are commonly used because of their availability and similarity to human IVDs. Although in vitro loading environments are not identical to the human in vivo situation, 3D ex vivo organ culture models of large animal coccygeal and human lumbar IVDs should be seen as valid alternatives for screening and feasibility testing to augment existing small animal, large animal, and human clinical trial experiments.

Specification and design of a Therapy Imaging and Model Management System (TIMMS)

NASA Astrophysics Data System (ADS)

Lemke, Heinz U.; Berliner, Leonard

2007-03-01

Appropriate use of Information and Communication Technology (ICT) and Mechatronic (MT) systems is considered by many experts as a significant contribution to improve workflow and quality of care in the Operating Room (OR). This will require a suitable IT infrastructure as well as communication and interface standards, such as DICOM and suitable extensions, to allow data interchange between surgical system components in the OR. A conceptual design of such an infrastructure, i.e. a Therapy Imaging and Model Management System (TIMMS) will be introduced in this paper. A TIMMS should support the essential functions that enable and advance image, and in particular, patient model guided therapy. Within this concept, the image centric world view of the classical PACS technology is complemented by an IT model-centric world view. Such a view is founded in the special modelling needs of an increasing number of modern surgical interventions as compared to the imaging intensive working mode of diagnostic radiology, for which PACS was originally conceptualised and developed. A proper design of a TIMMS, taking into account modern software engineering principles, such as service oriented architecture, will clarify the right position of interfaces and relevant standards for a Surgical Assist System (SAS) in general and their components specifically. Such a system needs to be designed to provide a highly modular structure. Modules may be defined on different granulation levels. A first list of components (e.g. high and low level modules) comprising engines and repositories of an SAS, which should be integrated by a TIMMS, will be introduced in this paper.

Magnetic resonance imaging properties of multimodality anthropomorphic silicone rubber phantoms for validating surgical robots and image guided therapy systems

NASA Astrophysics Data System (ADS)

Cheung, Carling L.; Looi, Thomas; Drake, James; Kim, Peter C. W.

2012-02-01

The development of image guided robotic and mechatronic platforms for medical applications requires a phantom model for initial testing. Finding an appropriate phantom becomes challenging when the targeted patient population is pediatrics, particularly infants, neonates or fetuses. Our group is currently developing a pediatricsized surgical robot that operates under fused MRI and laparoscopic video guidance. To support this work, we describe a method for designing and manufacturing silicone rubber organ phantoms for the purpose of testing the robotics and the image fusion system. A surface model of the organ is obtained and converted into a mold that is then rapid-prototyped using a 3D printer. The mold is filled with a solution containing a particular ratio of silicone rubber to slacker additive to achieve a specific set of tactile and imaging characteristics in the phantom. The expected MRI relaxation times of different ratios of silicone rubber to slacker additive are experimentally quantified so that the imaging properties of the phantom can be matched to those of the organ that it represents. Samples of silicone rubber and slacker additive mixed in ratios ranging from 1:0 to 1:1.5 were prepared and scanned using inversion recovery and spin echo sequences with varying TI and TE, respectively, in order to fit curves to calculate the expected T1 and T2 relaxation times of each ratio. A set of infantsized abdominal organs was prepared, which were successfully sutured by the robot and imaged using different modalities.

Automation of daphtoxkit-F biotest using a microfluidic lab-on-a-chip technology

NASA Astrophysics Data System (ADS)

Huang, Yushi; Nugegoda, Dayanthi; Wlodkowic, Donald

2015-12-01

An increased rigor in water quality monitoring is not only a legal requirement, but is also critical to ensure timely chemical hazard emergency responses and protection of human and animal health. Bioindication is a method that applies very sensitive living organisms to detect environmental changes using their natural responses. Although bioindicators do not deliver information on an exact type or intensity of toxicants present in water samples, they do provide an overall snapshot and early-warning information about presence of harmful and dangerous parameters. Despite the advantages of biotests performed on sentinel organisms, their wider application is limited by the nonexistence of high-throughput laboratory automation systems. As a result majority of biotests used in ecotoxicology require time-consuming and laborious manual procedures. In this work, we present development of a miniaturized Lab-on-a-Chip (LOC) platform for automation and enhancement of acute ecotoxicity test based on immobilization of a freshwater crustacean Daphnia magna (Daphtoxkit-FTM). Daphnids' immobilization in response to sudden changes in environment parameters is fast, unambiguous, and easy to record optically. We also for the first time demonstrate that LOC system enables studies of sub-lethal ecotoxic effects using behavioral responses of Daphnia magna as sentinels of water pollution. The system working principle incorporated a high definition (HD) time-resolved video data analysis to dynamically assess impact of the reference toxicant on swimming behavior of D. magna. Our system design combined: (i) microfluidic device for caging of Daphnia sp.; (ii) mechatronic interface for fluidic actuation; (iii) video data acquisition; and (iv) algorithms for animal movement tracking and analysis.

Enabling rapid behavioral ecotoxicity studies using an integrated lab-on-a-chip systems

NASA Astrophysics Data System (ADS)

Huang, Yushi; Nugegoda, Dayanthi; Wlodkowic, Donald

2015-12-01

Behavioral ecotoxicity tests are gaining an increasing recognition in environmental toxicology. Behavior of sensitive bioindicator species can change rapidly in response to an acute exposure to contaminants and thus has a much higher sensitivity as compared to conventional LC50 mortality tests. Furthermore, behavioral endpoints seems to be very good candidates to develop early-warning biomonitoring systems needed for rapid chemical risk assessment. Behavioral tests are non-invasive, fast, do not harm indicator organisms (behavioural changes are very rapid) and are thus fully compatible with 3R (Replacement - Reduction - Refinement) principle encouraging alternatives to conventional animal testing. These characteristics are essential when designing improved ecotoxicity tests for chemical risk assessment. In this work, we present a pilot development of miniaturized Lab-on-a-Chip (LOC) devices for studying toxin avoidance behaviors of small aquatic crustaceans. As an investigative tool, LOCs represent a new direction that may miniaturize and revolutionize behavioral ecotoxicology. Specifically our innovative microfluidic prototype: (i) enables convening "caging" of specimens for real-time videomicroscopy; (ii) eliminates the evaporative water loss thus providing an opportunity for long-term behavioral studies; (iii) exploits laminar fluid flow under low Reynolds numbers to generate discrete domains and gradients enabling for the first time toxin avoidance studies on small aquatic crustaceans; (iv) integrates off-the-chip mechatronic interfaces and video analysis algorithms for single animal movement analysis. We provide evidence that by merging innovative bioelectronic and biomicrofluidic technologies we can deploy inexpensive and reliable systems for culture, electronic tracking and complex computational analysis of behavior of bioindicator organisms.

Importance of methodological standardization for the ektacytometric measures of red blood cell deformability in sickle cell anemia.

PubMed

Renoux, Céline; Parrow, Nermi; Faes, Camille; Joly, Philippe; Hardeman, Max; Tisdale, John; Levine, Mark; Garnier, Nathalie; Bertrand, Yves; Kebaili, Kamila; Cuzzubbo, Daniela; Cannas, Giovanna; Martin, Cyril; Connes, Philippe

2016-01-01

Red blood cell (RBC) deformability is severely decreased in patients with sickle cell anemia (SCA), which plays a role in the pathophysiology of the disease. However, investigation of RBC deformability from SCA patients demands careful methodological considerations. We assessed RBC deformability by ektacytometry (LORRCA MaxSis, Mechatronics, The Netherlands) in 6 healthy individuals and 49 SCA patients and tested the effects of different heights of the RBC diffraction patterns, obtained by altering the camera gain of the LORRCA, on the result of RBC deformability measurements, expressed as Elongation Index (EI). Results indicate that the pattern of RBCs from control subjects adopts an elliptical shape under shear stress, whereas the pattern of RBCs from individuals with SCA adopts a diamond shape arising from the superposition of elliptical and circular patterns. The latter represent rigid RBCs. While the EI measures did not change with the variations of the RBC diffraction pattern heights in the control subjects, we observed a decrease of EI when the RBC diffraction pattern height is increased in the SCA group. The differences in SCA EI values measured at 5 Pa between the different diffraction pattern heights correlated with the percent of hemoglobin S and the percent of sickled RBC observed by microscopy. Our study confirms that the camera gain or aperture of the ektacytometer should be used to standardize the size of the RBC diffraction pattern height when measuring RBC deformability in sickle cell patients and underscores the potential clinical utility of this technique.

Red blood cell deformability and aggregation behaviour in different animal species.

PubMed

Plasenzotti, R; Stoiber, B; Posch, M; Windberger, U

2004-01-01

Comparative animal studies showed the wide variation of whole blood and plasma viscosity, and erythrocyte aggregation among mammalian species. Whole blood viscosity and red blood cell aggregation is influenced by red cell fluidity. To evaluate differences in erythrocyte deformability in mammals, three species were investigated, whose erythrocytes have a different aggregation property: horse, as a species with high, dog with medium, and sheep with almost unmeasurable aggregation tendency. Erythrocyte deformability was tested ektacytometrically (Elongation Index [EI], LORCA, Mechatronics, Hoorn, Netherlands) at shear stresses from 0.30 to 53.06 Pa. Equine erythrocytes showed EI-values from 0.047 at low shear stress to 0.541 at high shear stress. The EI from dog's erythrocytes ranged from 0.035 to 0.595. Sheep's erythrocytes had an EI of 0.005 at low and 0.400 at high shear stress. Although it might be presumed from the aggregation property that horse had the highest EI among the three species, the EI of canine erythrocytes exceeded the value in horses by 10% at high shear stress. Further, equine erythrocytes started to deform at higher shear stresses (1.69 Pa) than did canine and ovine cells, whose EI increased continuously with increasing shear stress. At moderate shear stress (1-5 Pa) deformability was even higher in the sheep than in the horse. However, at shear stresses higher than 5.34 Pa, equine red cell elongation clearly exceeded the values of sheep. We conclude that erythrocyte elongation is different between the animal species, not clearly linked with the aggregation property, and that the degree of deformability at various shear stresses is species-specific.

Deformability analysis of sickle blood using ektacytometry.

PubMed

Rabai, Miklos; Detterich, Jon A; Wenby, Rosalinda B; Hernandez, Tatiana M; Toth, Kalman; Meiselman, Herbert J; Wood, John C

2014-01-01

Sickle cell disease (SCD) is characterized by decreased erythrocyte deformability, microvessel occlusion and severe painful infarctions of different organs. Ektacytometry of SCD red blood cells (RBC) is made difficult by the presence of rigid, poorly-deformable irreversibly sickled cells (ISC) that do not align with the fluid shear field and distort the elliptical diffraction pattern seen with normal RBC. In operation, the computer software fits an outline to the diffraction pattern, then reports an elongation index (EI) at each shear stress based on the length and width of the fitted ellipse: EI=(length-width)/(length+width). Using a commercial ektacytometer (LORCA, Mechatronics Instruments, The Netherlands) we have approached the problem of ellipse fitting in two ways: (1) altering the height of the diffraction image on a computer monitor using an aperture within the camera lens; (2) altering the light intensity level (gray level) used by the software to fit the image to an elliptical shape. Neither of these methods affected deformability results (elongation index-shear stress relations) for normal RBC but did markedly affect results for SCD erythrocytes: (1) decreasing image height by 15% and 30% increased EI at moderate to high stresses; (2) progressively increasing the light level increased EI over a wide range of stresses. Fitting data obtained at different image heights using the Lineweaver-Burke routine yielded percentage ISC results in good agreement with microscopic cell counting. We suggest that these two relatively simple approaches allow minimizing artifacts due to the presence of rigid discs or ISC and also suggest the need for additional studies to evaluate the physiological relevance of deformability data obtained via these methods.

How the type of input function affects the dynamic response of conducting polymer actuators

NASA Astrophysics Data System (ADS)

Xiang, Xingcan; Alici, Gursel; Mutlu, Rahim; Li, Weihua

2014-10-01

There has been a growing interest in smart actuators typified by conducting polymer actuators, especially in their (i) fabrication, modeling and control with minimum external data and (ii) applications in bio-inspired devices, robotics and mechatronics. Their control is a challenging research problem due to the complex and nonlinear properties of these actuators, which cannot be predicted accurately. Based on an input-shaping technique, we propose a new method to improve the conducting polymer actuators’ command-following ability, while minimizing their electric power consumption. We applied four input functions with smooth characteristics to a trilayer conducting polymer actuator to experimentally evaluate its command-following ability under an open-loop control strategy and a simulated feedback control strategy, and, more importantly, to quantify how the type of input function affects the dynamic response of this class of actuators. We have found that the four smooth inputs consume less electrical power than sharp inputs such as a step input with discontinuous higher-order derivatives. We also obtained an improved transient response performance from the smooth inputs, especially under the simulated feedback control strategy, which we have proposed previously [X Xiang, R Mutlu, G Alici, and W Li, 2014 “Control of conducting polymer actuators without physical feedback: simulated feedback control approach with particle swarm optimization’, Journal of Smart Materials and Structure, 23]. The idea of using a smooth input command, which results in lower power consumption and better control performance, can be extended to other smart actuators. Consuming less electrical energy or power will have a direct effect on enhancing the operational life of these actuators.

Burrowing behaviour of robotic bivalves with synthetic morphologies.

PubMed

Germann, D P; Carbajal, J P

2013-12-01

Several bivalve species burrow into sandy sediments to reach their living position. There are many hypotheses concerning the functional morphology of the bivalve shell for burrowing. Observational studies are limited and often qualitative and should be complemented by a synthetic approach mimicking the burrowing process using a robotic emulation. In this paper we present a simple mechatronic set-up to mimic the burrowing behaviour of bivalves. As environment we used water and quartz sand contained in a glass tank. Bivalve shells were mathematically modelled on the computer and then materialized using a 3D printer. The burrowing motion of the shells was induced by two external linear motors. Preliminary experiments did not expose any artefacts introduced to the burrowing process by the set-up. We tested effects of shell size, shape and surface sculpturing on the burrowing performance. Neither the typical bivalve shape nor surface sculpture did have a clear positive effect on burrowing depth in the performed experiments. We argue that the presented method is a valid and promising approach to investigate the functional morphology of bivalve shells and should be improved and extended in future studies. In contrast to the observation of living bivalves, our approach offers complete control over the parameters defining shell morphology and motion pattern. The technical set-up allows the systematic variation of all parameters to quantify their effects. The major drawback of the built set-up was that the reliability and significance of the results was limited by the lack of an optimal technique to standardize the sediment state before experiments.

Adaptive-passive vibration control systems for industrial applications

NASA Astrophysics Data System (ADS)

Mayer, D.; Pfeiffer, T.; Vrbata, J.; Melz, T.

2015-04-01

Tuned vibration absorbers have become common for passive vibration reduction in many industrial applications. Lightly damped absorbers (also called neutralizers) can be used to suppress narrowband disturbances by tuning them to the excitation frequency. If the resonance is adapted in-operation, the performance of those devices can be significantly enhanced, or inertial mass can be decreased. However, the integration of actuators, sensors and control electronics into the system raises new design challenges. In this work, the development of adaptive-passive systems for vibration reduction at an industrial scale is presented. As an example, vibration reduction of a ship engine was studied in a full scale test. Simulations were used to study the feasibility and evaluate the system concept at an early stage. Several ways to adjust the resonance of the neutralizer were evaluated, including piezoelectric actuation and common mechatronic drives. Prototypes were implemented and tested. Since vibration absorbers suffer from high dynamic loads, reliability tests were used to assess the long-term behavior under operational conditions and to improve the components. It was proved that the adaptive systems are capable to withstand the mechanical loads in an industrial application. Also a control strategy had to be implemented in order to track the excitation frequency. The most mature concepts were integrated into the full scale test. An imbalance exciter was used to simulate the engine vibrations at a realistic level experimentally. The neutralizers were tested at varying excitation frequencies to evaluate the tracking capabilities of the control system. It was proved that a significant vibration reduction is possible.

High-power fused assemblies enabled by advances in fiber-processing technologies

NASA Astrophysics Data System (ADS)

Wiley, Robert; Clark, Brett

2011-02-01

The power handling capabilities of fiber lasers are limited by the technologies available to fabricate and assemble the key optical system components. Previous tools for the assembly, tapering, and fusion of fiber laser elements have had drawbacks with regard to temperature range, alignment capability, assembly flexibility and surface contamination. To provide expanded capabilities for fiber laser assembly, a wide-area electrical plasma heat source was used in conjunction with an optimized image analysis method and a flexible alignment system, integrated according to mechatronic principles. High-resolution imaging and vision-based measurement provided feedback to adjust assembly, fusion, and tapering process parameters. The system was used to perform assembly steps including dissimilar-fiber splicing, tapering, bundling, capillary bundling, and fusion of fibers to bulk optic devices up to several mm in diameter. A wide range of fiber types and diameters were tested, including extremely large diameters and photonic crystal fibers. The assemblies were evaluated for conformation to optical and mechanical design criteria, such as taper geometry and splice loss. The completed assemblies met the performance targets and exhibited reduced surface contamination compared to assemblies prepared on previously existing equipment. The imaging system and image analysis algorithms provided in situ fiber geometry measurement data that agreed well with external measurement. The ability to adjust operating parameters dynamically based on imaging was shown to provide substantial performance benefits, particularly in the tapering of fibers and bundles. The integrated design approach was shown to provide sufficient flexibility to perform all required operations with a minimum of reconfiguration.

Training to walk amid uncertainty with Re-Step: measurements and changes with perturbation training for hemiparesis and cerebral palsy.

PubMed

Bar-Haim, Simona; Harries, Netta; Hutzler, Yeshayahu; Belokopytov, Mark; Dobrov, Igor

2013-09-01

To describe Re-Step™, a novel mechatronic shoe system that measures center of pressure (COP) gait parameters and complexity of COP dispersion while walking, and to demonstrate these measurements in healthy controls and individuals with hemiparesis and cerebral palsy (CP) before and after perturbation training. The Re-Step™ was used to induce programmed chaotic perturbations to the feet while walking for 30 min for 36 sessions over 12-weeks of training in two subjects with hemiparesis and two with CP. Baseline measurements of complexity indices (fractal dimension and approximate entropy) tended to be higher in controls than in those with disabilities, while COP variability, mean and variability of step time and COP dispersion were lower. After training the disabled subjects these measurement values tended toward those of the controls, along with a decrease in step time, 10 m walk time, average step time, percentage of double support and increased Berg balance score. This pilot trial reveals the feasibility and applicability of this unique measurement and perturbation system for evaluating functional disabilities and changes with interventions to improve walking. Implication for Rehabilitation Walking, of individuals with cerebral palsy and hemiparesis following stroke, can be viewed in terms of a rigid motor behavior that prevents adaptation to changing environmental conditions. Re-Step system (a) measures and records linear and non-linear gait parameters during free walking to provide a detailed evaluation of walking disabilities, (b) is an intervention training modality that applies unexpected perturbations during walking. This perturbation intervention may improve gait and motor functions of individuals with hemiparesis and cerebral plasy.

Enhancing quality of carbon nanotubes through a real-time controlled CVD process with application to next-generation nanosystems

NASA Astrophysics Data System (ADS)

Laxminarayana, Karthik; Jalili, Nader

2004-07-01

Nanocrystals and nanostructures will be the building blocks for future materials that will exhibit enhanced or entirely new combinations of properties with tremendous opportunity for novel technologies that can have far-reaching impact on our society. It is, however, realized that a major challenge for the near future is the design, synthesis and integration of nanostructures to develop functional nanosystems. In view of this, this exploratory research seeks to facilitate the development of a controlled and deterministic framework for nanomanufacturing of nanotubes as the most suitable choice among nanostructures for a plethora of potential applications in areas such as nanoelectronic devices, biological probes, fuel cell electrodes, supercapacitors and filed emission devices. Specifically, this paper proposes to control and maintain the most common nanotube growth parameters (i.e., reaction temperature and gas flow rate) through both software and hardware modifications. The influence of such growth parameters in a CVD process on some of the most vital and crucial aspects of nanotubes (e.g., length, diameter, yield, growth rate and structure) can be utilized to arrive at some unique and remarkable properties for the nanotubes. The objective here is, therefore, to control the process parameters to pinpoint accuracy, which would enable us to fabricate nanotubes having the desired properties and thereby maximize their ability to function at its fullest potential. To achieve this and in order to provide for experimental validation of the proposed research program, an experimental test-bed using the nanotube processing test chamber and a mechatronics workstation are being constructed.

Logistics engineering education from the point of view environment

NASA Astrophysics Data System (ADS)

Bányai, Ágota

2010-05-01

A new field of MSc programme offered by the Faculty of Mechanical Engineering and Informatics of the University of Miskolc is represented by the programme in logistics engineering. The Faculty has always laid great emphasis on assigning processes connected with environment protection and globalisation issues the appropriate weight in its programmes. This is based on the fact that the Faculty has initiated and been involved in a great number of research and development projects with a substantial emphasis on the fundamental principles of sustainable development. The objective of the programme of logistics engineering is to train engineers who, in possession of the science, engineering, economic, informatics and industrial, transportation technological knowledge related to the professional field of logistics, are able to analyse, design, organise, and control logistics processes and systems (freight transportation, materials handling, storage, commissioning, loading, purchasing, distribution and waste management) as well as to design and develop machinery and equipment as the elements of logistic systems and also to be involved in their manufacture and quality control and are able to control their operation. The programme prepares its students for performing the logistics management tasks in a company, for creative participation in solving research and development problems in logistics and for pursuing logistics studies in doctoral programmes. There are several laboratories available for practice-oriented training. The 'Integrated Logistics Laboratory' consists of various fixed and mobile, real industrial, i.e. not model-level equipment, the integration of which in one system facilitates not only the presentation, examination and development of the individual self-standing facilities, but the study of their interaction as well in terms of mechatronics, engineering, control engineering, informatics, identification technology and logistics. The state-of-the-art, reliable, automated mechatronics-material flow system with its single control engineering system provides the academic staff with up-to-date research facilities, and enables the students to study sophisticated equipment and systems that could also operate under industrial conditions, thus offering knowledge that can be efficiently utilised in the industry after graduation. The laboratory measurements of the programme in logistics engineering are performed in this laboratory, and they are supplemented by the theoretical and practical measurements in the ‘Robotic Technology Assembly Laboratory', the ‘Power Electronics Laboratory', the ‘Mechatronics Laboratory', the ‘CAD/CAM Laboratory' and the ‘Acoustics and Product Laboratory'. The bodies of knowledge connected with environment protection and sustainable development can be grouped around three large topic areas. In environmental economics the objective is to present the corporate-organisational aspects of environmental management. Putting environmental management in the focal point, the objective of the programme is to impart knowledge that can be utilised in practice which can be used to shift the relation between the organisation and its environment in the direction of sustainability. The tools include environmental controlling, environmental marketing and various solutions of environmental performance evaluation. The second large topic area is globalization and its logistic aspects. In the field of global logistics the following knowledge carries special weight: logistic challenges in a globalised world; the concept of global logistics, its conditions and effects; delayed manufacture, assembly, packaging; the economic investigation of delayed assembly; globalised purchase and distribution in logistics; the logistic features of the globalised production supply/distribution chain; meta-logistics systems; logistics-related EU harmonisation issues; the effect of e-commerce on the global logistic system; logistic centres, connecting virtual logistic companies in a network; the environmental harmonisation of international transportation. The third large area is recycling logistics. Here the bodies of knowledge are as follows: the concept of developing a ‘closed-loop economy'; stages in the progress of products after discarding, connections between the uses of waste collection, processing, selection, deposition or reuse processes; features of European recommendations (e.g. EMAS), harmonisation of national practices and global solutions; presenting the logistics part-processes of recycling; presenting process organisation procedures for the foundation of designing one-route, multi-route, replacement container waste collecting and distributing part systems; recycling strategies with consideration of logistically serving the separation and storage of waste to be deposited, the technological processing systems of recyclable materials; presenting dismantling and product and material identification technologies, presenting logistics part-tasks, analysis of technical solutions; IT solutions for identifying products and their elements to be distributed and withdrawn from distribution after use (e.g. RFID systems) and monitoring their material flow; methodology of using efficiency analyses and incentive systems in the decision making processes of recycling processes, risk analysis for evaluating typical part processes; the methodology of recycling-oriented product design for specific product groups. Graduates of the Master programmes are able to use and utilise the knowledge obtained in practice, use problem-solving techniques; process the information, new problems and new phenomena arising in the border areas of the professional experience gained the discipline; formulate substantial criticism and opinions as far as possible, make decisions and draw conclusions; comprehending and solving the problems arising, suggesting original ideas; plan and perform tasks independently at a high professional standard; improve themselves, develop their knowledge to higher levels; view the management of technical/engineering - economic - human resources in a complex way; design complex systems in a global way based on a system-oriented and process-oriented way of thinking; use integrated knowledge from the professional fields of transport, mobile machinery, process theory, industrial production processes, electronics and informatics; combine the part processes of logistics systems and the part units performing their physical realisation (materials handling equipment, sensors, actuators, control systems, and database systems, etc.); perform state evaluations depending on their specialisation, use them to elaborate evaluations and recommendations, develop complex logistic systems, design, organise and control them at the highest level. This work was implemented with support by the European Union and co-funding of the European Social Fund.

[Early aseptic loosening of the CF 30 femoral stem].

PubMed

Kovanda, M; Havlícek, V; Hudec, J

2007-02-01

The CF 30 stem in combination with a cementless acetabulum was used at the First Department of Orthopedic Surgery in Brno in the years 1994 to 1995. From the second year following implantation, aseptic stem loosening was recorded. In order to find explanation of this early loosening, the authors, in cooperation with the Institute of Solid Mechanics, Mechatronics and Biomechanics, carried out the stress-strain analysis in a model system. Eighty patients (31 men and 49 women) received a cemented CF30 femoral component in 1994. Of them, 16 patients underwent revision arthroplasty, three died of causes unrelated to the surgery, and four were lost to follow-up. The final clinical and radiographic check-up was carried out in 2001. The results of a comprehensive examination were available in 57 patients with a CF30 stem. The patients were evaluated on the basis of the Harris hip score and anteroposterior radiographs of the hip. X-ray films obtained immediately after surgery and those taken at regular intervals during follow-up were compared. The following characteristics were noted: translucent lines in individual zones along the stem at the cement-bone interface; osteolysis, i. e., non-linear translucent areas, at least 5 mm long, at the cement-bone interface; and subsidence of the femoral component, i. e., migration of the stem distal to the tip of the greater trochanter. The CF 30 stem survival curve showed that aseptic stem loosening occurred from post-implantation year 2, and increased during the following years. At 6 years and 6 months, a total of 16 patients underwent revision surgery, involving reimplantation in 14 and implant removal in 2 patients. Potential causes of aseptic loosening: Polyethylene wear.However, no acetabular loosening was found in this group, although acetabular components are reported to become loose more often than femoral components. By comparison of the stem survival curves for Poldi and CF 30 stems it appeared that, at 6 years and 6 months, the Poldi stem survival curve showed better results. Matt surface finish of the stem. However, the link between the CF 30 stem and cement was so strong that, in all 16 revised hips, the stem was removed together with nearly a complete cement mantle. The authors therefore dismiss this as a cause. Also, in the remaining cases of CF 30 aseptic loosening, which had not been revised, radiographic evidence suggested loosening between bone and cement. The authors did not find any movement of the CF stem in its cement mantle. The stem always fitted in with the cement mantle. Erroneous surgical technique or cementing was unlikely. The procedures were performed by experienced orthopedic surgeons who used the second-generation cementing technique. In patients with a Poldi stem, the first-generation cementing method was used and the proportion of aseptic loosening at 6 years of follow-up was only 4 %. In contrast, loosening in patients with the CF 30 stem was 20 % at 6 years and 6 months postoperatively. Shape of the CF 30 stem with the intention to find a relationship between stem shape and its early aseptic loosening, the authors started cooperation with the Institute of Solid Mechanics, Mechatronics and Biomechanics at the Faculty of Mechanical Engineering, Brno University of Technology. Using the method of finite elements, they carried out the stressstrain analysis in a model system. Stress at the cement-bone interface in the CF 30 stem was higher than in the Poldi stem, and this difference was statistically significant. The authors believe that the more frequent loosening found in patients with the CF 30 stem can be accounted for by its shape. The survival curve for the CF 30 femoral stem did not show good results, and therefore this stem is not recommended for implantation. The authors suggest that a more frequent early aseptic loosening of CF 30 stems may have been caused by its unsuitable shape.

Organ Culture Bioreactors – Platforms to Study Human Intervertebral Disc Degeneration and Regenerative Therapy

PubMed Central

Gantenbein, Benjamin; Illien-Jünger, Svenja; Chan, Samantha CW; Walser, Jochen; Haglund, Lisbet; Ferguson, Stephen J; Iatridis, James C; Grad, Sibylle

2015-01-01

In recent decades the application of bioreactors has revolutionized the concept of culturing tissues and organs that require mechanical loading. In intervertebral disc (IVD) research, collaborative efforts of biomedical engineering, biology and mechatronics have led to the innovation of new loading devices that can maintain viable IVD organ explants from large animals and human cadavers in precisely defined nutritional and mechanical environments over extended culture periods. Particularly in spine and IVD research, these organ culture models offer appealing alternatives, as large bipedal animal models with naturally occurring IVD degeneration and a genetic background similar to the human condition do not exist. Latest research has demonstrated important concepts including the potential of homing of mesenchymal stem cells to nutritionally or mechanically stressed IVDs, and the regenerative potential of “smart” biomaterials for nucleus pulposus or annulus fibrosus repair. In this review, we summarize the current knowledge about cell therapy, injection of cytokines and short peptides to rescue the degenerating IVD. We further stress that most bioreactor systems simplify the real in vivo conditions providing a useful proof of concept. Limitations are that certain aspects of the immune host response and pain assessments cannot be addressed with ex vivo systems. Coccygeal animal disc models are commonly used because of their availability and similarity to human IVDs. Although in vitro loading environments are not identical to the human in vivo situation, 3D ex vivo organ culture models of large animal coccygeal and human lumbar IVDs should be seen as valid alternatives for screening and feasibility testing to augment existing small animal, large animal, and human clinical trial experiments. PMID:25764196

Field intercomparison of ammonia passive samplers: results and lessons learned.

NASA Astrophysics Data System (ADS)

Stephens, Amy; Leeson, Sarah; Jones, Matthew; van Dijk, Netty; Kentisbeer, John; Twigg, Marsailidh; Simmons, Ivan; Braban, Christine; Martin, Nick; Poskitt, Janet; Ferm, Martin; Seitler, Eva; Sacco, Paolo; Gates, Linda; Stolk, Ariën; Stoll, Jean-Marc; Tang, Sim

2017-04-01

Ammonia pollution contributes significantly to eutrophication and acidification of ecosystems with resultant losses of biodiversity and ecosystem changes. Monitoring of ambient ammonia over a wide spatial and long temporal scales is primarily done with low-cost diffusive samplers. Less frequently, surface flux measurements of ammonia can be made using passive samplers at plot scale. This paper will present a field intercomparison conducted within the MetNH3 project to assess the performance of passive samplers for ambient measurements of ammonia. Eight different designs of commercial passive samplers housed in shelters provided by the manufacturer/laboratory were exposed over an 8-week period at the Whim experimental field site in Scotland between August and October 2016. Whim Bog has a facility in place for controlled releases of ammonia (http://www.whimbog.ceh.ac.uk/). Automated conditional release from the line source occurs when the wind direction in the preceding minute is from the northeast (wind sector 180-215°) and wind speed is > 5 m s-1. The passive samplers were exposed at different distances from the release source (16, 32 and 60 m) and also at a background location. Most were exposed for 2 x 4-week long periods and some for 4 x 2-week long periods. At the 32 m position, an active denuder method, the CEH DELTA sampler and a continuous high temporal resolution wet chemistry ammonia instrument (AiRRmonia, Mechatronics, NL.) were also deployed alongside the passive samplers to provide reference measurements of ammonia. Results are presented within the context of the MetNH3 CATFAC controlled laboratory exposure assessments. The results are discussed in terms of typical deployments of passive samplers and quality control. Measurement for policy evidence for both local and regional studies using passive samplers are discussed.

Photonics applications and web engineering: WILGA Winter 2016

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2016-09-01

Since twenty years, young researchers form the Institute of Electronic Systems, Warsaw University of Technology, organize two times a year, under only a marginal supervision of the senior faculty members, under the patronage of WEiTI PW, KEiT PAN, SPIE, IEEE, PKOpto SEP and PSF, the WILGA Symposium on advanced, integrated functional electronic, photonic and mechatronic systems [1-5]. All aspects are considered like: research and development, theory and design, technology - material and construction, software and hardware, commissioning and tests, as well as pilot and practical applications. The applications concern mostly, which turned after several years to be a proud specialization of the WILGA Symposium, Internet engineering, high energy physics experiments, new power industry including fusion, nuclear industry, space and satellite technologies, telecommunications, smart municipal environment, as well as biology and medicine [6-8]. XXXVIIth WILGA Symposium was held on 29-31 January 2016 and gathered a few tens of young researchers active in the mentioned research areas. There were presented a few tens of technical papers which will be published in Proc.SPIE together with the accepted articles from the Summer Edition of the WILGA Symposium scheduled for 29.05-06.06.2016. This article is a digest of chosen presentations from WILGA Symposium 2016 Winter Edition. The survey is narrowed to a few chosen and main topical tracks, like electronics and photonics design using industrial standards like ATCA/MTCA, also particular designs of functional systems using this series of industrial standards. The paper, summarizing traditionally since many years the accomplished WILGA Symposium organized by young researchers from Warsaw University of Technology, is also the following part of a cycle of papers concerning their participation in design of new generations of electronic systems used in discovery experiments in Poland and in leading research laboratories of the world.

An unsupervised hierarchical dynamic self-organizing approach to cancer class discovery and marker gene identification in microarray data.

PubMed

Hsu, Arthur L; Tang, Sen-Lin; Halgamuge, Saman K

2003-11-01

Current Self-Organizing Maps (SOMs) approaches to gene expression pattern clustering require the user to predefine the number of clusters likely to be expected. Hierarchical clustering methods used in this area do not provide unique partitioning of data. We describe an unsupervised dynamic hierarchical self-organizing approach, which suggests an appropriate number of clusters, to perform class discovery and marker gene identification in microarray data. In the process of class discovery, the proposed algorithm identifies corresponding sets of predictor genes that best distinguish one class from other classes. The approach integrates merits of hierarchical clustering with robustness against noise known from self-organizing approaches. The proposed algorithm applied to DNA microarray data sets of two types of cancers has demonstrated its ability to produce the most suitable number of clusters. Further, the corresponding marker genes identified through the unsupervised algorithm also have a strong biological relationship to the specific cancer class. The algorithm tested on leukemia microarray data, which contains three leukemia types, was able to determine three major and one minor cluster. Prediction models built for the four clusters indicate that the prediction strength for the smaller cluster is generally low, therefore labelled as uncertain cluster. Further analysis shows that the uncertain cluster can be subdivided further, and the subdivisions are related to two of the original clusters. Another test performed using colon cancer microarray data has automatically derived two clusters, which is consistent with the number of classes in data (cancerous and normal). JAVA software of dynamic SOM tree algorithm is available upon request for academic use. A comparison of rectangular and hexagonal topologies for GSOM is available from http://www.mame.mu.oz.au/mechatronics/journalinfo/Hsu2003supp.pdf

sCMOS detector for imaging VNIR spectrometry

NASA Astrophysics Data System (ADS)

Eckardt, Andreas; Reulke, Ralf; Schwarzer, Horst; Venus, Holger; Neumann, Christian

2013-09-01

The facility Optical Information Systems (OS) at the Robotics and Mechatronics Center of the German Aerospace Center (DLR) has more than 30 years of experience with high-resolution imaging technology. This paper shows the scientific results of the institute of leading edge instruments and focal plane designs for EnMAP VIS/NIR spectrograph. EnMAP (Environmental Mapping and Analysis Program) is one of the selected proposals for the national German Space Program. The EnMAP project includes the technological design of the hyper spectral space borne instrument and the algorithms development of the classification. The EnMAP project is a joint response of German Earth observation research institutions, value-added resellers and the German space industry like Kayser-Threde GmbH (KT) and others to the increasing demand on information about the status of our environment. The Geo Forschungs Zentrum (GFZ) Potsdam is the Principal Investigator of EnMAP. DLR OS and KT were driving the technology of new detectors and the FPA design for this project, new manufacturing accuracy and on-chip processing capability in order to keep pace with the ambitious scientific and user requirements. In combination with the engineering research, the current generations of space borne sensor systems are focusing on VIS/NIR high spectral resolution to meet the requirements on earth and planetary observation systems. The combination of large swath and high spectral resolution with intelligent synchronization control, fast-readout ADC chains and new focal-plane concepts open the door to new remote-sensing and smart deep space instruments. The paper gives an overview over the detector verification program at DLR on FPA level, new control possibilities for sCMOS detectors in global shutter mode and key parameters like PRNU, DSNU, MTF, SNR, Linearity, Spectral Response, Quantum Efficiency, Flatness and Radiation Tolerance will be discussed in detail.

EuCARD2: enhanced accelerator research and development in Europe

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2013-10-01

Accelerator science and technology is one of a key enablers of the developments in the particle physic, photon physics and also applications in medicine and industry. EuCARD2 is an European research project which will be realized during 2013-2017 inside the EC FP7 framework. The project concerns the development and coordination of European Accelerator Research and Development. The project is particularly important, to a number of domestic laboratories, due to some plans to build large accelerator infrastructure in Poland. Large accelerator infrastructure of fundamental and applied research character stimulates around it the development and industrial applications as well as biomedical of advanced accelerators, material research and engineering, cryo-technology, mechatronics, robotics, and in particular electronics - like networked measurement and control systems, sensors, computer systems, automation and control systems. The paper presents a digest of the European project EuCARD2 which is Enhanced European Coordination for Accelerator Research and Development. The paper presents a digest of the research results and assumptions in the domain of accelerator science and technology in Europe, shown during the final fourth annual meeting of the EuCARD - European Coordination of Accelerator R&D, and the kick-off meeting of the EuCARD2. There are debated a few basic groups of accelerator systems components like: measurement - control networks of large geometrical extent, multichannel systems for large amounts of metrological data acquisition, precision photonic networks of reference time, frequency and phase distribution, high field magnets, superconducting cavities, novel beam collimators, etc. The paper bases on the following materials: Internet and Intranet documents combined with EuCARD2, Description of Work FP7 EuCARD-2 DoW-312453, 2013-02-13, and discussions and preparatory materials worked on by Eucard-2 initiators.

Shear stress and flow dynamics of the femoral vein among obese patients who qualify for bariatric surgery.

PubMed

Wiewiora, Maciej; Piecuch, Jerzy; Glűck, Marek; Slowinska-Lozynska, Ludmila; Sosada, Krystyn

2013-01-01

The aim of this study was to evaluate the effects of obesity on wall shear stress and its relationship to erythrocyte aggregation. We studied 35 morbidly obese patients who were qualified for bariatric surgery. The control group consisted of 20 non-obese people. Blood rheological measurements were performed using the Laser-assisted Optical Rotational Cell Analyzer (Mechatronics, the Netherlands) and a cone-plate viscometer (Brookfield DV-II). The venous flow dynamics were assessed using a duplex ultrasound. The shear rate was estimated from the measured blood flow velocity and the diameter of the femoral vein. Venous wall shear stress was calculated from the whole blood viscosity and the shear rate. The shear rate (P < 0.005) and the venous wall shear stress (P < 0.05) were significantly lower in obese patients compared with the controls. The aggregation index (P < 0.001), syllectogram amplitude - AMP (P < 0.05) and Tslow (P < 0.001) were significantly higher in the obese patients; the aggregation half-time (P < 0.001) and Tfast (P < 0.001) were decreased compared with the control group. Multivariate regression analyses found waist circumference (β -0.31, P < 0.05), thigh circumference (β 0.33, P < 0.05) and Tslow (β -0.47, P < 0.005) to be variables that independently influenced the shear rate. Nevertheless, the AMP (β 0.34, P < 0.05) and Tslow (β -0.47, P < 0.01) were independent predictors that influenced the wall shear stress. This study indicates that there is a relationship between wall shear stress in the femoral vein and the rheological impairment of the RBC among obese patients, but further studies are necessary to confirm this suggestion.

Digital holographic otoscope for measurements of the human tympanic membrane in vivo

NASA Astrophysics Data System (ADS)

Dobrev, I.; Harrington, E. J.; Cheng, T.; Furlong, C.; Rosowski, J. J.

We are developing an advanced computer-controlled digital optoelectronic holographic system (DOEHS) for diagnosing middle-ear conductive disorders and investigating the causes of failure of middle-ear surgical procedures. Our current DOEHS system can provide near real-time quantitative measurements of the sound-induced nano-meter scale motion of the eardrum. The DOEHS have been deployed and is currently being tested in clinical conditions, where it is being optimized for in-vivo measurements of patients. The stability of the measurement system during examination is crucial as the non-ideal clinical environment presents disturbances larger than the measured quantities from several domains - thermal, optical, electrical and mechanical. Examples include disturbances are due to heartbeat breathing, patients head's motion as well as environment induced mechanical disturbances (0.1-60Hz, 0.01-100 μm). In this paper we focus on our current progress in the analysis and implementation of various acquisition strategies and algorithms for minimization of the measurement error due to mechanical disturbances in a clinic. We have also developed and implemented a versatile and modular otoscope head (OH) design providing a variety of capabilities for acoustic and displacement measurements of both post-mortem samples of varying sizes (1-12mm) as well as in-vivo examination of patients. The OH offers hybrid on-axis and off axis digital Furrier holographic setup for high resolution (λ/35) 4 phase step measurements as well as fast (<0.1ms) single frame measurements for improved performance in the clinical environment. We also focus on the development of a mechatronic positioning system (MOP) for aiding in the localization of the TM in patients.

EDITORIAL: Precision Measurement Technology at the 56th International Scientific Colloquium in Ilmenau Precision Measurement Technology at the 56th International Scientific Colloquium in Ilmenau

NASA Astrophysics Data System (ADS)

Manske, E.; Froehlich, T.

2012-07-01

The 56th International Scientific Colloquium was held from 12th to 16th September 2011 at the Ilmenau University of Technology in Germany. This event was organized by the Faculty of Mechanical Engineering under the title: 'Innovation in Mechanical Engineering—Shaping the Future' and was intended to reflect the entire scope of modern mechanical engineering. In three main topics many research areas, all involving innovative mechanical engineering, were addressed, especially in the fields of Precision Engineering and Precision Measurement Technology, Mechatronics and Ambient-Assisted Living and Systems Technology. The participants were scientists from 21 countries, and 166 presentations were given. This special issue of Measurement Science and Technology presents selected contributions on 'Precision Engineering and Precision Measurement Technology'. Over three days the conference participants discussed novel scientific results in two sessions. The main topics of these sessions were: Measurement and Sensor Technology Process measurement Laser measurement Force measurement Weighing technology Temperature measurement Measurement dynamics and Nanopositioning and Nanomeasuring Technology Nanopositioning and nanomeasuring machines Nanometrology Probes and tools Mechanical design Signal processing Control and visualization in NPM devices Significant research results from the Collaborative Research Centre SFB 622 'Nanopositioning and Nanomeasuring Machines' funded by the German Research Foundation (DFG) were presented as part of this topic. As the Chairmen, our special thanks are due to the International Programme Committee, the Organization Committee and the conference speakers as well as colleagues from the Institute of Process Measurement and Sensor Technology who helped make the conference a success. We would like to thank all the authors for their contributions, the referees for their time spent reviewing the contributions and their valuable comments, and the whole Editorial Board of Measurement Science and Technology for their support.

ATST telescope mount: telescope of machine tool

NASA Astrophysics Data System (ADS)

Jeffers, Paul; Stolz, Günter; Bonomi, Giovanni; Dreyer, Oliver; Kärcher, Hans

2012-09-01

The Advanced Technology Solar Telescope (ATST) will be the largest solar telescope in the world, and will be able to provide the sharpest views ever taken of the solar surface. The telescope has a 4m aperture primary mirror, however due to the off axis nature of the optical layout, the telescope mount has proportions similar to an 8 meter class telescope. The technology normally used in this class of telescope is well understood in the telescope community and has been successfully implemented in numerous projects. The world of large machine tools has developed in a separate realm with similar levels of performance requirement but different boundary conditions. In addition the competitive nature of private industry has encouraged development and usage of more cost effective solutions both in initial capital cost and thru-life operating cost. Telescope mounts move relatively slowly with requirements for high stability under external environmental influences such as wind buffeting. Large machine tools operate under high speed requirements coupled with high application of force through the machine but with little or no external environmental influences. The benefits of these parallel development paths and the ATST system requirements are being combined in the ATST Telescope Mount Assembly (TMA). The process of balancing the system requirements with new technologies is based on the experience of the ATST project team, Ingersoll Machine Tools who are the main contractor for the TMA and MT Mechatronics who are their design subcontractors. This paper highlights a number of these proven technologies from the commercially driven machine tool world that are being introduced to the TMA design. Also the challenges of integrating and ensuring that the differences in application requirements are accounted for in the design are discussed.

Improvement of logistics education from the point of view environmental management

NASA Astrophysics Data System (ADS)

Bányai, Á.

2009-04-01

The paper briefly presents the influence of environmental management on the improvement of the logistics education and research structure of the Department of Materials Handling and Logistics at the University of Miskolc, Hungary. The logistics, as an integrated science offers a very good possibility to demonstrate the effect of new innovative knowledge on the migration of the priorities of education and research of sciences. The importance of logistics in the field of recycling (or in wider sense in the field of environmental management) can be justified by the high proportion of logistic costs (as investment and operation costs) and these costs show that optimum logistic solutions are able to decrease the financial outcomes and lead to the establishment of a profitable system. Technological change constantly creates new demands on both education and research. The most important objective of the department is to create a unique logistics education in the country. For this reason the department offered up-to-date integrated knowledge at all level: undergraduate, master degree and PhD education. The integration of logistics means traditionally the joint use of technology of material handling, method of material flow, technology method of traffic, information technology, management sciences, production technology, marketing, market research, technology of services, mathematics and optimization, communication technology, system engineering, electronics and automation, mechatronics [1, 3]. The education and research portfolio of the department followed this tradition till 1993. The new lectures in the field of sustainability (logistics of recycling, logistics of quality management and recycling, closed loop economy, EU logistics or global logistics) became more and more important in the logistics education. The results of fast developments in closed loop economy, recycling, waste management, environmental protection are more and more used in the industry and this effected a revolutionary change in the education and research structure of logistics [2]. The European Community policy in the environment sectors aims at a high level of protection. Four principles were defined: the precautionary principle, the principle that preventive action should be taken, that environmental damages should as a priority be rectified at source and that the polluter should pay. All of these four principles have a very strong logistics background, especially in the field of import/export operations, traffic/transportation, inventory control, materials handling, fleet operations, customer service, supply chain management, distribution, strategic planning, warehousing, information systems of logistics, purchasing. These facts effect the development of different topics of logistics in each field of the education of the department: collection logistics of used products (especially WEEE), optimization of collection systems, design and control of disassembly systems, distribution of fractions of disassembled used products, design and control of recycling parks, possibilities of virtual networks in the field of recycling logistics, integration of logistics, recycling and total quality management, identification systems and recycling, etc. Within the framework of different supports our department has the opportunity to take part in European networks and research projects in the field of sustainability, environmental protection, recycling and closed loop economy. One of the biggest networks was developed within the framework of a Brite-Euram project entitled ‘Closing the loop from the product design to the end of life technologies'. The importance of logistics is certified by the fact, that this network defined the milestones of the improvement of an economically beneficial closed loop economy as quality aspects, communication and marketing, logistics and qualification. Within the frame of this project the logistics focused on the improvement of technologies (disassembly, reuse, refurbishment, remanufacturing and recycling), collection systems, and development of the concept for collection logistics and pre-disassembly, market survey in waste management. The Regional Knowledge Centre of Mechatronics and Logistics Systems was established in 2005. The overall objective of Knowledge Centre is to develop knowledge-intensive mechatronics and logistics systems in the leading edge of the world and to integrate the results in the economy and society through utilising the knowledge. The realisation of the objective requires the establishment and operation of a networking system of relations between those involved in sciences, the economy and society. The knowledge centre is a "knowledge integration tool" of the university in the field of mechanical engineering, and plays an important part in the intensification of the integration of the philosophy of sustainability into the related sciences. The program of the knowledge centre is focused on three well definable strategic fields, which are the vertical elements of the model. These are the R&D programs: world of products, materials and technologies, and integrated systems. The programs cover the implementation of seven, internationally competitive, application-oriented part tasks. These seven part tasks and the sustainability are closely related. The realisation of the part tasks through networking offers considerable results and economical-ecological benefits, forth for the participants and the region. The activities include basic and applied research, experimental development, technology transfer, as well as education and training and preparing the new scientific generation. The horizontal elements of the model are given by the utilisation of knowledge that can be interpreted in different dimensions: technical/engineering, legal, sustainability, economic, and social. The program relies on the continuation of existing relations in networks, and its regional nature is embodied in the cooperation of the higher education institutes and companies of the three counties. This publication was supported by the National Office for Research and Technology within the frame of Pázmány Péter programme. Any opinions, findings and conclusions or recommendations expressed in this material are those of the author and do not necessarily reflect the views of the National Office for Research and Technology. Literature: [1] J. Cselényi, Gy. Fischer, J. Murvai, B. Mang: Typical models of the recycling logistics of worn out product. Proceedings of XIV. International Conference on Material Handling and Warehousing in Belgrade, 1996. pp. 138-143. [2] R. Knoth, M. Hoffmann, B. Kopacek, P. Kopacek: A logistic concept to improve the re-usability of electric and electronic equipment, Electronics and the Environment, 2001. Proceedings of the 2001 IEEE International Symposium. 2001. pp. 115 - 118. [3] L. Cser, B. Mang: Cleaner Technologies and Recycling in Hungary. Proceedings of Int. Workshop on Environmental Conscious Manufacturing in Hertogenbosch, The Netherlands, 1997. pp. 48-56.

Design, dynamics and control of an Adaptive Singularity-Free Control Moment Gyroscope actuator for microspacecraft Attitude Determination and Control System

NASA Astrophysics Data System (ADS)

Viswanathan, Sasi Prabhakaran

Design, dynamics, control and implementation of a novel spacecraft attitude control actuator called the "Adaptive Singularity-free Control Moment Gyroscope" (ASCMG) is presented in this dissertation. In order to construct a comprehensive attitude dynamics model of a spacecraft with internal actuators, the dynamics of a spacecraft with an ASCMG, is obtained in the framework of geometric mechanics using the principles of variational mechanics. The resulting dynamics is general and complete model, as it relaxes the simplifying assumptions made in prior literature on Control Moment Gyroscopes (CMGs) and it also addresses the adaptive parameters in the dynamics formulation. The simplifying assumptions include perfect axisymmetry of the rotor and gimbal structures, perfect alignment of the centers of mass of the gimbal and the rotor etc. These set of simplifying assumptions imposed on the design and dynamics of CMGs leads to adverse effects on their performance and results in high manufacturing cost. The dynamics so obtained shows the complex nonlinear coupling between the internal degrees of freedom associated with an ASCMG and the spacecraft bus's attitude motion. By default, the general ASCMG cluster can function as a Variable Speed Control Moment Gyroscope, and reduced to function in CMG mode by spinning the rotor at constant speed, and it is shown that even when operated in CMG mode, the cluster can be free from kinematic singularities. This dynamics model is then extended to include the effects of multiple ASCMGs placed in the spacecraft bus, and sufficient conditions for non-singular ASCMG cluster configurations are obtained to operate the cluster both in VSCMG and CMG modes. The general dynamics model of the ASCMG is then reduced to that of conventional VSCMGs and CMGs by imposing the standard set of simplifying assumptions used in prior literature. The adverse effects of the simplifying assumptions that lead to the complexities in conventional CMG design, and how they lead to CMG singularities, are described. General ideas on control of the angular momentum of the spacecraft using changes in the momentum variables of a finite number of ASCMGs, are provided. Control schemes for agile and precise attitude maneuvers using ASCMG cluster in the absence of external torques and when the total angular momentum of the spacecraft is zero, is presented for both constant speed and variable speed modes. A Geometric Variational Integrator (GVI) that preserves the geometry of the state space and the conserved norm of the total angular momentum is constructed for numerical simulation and microcontroller implementation of the control scheme. The GVI is obtained by discretizing the Lagrangian of the rnultibody systems, in which the rigid body attitude is globally represented on the Lie group of rigid body rotations. Hardware and software architecture of a novel spacecraft Attitude Determination and Control System (ADCS) based on commercial smartphones and a bare minimum hardware prototype of an ASCMG using low cost COTS components is also described. A lightweight, dynamics model-free Variational Attitude Estimator (VAE) suitable for smartphone implementation is employed for attitude determination and the attitude control is performed by ASCMG actuators. The VAE scheme presented here is implemented and validated onboard an Unmanned Aerial Vehicle (UAV) platform and the real time performance is analyzed. On-board sensing, data acquisition, data uplink/downlink, state estimation and real-time feedback control objectives can be performed using this novel spacecraft ADCS. The mechatronics realization of the attitude determination through variational attitude estimation scheme and control implementation using ASCMG actuators are presented here. Experimental results of the attitude estimation (filtering) scheme using smartphone sensors as an Inertial Measurement Unit (IMU) on the Hardware In the Loop (HIL) simulator testbed are given. These results, obtained in the Spacecraft Guidance, Navigation and Control Laboratory at New Mexico State University, demonstrate the performance of this estimation scheme with the noisy raw data from the smartphone sensors. Keywords: Spacecraft, momentum exchange devices, control moment gyroscope, variational mechanics, geometric mechanics, variational integrators, attitude determination, attitude control, ADCS, estimation, ASCMG, VSCMG, cubesat, mechatronics, smartphone, Android, MEMS sensor, embedded programming, microcontroller, brushless DC drives, HIL simulation.

Investigation, sensitivity analysis, and multi-objective optimization of effective parameters on temperature and force in robotic drilling cortical bone.

PubMed

Tahmasbi, Vahid; Ghoreishi, Majid; Zolfaghari, Mojtaba

2017-11-01

The bone drilling process is very prominent in orthopedic surgeries and in the repair of bone fractures. It is also very common in dentistry and bone sampling operations. Due to the complexity of bone and the sensitivity of the process, bone drilling is one of the most important and sensitive processes in biomedical engineering. Orthopedic surgeries can be improved using robotic systems and mechatronic tools. The most crucial problem during drilling is an unwanted increase in process temperature (higher than 47 °C), which causes thermal osteonecrosis or cell death and local burning of the bone tissue. Moreover, imposing higher forces to the bone may lead to breaking or cracking and consequently cause serious damage. In this study, a mathematical second-order linear regression model as a function of tool drilling speed, feed rate, tool diameter, and their effective interactions is introduced to predict temperature and force during the bone drilling process. This model can determine the maximum speed of surgery that remains within an acceptable temperature range. Moreover, for the first time, using designed experiments, the bone drilling process was modeled, and the drilling speed, feed rate, and tool diameter were optimized. Then, using response surface methodology and applying a multi-objective optimization, drilling force was minimized to sustain an acceptable temperature range without damaging the bone or the surrounding tissue. In addition, for the first time, Sobol statistical sensitivity analysis is used to ascertain the effect of process input parameters on process temperature and force. The results show that among all effective input parameters, tool rotational speed, feed rate, and tool diameter have the highest influence on process temperature and force, respectively. The behavior of each output parameters with variation in each input parameter is further investigated. Finally, a multi-objective optimization has been performed considering all the aforementioned parameters. This optimization yielded a set of data that can considerably improve orthopedic osteosynthesis outcomes.

Autoresonant control of nonlinear mode in ultrasonic transducer for machining applications.

PubMed

Babitsky, V I; Astashev, V K; Kalashnikov, A N

2004-04-01

Experiments conducted in several countries have shown that the improvement of machining quality can be promoted through conversion of the cutting process into one involving controllable high-frequency vibration at the cutting zone. This is achieved through the generation and maintenance of ultrasonic vibration of the cutting tool to alter the fracture process of work-piece material cutting to one in which loading of the materials at the tool tip is incremental, repetitive and controlled. It was shown that excitation of the high-frequency vibro-impact mode of the tool-workpiece interaction is the most effective way of ultrasonic influence on the dynamic characteristics of machining. The exploitation of this nonlinear mode needs a new method of adaptive control for excitation and stabilisation of ultrasonic vibration known as autoresonance. An approach has been developed to design an autoresonant ultrasonic cutting unit as an oscillating system with an intelligent electronic feedback controlling self-excitation in the entire mechatronic system. The feedback produces the exciting force by means of transformation and amplification of the motion signal. This allows realisation for robust control of fine resonant tuning to bring the nonlinear high Q-factor systems into technological application. The autoresonant control provides the possibility of self-tuning and self-adaptation mechanisms for the system to keep the nonlinear resonant mode of oscillation under unpredictable variation of load, structure and parameters. This allows simple regulation of intensity of the process whilst keeping maximum efficiency at all times. An autoresonant system with supervisory computer control was developed, tested and used for the control of the piezoelectric transducer during ultrasonically assisted cutting. The system has been developed as combined analog-digital, where analog devices process the control signal, and parameters of the devices are controlled digitally by computer. The system was applied for advanced machining of aviation materials.

PREFACE: International Conference on Applied Sciences 2015 (ICAS2015)

NASA Astrophysics Data System (ADS)

Lemle, Ludovic Dan; Jiang, Yiwen

2016-02-01

The International Conference on Applied Sciences ICAS2015 took place in Wuhan, China on June 3-5, 2015 at the Military Economics Academy of Wuhan. The conference is regularly organized, alternatively in Romania and in P.R. China, by Politehnica University of Timişoara, Romania, and Military Economics Academy of Wuhan, P.R. China, with the joint aims to serve as a platform for exchange of information between various areas of applied sciences, and to promote the communication between the scientists of different nations, countries and continents. The topics of the conference cover a comprehensive spectrum of issues from: >Economical Sciences and Defense: Management Sciences, Business Management, Financial Management, Logistics, Human Resources, Crisis Management, Risk Management, Quality Control, Analysis and Prediction, Government Expenditure, Computational Methods in Economics, Military Sciences, National Security, and others... >Fundamental Sciences and Engineering: Interdisciplinary applications of physics, Numerical approximation and analysis, Computational Methods in Engineering, Metallic Materials, Composite Materials, Metal Alloys, Metallurgy, Heat Transfer, Mechanical Engineering, Mechatronics, Reliability, Electrical Engineering, Circuits and Systems, Signal Processing, Software Engineering, Data Bases, Modeling and Simulation, and others... The conference gathered qualified researchers whose expertise can be used to develop new engineering knowledge that has applicability potential in Engineering, Economics, Defense, etc. The number of participants was 120 from 11 countries (China, Romania, Taiwan, Korea, Denmark, France, Italy, Spain, USA, Jamaica, and Bosnia and Herzegovina). During the three days of the conference four invited and 67 oral talks were delivered. Based on the work presented at the conference, 38 selected papers have been included in this volume of IOP Conference Series: Materials Science and Engineering. These papers present new research in the various fields of Materials Engineering, Mechanical Engineering, Computers Engineering, and Electrical Engineering. It's our great pleasure to present this volume of IOP Conference Series: Materials Science and Engineering to the scientific community to promote further research in these areas. We sincerely hope that the papers published in this volume will contribute to the advancement of knowledge in the respective fields.

Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly

PubMed Central

Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

2016-01-01

Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system. PMID:27649180

A universal ankle-foot prosthesis emulator for human locomotion experiments.

PubMed

Caputo, Joshua M; Collins, Steven H

2014-03-01

Robotic prostheses have the potential to significantly improve mobility for people with lower-limb amputation. Humans exhibit complex responses to mechanical interactions with these devices, however, and computational models are not yet able to predict such responses meaningfully. Experiments therefore play a critical role in development, but have been limited by the use of product-like prototypes, each requiring years of development and specialized for a narrow range of functions. Here we describe a robotic ankle-foot prosthesis system that enables rapid exploration of a wide range of dynamical behaviors in experiments with human subjects. This emulator comprises powerful off-board motor and control hardware, a flexible Bowden cable tether, and a lightweight instrumented prosthesis, resulting in a combination of low mass worn by the human (0.96 kg) and high mechatronic performance compared to prior platforms. Benchtop tests demonstrated closed-loop torque bandwidth of 17 Hz, peak torque of 175 Nm, and peak power of 1.0 kW. Tests with an anthropomorphic pendulum "leg" demonstrated low interference from the tether, less than 1 Nm about the hip. This combination of low worn mass, high bandwidth, high torque, and unrestricted movement makes the platform exceptionally versatile. To demonstrate suitability for human experiments, we performed preliminary tests in which a subject with unilateral transtibial amputation walked on a treadmill at 1.25 ms-1 while the prosthesis behaved in various ways. These tests revealed low torque tracking error (RMS error of 2.8 Nm) and the capacity to systematically vary work production or absorption across a broad range (from -5 to 21 J per step). These results support the use of robotic emulators during early stage assessment of proposed device functionalities and for scientific study of fundamental aspects of human-robot interaction. The design of simple, alternate end-effectors would enable studies at other joints or with additional degrees of freedom.

Structural Damage Detection with Piezoelectric Wafer Active Sensors

NASA Astrophysics Data System (ADS)

Giurgiutiu, Victor

2011-07-01

Piezoelectric wafer active sensors (PWAS) are lightweight and inexpensive enablers for a large class of damage detection and structural health monitoring (SHM) applications. This paper starts with a brief review of PWAS physical principles and basic modelling and continues by considering the various ways in which PWAS can be used for damage detection: (a) embedded guided-wave ultrasonics, i.e., pitch-catch, pulse-echo, phased arrays, thickness mode; (b) high-frequency modal sensing, i.e., the electro-mechanical (E/M) impedance method; (c) passive detection, i.e., acoustic emission and impact detection. An example of crack-like damage detection and localization with PWAS phased arrays on a small metallic plate is given. The modelling of PWAS detection of disbond damage in adhesive joints is achieved with the analytical transfer matrix method (TMM). The analytical methods offer the advantage of fast computation which enables parameter studies and carpet plots. A parametric study of the effect of crack size and PWAS location on disbond detection is presented. The power and energy transduction between PWAS and structure is studied analytically with a wave propagation method. Special attention is given to the mechatronics modeling of the complete transduction cycle from electrical excitation into ultrasonic acoustic waves by the piezoelectric effect, the transfer through the structure, and finally reverse piezoelectric transduction to generate the received electric signal. It is found that the combination of PWAS size and wave frequency/wavelength play an important role in identifying transduction maxima and minima that could be exploited to achieve an optimum power-efficient design. The multi-physics finite element method (MP-FEM), which permits fine discretization of damaged regions and complicated structural geometries, is used to study the generation of guided waves in a plate from an electrically excited transmitter PWAS and the capture of these waves as electric signals at a receiver PWAS. Wave diffraction from a hole damage is illustrated through time-frame snapshots. The paper ends with conclusions and suggestions for further work.

HCN Producing Bacteria Enable Sensing Of Non-Bioavailable Hg Species by the Whole Cell Biosensor

NASA Astrophysics Data System (ADS)

Horvat, M.; Rijavec, T.; Koron, N.; Lapanje, A.

2015-12-01

Bacteria play an important role in Hg transformation reactions. The production of cyanide (HCN) and other secondary metabolites seems to be key elements involved in these transformations. Current hypotheses link the role of HCN production to growth inhibition of nonHCN producing competitor organisms (role of an antimicrobial agent). Our past investigations showed that HCN production did not correlate with antimicrobial activity and since pK value of HCN is very high (pK = 9,21), it can be expected that most of the produced HCN is removed from the microenvironment. This way, the expected inhibitory concentrations can hardly be reached. Accordingly, we proposed a new concept, where the ability of complexation of transient metals by HCN served as a regulation process for the accessibility of micro-elements. In our study, we focused on the presence of HCN producing bacteria and carried it out in the Hg contaminated environment connected to the Idrija Mercury Mine, Slovenia. We characterised the isolates according to the presence of Hg resistance (HgR), level of HCN production and genetic similarities. In laboratory setups, using our merR whole cell based biosensor, we determined the transformation of low bioavailable Hg0 and HgS forms into bioavailable Hg by these HCN producing bacteria. We observed that HgR strains producing HCN had the highest impact on increased Hg bioavailability. In the proposed ecological strategy HgR HCN producing bacteria increase their competitive edge over non-HgR competitors through the increase of Hg toxicity. Due to their activity, Hg is made available to other organisms as well and thus enters into the ecosystem. Finally, using some of the characteristics of bacteria (e.g. Hg resistance genetic elements), we developed a fully automated sensing approach, combining biosensorics and mechatronics, to measure the bioavailability of Hg in situ.

PACS for surgery and interventional radiology: features of a Therapy Imaging and Model Management System (TIMMS).

PubMed

Lemke, Heinz U; Berliner, Leonard

2011-05-01

Appropriate use of information and communication technology (ICT) and mechatronic (MT) systems is viewed by many experts as a means to improve workflow and quality of care in the operating room (OR). This will require a suitable information technology (IT) infrastructure, as well as communication and interface standards, such as specialized extensions of DICOM, to allow data interchange between surgical system components in the OR. A design of such an infrastructure, sometimes referred to as surgical PACS, but better defined as a Therapy Imaging and Model Management System (TIMMS), will be introduced in this article. A TIMMS should support the essential functions that enable and advance image guided therapy, and in the future, a more comprehensive form of patient-model guided therapy. Within this concept, the "image-centric world view" of the classical PACS technology is complemented by an IT "model-centric world view". Such a view is founded in the special patient modelling needs of an increasing number of modern surgical interventions as compared to the imaging intensive working mode of diagnostic radiology, for which PACS was originally conceptualised and developed. The modelling aspects refer to both patient information and workflow modelling. Standards for creating and integrating information about patients, equipment, and procedures are vitally needed when planning for an efficient OR. The DICOM Working Group 24 (WG-24) has been established to develop DICOM objects and services related to image and model guided surgery. To determine these standards, it is important to define step-by-step surgical workflow practices and create interventional workflow models per procedures or per variable cases. As the boundaries between radiation therapy, surgery and interventional radiology are becoming less well-defined, precise patient models will become the greatest common denominator for all therapeutic disciplines. In addition to imaging, the focus of WG-24 is to serve the therapeutic disciplines by enabling modelling technology to be based on standards. Copyright © 2011. Published by Elsevier Ireland Ltd.

Developing Model Benchtop Systems for Microbial Experimental Evolution

NASA Astrophysics Data System (ADS)

Gentry, D.; Wang, J.; Arismendi, D.; Alvarez, J.; Ouandji, C.; Blaich, J.

2017-12-01

Understanding how microbes impact an ecosystem has improved through advances of molecular and genetic tools, but creating complex systems that emulate natural biology goes beyond current technology. In fact, many chemical, biological, and metabolic pathways of even model organisms are still poorly characterized. Even then, standard laboratory techniques for testing microbial impact on environmental change can have many drawbacks; they are time-consuming, labor intensive, and are at risk of contamination. By having an automated process, many of these problems can be reduced or even eliminated. We are developing a benchtop system that can run for long periods of time without the need for human intervention, involve multiple environmental stressors at once, perform real-time adjustments of stressor exposure based on current state of the population, and minimize contamination risks. Our prototype device allows operators to generate an analogue of real world micro-scale ecosystems that can be used to model the effects of disruptive environmental change on microbial ecosystems. It comprises of electronics, mechatronics, and fluidics based systems to control, measure, and evaluate the before and after state of microbial cultures from exposure to environmental stressors. Currently, it uses four parallel growth chambers to perform tests on liquid cultures. To measure the population state, optical sensors (LED/photodiode) are used. Its primary selection pressure is UV-C radiation, a well-studied stressor known for its cell- and DNA- damaging effects and as a mutagen. Future work will involve improving the current growth chambers, as well as implementing additional sensors and environmental stressors into the system. Full integration of multiple culture testing will allow inter-culture comparisons. Besides the temperature and OD sensors, other types of sensors can be integrated such as conductivity, biomass, pH, and dissolved gasses such as CO2 and O2. Additional environmental stressor systems like temperature (extreme heat or cold), metal toxicity, and other forms of radiation will increase the scale and testing range.

Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-Inspired Robotic Hand for Prosthetic Applications

PubMed Central

Fani, Simone; Bianchi, Matteo; Jain, Sonal; Pimenta Neto, José Simões; Boege, Scott; Grioli, Giorgio; Bicchi, Antonio; Santello, Marco

2016-01-01

Myoelectric artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human likeness of prosthesis movements, a goal which is being pursued by research on social and human–robot interactions. Therefore, to reduce early abandonment of terminal devices, we propose that controllers should be designed so as to ensure effective task accomplishment in a natural fashion. In this work, we have analyzed and compared the performance of three types of myoelectric controller algorithms based on surface electromyography to control an underactuated and multi-degrees of freedom prosthetic hand, the SoftHand Pro. The goal of the present study was to identify the myoelectric algorithm that best mimics the native hand movements. As a preliminary step, we first quantified the repeatability of the SoftHand Pro finger movements and identified the electromyographic recording sites for able-bodied individuals with the highest signal-to-noise ratio from two pairs of muscles, i.e., flexor digitorum superficialis/extensor digitorum communis, and flexor carpi radialis/extensor carpi ulnaris. Able-bodied volunteers were then asked to execute reach-to-grasp movements, while electromyography signals were recorded from flexor digitorum superficialis/extensor digitorum communis as this was identified as the muscle pair characterized by high signal-to-noise ratio and intuitive control. Subsequently, we tested three myoelectric controllers that mapped electromyography signals to position of the SoftHand Pro. We found that a differential electromyography-to-position mapping ensured the highest coherence with hand movements. Our results represent a first step toward a more effective and intuitive control of myoelectric hand prostheses. PMID:27799908

Early alterations of red blood cell rheology in critically ill patients.

PubMed

Reggiori, Giulia; Occhipinti, Giovanna; De Gasperi, Andrea; Vincent, Jean-Louis; Piagnerelli, Michael

2009-12-01

To investigate red blood cell rheology in a large intensive care unit population on admission, and to assess the possible influence of comorbidities on the rheology. : Prospective study. Medico-surgical intensive care unit with 31 beds. All intensive care unit admissions during a 5-month period and 20 healthy volunteers. Blood sampling. A total of 196 intensive care patients (160 without and 36 with sepsis) and 20 healthy volunteers were studied. Red blood cell rheology (deformability and aggregation) was assessed ex vivo using the laser-assisted optical rotational cell analyzer (LORCA; Mechatronics Instruments BV, AN Zwaag, Netherlands) within the first 24 hrs after intensive care unit admission. Red blood cell deformability was determined by the elongation index in relation to the shear stress (0.3 to 50 Pa) applied on the red blood cell membrane surface. Aggregation was assessed by the aggregation index. Septic patients were more likely to have anemia, coagulation abnormalities, and comorbidities than were nonseptic patients. Red blood cell deformability was significantly altered in septic compared to nonseptic patients and volunteers for the majority of shear stress rates studied. The aggregation index was greater in septic patients than in volunteers (67.9% [54.7-73.5] vs. 61.8% [58.2-68.4]; p < .05). Only sepsis and hematologic disease influenced the elongation index (both p < .01). Other comorbidities, like cancer, diabetes mellitus, cirrhosis, and terminal renal failure, had no effect on the elongation index. Aggregation index was related to the degree of organ failure (Sequential Organ Failure Assessment score), the red blood cell count, and fibrinogen concentrations. Early alterations of red blood cell rheology are common in intensive care unit patients, especially in those with sepsis. Comorbidities (other than hematologic diseases) do not significantly influence these abnormalities. These alterations could contribute to the microcirculatory alterations observed in critically ill patients.

Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly.

PubMed

Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

2016-09-14

Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

The fluidity of blood in African elephants (Loxodonta africana).

PubMed

Windberger, U; Plasenzotti, R; Voracek, Th

2005-01-01

The large cellular volume of erythrocytes and the increased plasma concentration of proteins in elephants are factors which potentially affect blood rheology adversely. To verify blood rheology, routine hemorheologic variables were analyzed in four African elephants (Loxodonta africana), housed in the zoo of Vienna. Whole blood viscosity at three different shear rates (WBV at low shear rate: WBV 0.7 s(-1) and WBV 2.4 s(-1); WBV at high shear rate: WBV 94 s(-1) done by LS30, Contraves) and erythrocyte aggregation (aggregation indices AI by LS30; aggregation indices M0, M1 by Myrenne aggregometer) were high (WBV 94 s(-1): 5.368 (5.246/5.648); WBV 2.4 s(-1): 16.291 (15.605/17.629); WBV 0.7 s(-1): 28.28 (25.537/32.173) mPa s; AI 2.4 s(-1): 0.25 (0.23/0.30); AI 0.7 s(-1): 0.24 (0.23/0.28); M0: 7.8 (6.4/8.4); M1: 30.2 (25/31)). Plasma viscosity (PV) was increased as well (1.865 (1.857/1.912) mPa s) compared to other mammalian species. These parameters would indicate a decrease in blood fluidity in elephants. However, erythrocyte rigidity (LORCA, Mechatronics) was decreased, which in contrast, has a promotive effect on peripheral perfusion. Blood rheology of the elephants was determined by a high whole blood and plasma viscosity as the result of pronounced erythrocyte aggregation and high plasma protein concentration. Thus, in the terminal vessels the resistance to flow will be increased. The large erythrocytes, which might impede blood flow further due to geometrical reasons, however, had a pronounced flexibility. We conclude that the effect of the increased inner resistance to peripheral blood flow was counteracted by the decreased rigidity of the erythrocytes to enable an adequate blood flow in African elephants.

Developing Model Benchtop Systems for Microbial Experimental Evolution

NASA Technical Reports Server (NTRS)

Wang, Jonathan; Arismendi, Dillon; Alvarez, Jennifer; Ouandji, Cynthia; Blaich, Justin; Gentry, Diana

2017-01-01

Understanding how microbes impact an ecosystem has improved through advances of molecular and genetic tools, but creating complex systems that emulate natural biology goes beyond current technology. In fact, many chemical, biological, and metabolic pathways of even model organisms are still poorly characterized. Even then, standard laboratory techniques for testing microbial impact on environmental change can have many drawbacks; they are time-consuming, labor intensive, and are at risk of contamination. By having an automated process, many of these problems can be reduced or even eliminated. We are developing a benchtop system that can run for long periods of time without the need for human intervention, involve multiple environmental stressors at once, perform real-time adjustments of stressor exposure based on current state of the population, and minimize contamination risks. Our prototype device allows operators to generate an analogue of real world micro-scale ecosystems that can be used to model the effects of disruptive environmental change on microbial ecosystems. It comprises of electronics, mechatronics, and fluidics based systems to control, measure, and evaluate the before and after state of microbial cultures from exposure to environmental stressors. Currently, it uses four parallel growth chambers to perform tests on liquid cultures. To measure the population state, optical sensors (LED/photodiode) are used. Its primary selection pressure is UV-C radiation, a well-studied stressor known for its cell- and DNA-damaging effects and as a mutagen. Future work will involve improving the current growth chambers, as well as implementing additional sensors and environmental stressors into the system. Full integration of multiple culture testing will allow inter-culture comparisons. Besides the temperature and OD sensors, other types of sensors can be integrated such as conductivity, biomass, pH, and dissolved gasses such as CO and O. Additional environmental stressor systems like temperature (extreme heat or cold), metal toxicity, and other forms of radiation will increase the scale and testing range.

Characterization of NiTi Shape Memory Damping Elements designed for Automotive Safety Systems

NASA Astrophysics Data System (ADS)

Strittmatter, Joachim; Clipa, Victor; Gheorghita, Viorel; Gümpel, Paul

2014-07-01

Actuator elements made of NiTi shape memory material are more and more known in industry because of their unique properties. Due to the martensitic phase change, they can revert to their original shape by heating when subjected to an appropriate treatment. This thermal shape memory effect (SME) can show a significant shape change combined with a considerable force. Therefore such elements can be used to solve many technical tasks in the field of actuating elements and mechatronics and will play an increasing role in the next years, especially within the automotive technology, energy management, power, and mechanical engineering as well as medical technology. Beside this thermal SME, these materials also show a mechanical SME, characterized by a superelastic plateau with reversible elongations in the range of 8%. This behavior is based on the building of stress-induced martensite of loaded austenite material at constant temperature and facilitates a lot of applications especially in the medical field. Both SMEs are attended by energy dissipation during the martensitic phase change. This paper describes the first results obtained on different actuator and superelastic NiTi wires concerning their use as damping elements in automotive safety systems. In a first step, the damping behavior of small NiTi wires up to 0.5 mm diameter was examined at testing speeds varying between 0.1 and 50 mm/s upon an adapted tensile testing machine. In order to realize higher testing speeds, a drop impact testing machine was designed, which allows testing speeds up to 4000 mm/s. After introducing this new type of testing machine, the first results of vertical-shock tests of superelastic and electrically activated actuator wires are presented. The characterization of these high dynamic phase change parameters represents the basis for new applications for shape memory damping elements, especially in automotive safety systems.

Gait performance and foot pressure distribution during wearable robot-assisted gait in elderly adults.

PubMed

Lee, Su-Hyun; Lee, Hwang-Jae; Chang, Won Hyuk; Choi, Byung-Ok; Lee, Jusuk; Kim, Jeonghun; Ryu, Gyu-Ha; Kim, Yun-Hee

2017-11-28

A robotic exoskeleton device is an intelligent system designed to improve gait performance and quality of life for the wearer. Robotic technology has developed rapidly in recent years, and several robot-assisted gait devices were developed to enhance gait function and activities of daily living in elderly adults and patients with gait disorders. In this study, we investigated the effects of the Gait-enhancing Mechatronic System (GEMS), a new wearable robotic hip-assist device developed by Samsung Electronics Co, Ltd., Korea, on gait performance and foot pressure distribution in elderly adults. Thirty elderly adults who had no neurological or musculoskeletal abnormalities affecting gait participated in this study. A three-dimensional (3D) motion capture system, surface electromyography and the F-Scan system were used to collect data on spatiotemporal gait parameters, muscle activity and foot pressure distribution under three conditions: free gait without robot assistance (FG), robot-assisted gait with zero torque (RAG-Z) and robot-assisted gait (RAG). We found increased gait speed, cadence, stride length and single support time in the RAG condition. Reduced rectus femoris and medial gastrocnemius muscle activity throughout the terminal stance phase and reduced effort of the medial gastrocnemius muscle throughout the pre-swing phase were also observed in the RAG condition. In addition, walking with the assistance of GEMS resulted in a significant increase in foot pressure distribution, specifically in maximum force and peak pressure of the total foot, medial masks, anterior masks and posterior masks. The results of the present study reveal that GEMS may present an alternative way of restoring age-related changes in gait such as gait instability with muscle weakness, reduced step force and lower foot pressure in elderly adults. In addition, GEMS improved gait performance by improving push-off power and walking speed and reducing muscle activity in the lower extremities. NCT02843828 .

The SmartHand transradial prosthesis

PubMed Central

2011-01-01

Background Prosthetic components and control interfaces for upper limb amputees have barely changed in the past 40 years. Many transradial prostheses have been developed in the past, nonetheless most of them would be inappropriate if/when a large bandwidth human-machine interface for control and perception would be available, due to either their limited (or inexistent) sensorization or limited dexterity. SmartHand tackles this issue as is meant to be clinically experimented in amputees employing different neuro-interfaces, in order to investigate their effectiveness. This paper presents the design and on bench evaluation of the SmartHand. Methods SmartHand design was bio-inspired in terms of its physical appearance, kinematics, sensorization, and its multilevel control system. Underactuated fingers and differential mechanisms were designed and exploited in order to fit all mechatronic components in the size and weight of a natural human hand. Its sensory system was designed with the aim of delivering significant afferent information to the user through adequate interfaces. Results SmartHand is a five fingered self-contained robotic hand, with 16 degrees of freedom, actuated by 4 motors. It integrates a bio-inspired sensory system composed of 40 proprioceptive and exteroceptive sensors and a customized embedded controller both employed for implementing automatic grasp control and for potentially delivering sensory feedback to the amputee. It is able to perform everyday grasps, count and independently point the index. The weight (530 g) and speed (closing time: 1.5 seconds) are comparable to actual commercial prostheses. It is able to lift a 10 kg suitcase; slippage tests showed that within particular friction and geometric conditions the hand is able to stably grasp up to 3.6 kg cylindrical objects. Conclusions Due to its unique embedded features and human-size, the SmartHand holds the promise to be experimentally fitted on transradial amputees and employed as a bi-directional instrument for investigating -during realistic experiments- different interfaces, control and feedback strategies in neuro-engineering studies. PMID:21600048

Design, processing and characterization of mechanically alloyed galfenol & lightly rare-earth doped FeGa alloys as smart materials for actuators and transducers

NASA Astrophysics Data System (ADS)

Taheri, Parisa

Smart materials find a wide range of application areas due to their varied response to external stimuli. The different areas of application can be in our day to day life, aerospace, civil engineering applications, and mechatronics to name a few. Magnetostrictive materials are a class of smart materials that can convert energy between the magnetic and elastic states. Galfenol is a magnetostrictive alloy comprised primarily of the elements iron (Fe) and gallium (Ga). Galfenol exhibits a unique combination of mechanical and magnetostrictive (magnetic) properties that legacy smart materials do not. Galfenol's ability to function while in tension, mechanical robustness and high Curie temperature (600 °C) is attracting interest for the alloy's use in mechanically harsh and elevated temperature environments. Applications actively being investigated include transducers for down-hole use, next-generation fuel injectors, sensing, and energy harvesting devices. Understanding correlations between microstructure, electronic structure, and functional response is key to developing novel magnetostrictive materials for sensor and actuator technologies. To this end, in the first part of this thesis we report successful fabrication and investigation of magnetic and magnetostrictive properties of mechanically alloyed Fe81Ga19 compounds. For the first time, we could measure magnetostrictive properties of mechanically alloyed FeGa compounds. A maximum saturation magnetostriction of 41 ppm was achieved which is comparable to those measured from polycrystalline FeGa alloys prepared by other processing techniques, namely gas atomization and cold rolling. Overall, this study demonstrates the feasibility of large-scale production of FeGa polycrystalline alloys powders by a simple and cost-effective mechanical alloying technique. In the second part of this work, we report for the first time, experimental results pertaining to successful fabrication and advanced characterization of a series of Er/Gd-doped [110]-textured polycrystalline alloys of nominal composition, Fe83Ga17Erx (0 In the second part of this work, we report for the first time, experimental results pertaining to successful fabrication and advanced characterization of a series of Er/Gd-doped [110]-textured polycrystalline alloys of nominal composition, Fe83Ga 17Erx (0.

Accelerator science and technology in Europe 2008-2017

NASA Astrophysics Data System (ADS)

Romaniuk, Ryszard S.

2013-10-01

European Framework Research Projects have recently added a lot of meaning to the building process of the ERA - the European Research Area. Inside this, the accelerator technology plays an essential role. Accelerator technology includes large infrastructure and intelligent, modern instrumentation embracing mechatronics, electronics, photonics and ICT. During the realization of the European research and infrastructure project FP6 CARE 2004-2008 (Coordinated Accelerator Research in Europe), concerning the development of large accelerator infrastructure in Europe, it was decided that a scientific editorial series of peer-reviewed monographs from this research area will be published in close relation with the projects. It was a completely new and quite brave idea to combine a kind of a strictly research publisher with a transient project, lasting only four or five years. Till then nobody did something like that. The idea turned out to be a real success. The publications now known and valued in the accelerator world, as the (CERN-WUT) Editorial Series on Accelerator Science and Technology, is successfully continued in already the third European project EuCARD2 and has logistic guarantees, for the moment, till the 2017, when it will mature to its first decade. During the realization of the European projects EuCARD (European Coordination for Accelerator R&D 2009-2013 and TIARA (Test Infrastructure of Accelerator Research Area in Europe) there were published 18 volumes in this series. The ambitious plans for the nearest years is to publish, hopefully, a few tens of new volumes. Accelerator science and technology is one of a key enablers of the developments in the particle physic, photon physics and also applications in medicine and industry. The paper presents a digest of the research results in the domain of accelerator science and technology in Europe, published in the monographs of the European Framework Projects (FP) on accelerator technology. The succession of CARE, EuCARD and EuCARD Projects is evidently creating a new quality in the European Accelerator Research. It is consolidating the technical and research communities in a new way, completely different than the traditional ones, for example via the periodic topical conferences.

Tactile-STAR: A Novel Tactile STimulator And Recorder System for Evaluating and Improving Tactile Perception.

PubMed

Ballardini, Giulia; Carlini, Giorgio; Giannoni, Psiche; Scheidt, Robert A; Nisky, Ilana; Casadio, Maura

2018-01-01

Many neurological diseases impair the motor and somatosensory systems. While several different technologies are used in clinical practice to assess and improve motor functions, somatosensation is evaluated subjectively with qualitative clinical scales. Treatment of somatosensory deficits has received limited attention. To bridge the gap between the assessment and training of motor vs. somatosensory abilities, we designed, developed, and tested a novel, low-cost, two-component (bimanual) mechatronic system targeting tactile somatosensation: the Tactile-STAR -a tactile stimulator and recorder. The stimulator is an actuated pantograph structure driven by two servomotors, with an end-effector covered by a rubber material that can apply two different types of skin stimulation: brush and stretch. The stimulator has a modular design, and can be used to test the tactile perception in different parts of the body such as the hand, arm, leg, big toe, etc. The recorder is a passive pantograph that can measure hand motion using two potentiometers. The recorder can serve multiple purposes: participants can move its handle to match the direction and amplitude of the tactile stimulator, or they can use it as a master manipulator to control the tactile stimulator as a slave. Our ultimate goal is to assess and affect tactile acuity and somatosensory deficits. To demonstrate the feasibility of our novel system, we tested the Tactile-STAR with 16 healthy individuals and with three stroke survivors using the skin-brush stimulation. We verified that the system enables the mapping of tactile perception on the hand in both populations. We also tested the extent to which 30 min of training in healthy individuals led to an improvement of tactile perception. The results provide a first demonstration of the ability of this new system to characterize tactile perception in healthy individuals, as well as a quantification of the magnitude and pattern of tactile impairment in a small cohort of stroke survivors. The finding that short-term training with Tactile-STAR can improve the acuity of tactile perception in healthy individuals suggests that Tactile-STAR may have utility as a therapeutic intervention for somatosensory deficits.

Smart portable rehabilitation devices.

PubMed

Mavroidis, Constantinos; Nikitczuk, Jason; Weinberg, Brian; Danaher, Gil; Jensen, Katherine; Pelletier, Philip; Prugnarola, Jennifer; Stuart, Ryan; Arango, Roberto; Leahey, Matt; Pavone, Robert; Provo, Andrew; Yasevac, Dan

2005-07-12

The majority of current portable orthotic devices and rehabilitative braces provide stability, apply precise pressure, or help maintain alignment of the joints with out the capability for real time monitoring of the patient's motions and forces and without the ability for real time adjustments of the applied forces and motions. Improved technology has allowed for advancements where these devices can be designed to apply a form of tension to resist motion of the joint. These devices induce quicker recovery and are more effective at restoring proper biomechanics and improving muscle function. However, their shortcoming is in their inability to be adjusted in real-time, which is the most ideal form of a device for rehabilitation. This introduces a second class of devices beyond passive orthotics. It is comprised of "active" or powered devices, and although more complicated in design, they are definitely the most versatile. An active or powered orthotic, usually employs some type of actuator(s). In this paper we present several new advancements in the area of smart rehabilitation devices that have been developed by the Northeastern University Robotics and Mechatronics Laboratory. They are all compact, wearable and portable devices and boast re-programmable, real time computer controlled functions as the central theme behind their operation. The sensory information and computer control of the three described devices make for highly efficient and versatile systems that represent a whole new breed in wearable rehabilitation devices. Their applications range from active-assistive rehabilitation to resistance exercise and even have applications in gait training. The three devices described are: a transportable continuous passive motion elbow device, a wearable electro-rheological fluid based knee resistance device, and a wearable electrical stimulation and biofeedback knee device. Laboratory tests of the devices demonstrated that they were able to meet their design objectives. The prototypes of portable rehabilitation devices presented here did demonstrate that these concepts are capable of the performance their commercially available but non-portable counterparts exhibit. Smart, portable devices with the ability for real time monitoring and adjustment open a new era in rehabilitation where the recovery process could be dramatically improved.

The impacts of super obesity versus morbid obesity on red blood cell aggregation and deformability among patients qualified for bariatric surgery.

PubMed

Wiewiora, Maciej; Piecuch, Jerzy; Glûck, Marek; Slowinska-Lozynska, Ludmila; Sosada, Krystyn

2014-01-01

The aim of this study was to evaluate the effects of the obesity degree on red blood cell aggregation and deformability. We studied 56 obese patients before weight loss surgery who were divided into two groups: morbid obesity and super obesity. The aggregation and deformability of RBCs were evaluated using a Laser-assisted Optical Rotational Cell Analyzer (Mechatronics, the Netherlands). The following parameters specific to the aggregation process were estimated: aggregation index (AI), aggregation half-time (t1/2) and threshold shear rate (γthr). RBC deformability was expressed as erythrocyte elongation (EI), which was measured at 18.49 Pa and 30.2 Pa shear stresses. Super obese patients presented significantly higher AI (P < 0.05) and γthr (P < 0.05) and significantly lower t1/2 (P < 0.05) compared with morbidly obese individuals. Multivariate analyses showed that fibrinogen (β 0.46, P < 0.01 and β 0.98, P < 0.01) and hematocrit (β 0.38, P < 0.05 and β 1.01, P < 0.01) independently predicted the AI in morbidly obese and super obese patients. Fibrinogen (β -0.4, P < 0.05 and β -0.91, P < 0.05) and hematocrit (β -0.38, P < 0.05 and β -1.11, P < 0.01) were also independent predictors of the t1/2 in both obese groups. The triglyceride level (β 0.32, P < 0.05) was an independent predictor of the t1/2 in the morbidly obese group. No differences in EI were observed between obese subjects. Multivariate analyses showed that the triglyceride level independently predicted EI at 18.49 Pa (β -0.42, P < 0.05 and β -0.53, P < 0.05) and 30.2 Pa (β -0.44, P < 0.01 and β -0.49, P < 0.05) in both obese groups. This study indicated that the obesity degree of patients who qualify for bariatric surgery affects RBC aggregation properties, but it does not indicate the reasons for this difference. Further studies are needed to determine factors associated with hyperaggregation in super obesity.

An angle encoder for super-high resolution and super-high accuracy using SelfA

NASA Astrophysics Data System (ADS)

Watanabe, Tsukasa; Kon, Masahito; Nabeshima, Nobuo; Taniguchi, Kayoko

2014-06-01

Angular measurement technology at high resolution for applications such as in hard disk drive manufacturing machines, precision measurement equipment and aspherical process machines requires a rotary encoder with high accuracy, high resolution and high response speed. However, a rotary encoder has angular deviation factors during operation due to scale error or installation error. It has been assumed to be impossible to achieve accuracy below 0.1″ in angular measurement or control after the installation onto the rotating axis. Self-calibration (Lu and Trumper 2007 CIRP Ann. 56 499; Kim et al 2011 Proc. MacroScale; Probst 2008 Meas. Sci. Technol. 19 015101; Probst et al Meas. Sci. Technol. 9 1059; Tadashi and Makoto 1993 J. Robot. Mechatronics 5 448; Ralf et al 2006 Meas. Sci. Technol. 17 2811) and cross-calibration (Probst et al 1998 Meas. Sci. Technol. 9 1059; Just et al 2009 Precis. Eng. 33 530; Burnashev 2013 Quantum Electron. 43 130) technologies for a rotary encoder have been actively discussed on the basis of the principle of circular closure. This discussion prompted the development of rotary tables which achieve reliable and high accuracy angular verification. We apply these technologies for the development of a rotary encoder not only to meet the requirement of super-high accuracy but also to meet that of super-high resolution. This paper presents the development of an encoder with 221 = 2097 152 resolutions per rotation (360°), that is, corresponding to a 0.62″ signal period, achieved by the combination of a laser rotary encoder supplied by Magnescale Co., Ltd and a self-calibratable encoder (SelfA) supplied by The National Institute of Advanced Industrial Science & Technology (AIST). In addition, this paper introduces the development of a rotary encoder to guarantee ±0.03″ accuracy at any point of the interpolated signal, with respect to the encoder at the minimum resolution of 233, that is, corresponding to a 0.0015″ signal period after interpolation of 212 (= 4096) divisions through the interpolator.

Human movement onset detection from isometric force and torque measurements: a supervised pattern recognition approach.

PubMed

Soda, Paolo; Mazzoleni, Stefano; Cavallo, Giuseppe; Guglielmelli, Eugenio; Iannello, Giulio

2010-09-01

Recent research has successfully introduced the application of robotics and mechatronics to functional assessment and motor therapy. Measurements of movement initiation in isometric conditions are widely used in clinical rehabilitation and their importance in functional assessment has been demonstrated for specific parts of the human body. The determination of the voluntary movement initiation time, also referred to as onset time, represents a challenging issue since the time window characterizing the movement onset is of particular relevance for the understanding of recovery mechanisms after a neurological damage. Establishing it manually as well as a troublesome task may also introduce oversight errors and loss of information. The most commonly used methods for automatic onset time detection compare the raw signal, or some extracted measures such as its derivatives (i.e., velocity and acceleration) with a chosen threshold. However, they suffer from high variability and systematic errors because of the weakness of the signal, the abnormality of response profiles as well as the variability of movement initiation times among patients. In this paper, we introduce a technique to optimise onset detection according to each input signal. It is based on a classification system that enables us to establish which deterministic method provides the most accurate onset time on the basis of information directly derived from the raw signal. The approach was tested on annotated force and torque datasets. Each dataset is constituted by 768 signals acquired from eight anatomical districts in 96 patients who carried out six tasks related to common daily activities. The results show that the proposed technique improves not only on the performance achieved by each of the deterministic methods, but also on that attained by a group of clinical experts. The paper describes a classification system detecting the voluntary movement initiation time and adaptable to different signals. By using a set of features directly derived from raw data, we obtained promising results. Furthermore, although the technique has been developed within the scope of isometric force and torque signal analysis, it can be applied to other detection problems where several simple detectors are available. Copyright (c) 2010 Elsevier B.V. All rights reserved.

EDITORIAL: The Fourth International Workshop on Microfactories (IWMF'04)

NASA Astrophysics Data System (ADS)

Chu, Jiaru; Maeda, Ryutaro

2005-10-01

This special section of Journal of Micromechanics and Microengineering is devoted to the fourth International Workshop on Microfactories. After the first three successful Workshops, which took place in Tsukuba, Japan in 1998, Fribourg, Switzerland in 2000 and Minneapolis, USA in 2002, the fourth (IWMF'04) was held in Shanghai, China on 15-17 October 2004. The concept of the `microfactory' and miniaturized production systems was first proposed by the Mechanical Engineering Laboratory in Japan who demonstrated the feasibility of downsizing energy-saving, distributed and eventually environmentally conscious manufacturing systems. There is incredible potential in reducing the physical scale of numerous processes related to the manufacture of many forms of future dense `mechatronic' products and in the manipulation of microscopic and nanoscopic objects and materials for the benefit of mankind. Small systems capable of these operations can be referred to as `microfactories'. A worldwide effort is currently underway to bring such microfactories to fruition. MEMS, MST and micromachines are regarded as synonyms, but they do not necessarily have the same meaning. In particular, differences can be found in their technological approaches. Roughly speaking, research and development in the USA is based primarily on surface or bulk silicon micromachining processes, and the ideal realization of MEMS seems to be the monolithic device. The European approach also focuses on integration between electronics and mechanics but, especially in connection with the development of `µTAS', it also demands the integration of non-mechanical components into the system. In Japan the approaches for MST are said to be rather less focused. Besides the above-mentioned `classical' microsystem technologies, down-scaling of conventional manufacturing methods, or non-silicon based device processing within this field, completely new technological methods are also considered as `microsystem technologies'. Out of more than 150 submitted abstracts, 138 papers were accepted for presentation at the workshop. Of these, a selection of seven high-quality papers have been chosen for presentation in this special section. We would like to express our appreciation of the outstanding efforts made by all involved in the workshop, especially the local committee for all the detailed planning required to make it an interesting meeting.

ALMA: the completion of the 25 Europeans antennas: focus on main performances, problems found during erection and lessons learned

NASA Astrophysics Data System (ADS)

Marchiori, Gianpietro; Rampini, Francesco; Giacomel, Luigino; Giacomel, Stefano; Marcuzzi, Enrico; Formentin, Federico

2014-07-01

The 2013 saw the completion of the Atacama Large Millimeter Array (ALMA). The array consists of 66 antennas and operates in Chile at the Chajnantor plateau at 5000 m altitude. 25 of the 12 meter diameter antennas have been delivered by the AEM consortium constituted by Thales Alenia Space France, Thales Alenia Space Italy, European Industrial Engineering (EIE GROUP), and MT Mechatronics. The purpose of this paper is to present a summary of the results obtained by the antennas during the different test campaign and a summary of the problems aroused during the erection and the assembly phases and the relative lesson learned. The results of the engineering performances and antenna systems, performed during the acceptance phases of the first antennas, have shown the full correspondence between what was expected during the design phase and what has been achieved in the final product, with a difference of less than 10% and the trend tends to be conservative. As for "on sky antennas performances", all the tests done in the 25 antennas showed excellent results. The antenna All Sky Pointing Error and Offset Pointing Error with and without metrology correction turned to be always excellent. The Fast Motion Capability with the tracking requirements after a step motion was better than an order of magnitude compared to the requests. Four years of on-site activities and the various phases of construction and assembly of 25 antennas have been a major challenge for the European Consortium. The problems encountered in this phase were many and varied: interfaces issues, design and foundation problems, manufacturing and assembly errors, electrical installation, shipment delays, human errors, adverse weather conditions, financial aspects, schedule, etc. The important is being prepared with an "a priori", that is a risk assessment which helps ensuring the best solution for the complete customer satisfaction of the scientific and technical requests. Despite the already excellent knowledge in the field by the companies involved, this period has undoubtedly represented an opportunity for growth and learning. A better understanding of the problems relates to such large project, will be essential for the future major projects.

Prostate Brachytherapy With Oblique Needles to Treat Large Glands and Overcome Pubic Arch Interference

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ryu, Bon; Imaging Research Laboratories, Robarts Research Institute, University of Western Ontario, London, Ontario; Bax, Jeff

2012-08-01

Purpose: First, to show that low-dose-rate prostate brachytherapy plans using oblique needle trajectories are more successful than parallel trajectories for large prostates with pubic arch interference (PAI); second, to test the accuracy of delivering an oblique plan by using a three-dimensional (3D) transrectal ultrasonography (TRUS)-guided mechatronic system. Methods and Materials: Prostates were contoured for 5 subjects' 3D TRUS images showing a maximum PAI of {<=}1 cm and a prostate volume of <50 cc. Two planning studies were done. First, prostate contours were artificially enlarged to 45 to 80 cc in 5- to 10-cc increments for a single subject. Second, allmore » subject prostate contours were enlarged to 60 cc. For each study, three types of plans were manually created for comparison: a parallel needle template (PT) plan, a parallel needle no-template (PNT) plan, and an oblique needle no-template (OBL) plan. Needle positions and angles were not discretized for nontemplate plans. European Society for Therapeutic Radiology and Oncology dose-volume histogram guidelines, iodine-125 (145-Gy prescription, 0.43 U), and needle angles of <15 Degree-Sign were used. An OBL plan was delivered to a pubic arch containing a 60-cc prostate phantom that mimicked the anatomy of the subject with the greatest PAI (23% by volume). Results: In the increasing-prostate volume study, OBL plans were successful for prostates of {<=}80 cc, and PT plans were successful for prostates of <65 cc. In paired, one-sided t tests for the 60-cc volume study, OBL plans showed dosimetric improvements for all organs compared to both of the parallel type plans (p < 0.05); PNT plans showed a benefit only in planning target volumes receiving more than 100 Gy compared to PT plans. A computed tomography scan of the phantom showed submillimeter seed placement accuracy in all directions. Conclusion: OBL plans were significantly better than parallel plans, and an OBL plan was accurately delivered to a 60-cc prostate phantom with 23% PAI by volume.« less

Smart portable rehabilitation devices

PubMed Central

Mavroidis, Constantinos; Nikitczuk, Jason; Weinberg, Brian; Danaher, Gil; Jensen, Katherine; Pelletier, Philip; Prugnarola, Jennifer; Stuart, Ryan; Arango, Roberto; Leahey, Matt; Pavone, Robert; Provo, Andrew; Yasevac, Dan

2005-01-01

Background The majority of current portable orthotic devices and rehabilitative braces provide stability, apply precise pressure, or help maintain alignment of the joints with out the capability for real time monitoring of the patient's motions and forces and without the ability for real time adjustments of the applied forces and motions. Improved technology has allowed for advancements where these devices can be designed to apply a form of tension to resist motion of the joint. These devices induce quicker recovery and are more effective at restoring proper biomechanics and improving muscle function. However, their shortcoming is in their inability to be adjusted in real-time, which is the most ideal form of a device for rehabilitation. This introduces a second class of devices beyond passive orthotics. It is comprised of "active" or powered devices, and although more complicated in design, they are definitely the most versatile. An active or powered orthotic, usually employs some type of actuator(s). Methods In this paper we present several new advancements in the area of smart rehabilitation devices that have been developed by the Northeastern University Robotics and Mechatronics Laboratory. They are all compact, wearable and portable devices and boast re-programmable, real time computer controlled functions as the central theme behind their operation. The sensory information and computer control of the three described devices make for highly efficient and versatile systems that represent a whole new breed in wearable rehabilitation devices. Their applications range from active-assistive rehabilitation to resistance exercise and even have applications in gait training. The three devices described are: a transportable continuous passive motion elbow device, a wearable electro-rheological fluid based knee resistance device, and a wearable electrical stimulation and biofeedback knee device. Results Laboratory tests of the devices demonstrated that they were able to meet their design objectives. The prototypes of portable rehabilitation devices presented here did demonstrate that these concepts are capable of the performance their commercially available but non-portable counterparts exhibit. Conclusion Smart, portable devices with the ability for real time monitoring and adjustment open a new era in rehabilitation where the recovery process could be dramatically improved. PMID:16011801

Home-based, early intervention with mechatronic toys for preterm infants at risk of neurodevelopmental disorders (CARETOY): a RCT protocol.

PubMed

Sgandurra, Giuseppina; Bartalena, Laura; Cioni, Giovanni; Greisen, Gorm; Herskind, Anna; Inguaggiato, Emanuela; Lorentzen, Jakob; Nielsen, Jens Bo; Sicola, Elisa

2014-10-15

Preterm infants are at risk for neurodevelopmental disorders, including motor, cognitive or behavioural problems, which may potentially be modified by early intervention. The EU CareToy Project Consortium (http://www.caretoy.eu) has developed a new modular system for intensive, individualized, home-based and family-centred early intervention, managed remotely by rehabilitation staff. A randomised controlled trial (RCT) has been designed to evaluate the efficacy of CareToy training in a first sample of low-risk preterm infants. The trial, randomised, multi-center, evaluator-blinded, parallel group controlled, is designed according to CONSORT Statement. Eligible subjects are infants born preterm without major complications, aged 3-9 months of corrected age with specific gross-motor abilities defined by Ages & Stages Questionnaire scores. Recruited infants, whose parents will sign a written informed consent for participation, will be randomized in CareToy training and control groups at baseline (T0). CareToy group will perform four weeks of personalized activities with the CareToy system, customized by the rehabilitation staff. The control group will continue standard care. Infant Motor Profile Scale is the primary outcome measure and a total sample size of 40 infants has been established. Bayley-Cognitive subscale, Alberta Infants Motor Scale and Teller Acuity Cards are secondary outcome measures. All measurements will be performed at T0 and at the end of training/control period (T1). For ethical reasons, after this first phase infants enrolled in the control group will perform the CareToy training, while the training group will continue standard care. At the end of open phase (T2) all infants will be assessed as at T1. Further assessment will be performed at 18 months corrected age (T3) to evaluate the long-term effects on neurodevelopmental outcome. Caregivers and rehabilitation staff will not be blinded whereas all the clinical assessments will be performed, videotaped and scored by blind assessors. The trial is ongoing and it is expected to be completed by April 2015. This paper describes RCT methodology to evaluate CareToy as a new tool for early intervention in preterm infants, first contribution to test this new type of system. It presents background, hypotheses, outcome measures and trial methodology. ClinicalTrials.gov: NCT01990183. EU grant ICT-2011.5.1-287932.

Hemorheological aspects in hypertensive menopausal smoker women treated with female hormones.

PubMed

Cicco, G; Dolce, E; Vicenti, P; Stingi, G D; Tarallo, M S; Pirrelli, A

1999-01-01

In postmenopausal hypertensive women (PostMHW) the erythrocyte deformability (ED) is reduced if compared with premenopausal hypertensive women (PreMHW). This might partially explain the increased incidence of cardiovascular diseases (CD) in hypertensive women after menopause. Moreover a positive correlation exists between estradiol and rheological patterns in women. If PostMHW smoke cigarettes, there is an important decrease in hemorheological parameters. On the other hand if PostMHW are submitted to an hormonal replacement therapy (HRT) they can show controversial results with an impairment if hemorheological parameters. The aim of this study was to evaluate the influence of smoking and HRT on PostMHW. We studied four groups of subjects: Group 1: PreMHW (10 F aged 35 +/- 3 years) non smokers; Group 2: PostMHW (8 F aged 45 +/- 2 years) non smokers; Group 3: PostMHW (14 F aged 48 +/- 4 years) smokers (20 cigarettes per day); Group 4: PostMHW (16 F aged 50 +/- 2 years) smokers (20 cigarettes per day) submitted to HRT. We evaluated Elongation Index of erythrocytes under torsion force of 30 pascals (EI--30 Pa) using a new computerized instrument Laser assisted Optical rotational Red Cell Analyzer (LORCA) (Mechatronics, Hoorn, NL) acc. to Hardeman (1994) and, also with the same LORCA, Aggregation Index (AI), t(1/2). We measured the transcutaneous oxygen partial pressure (TcpO2) in subclavicular standard area using a Transcutaneous Oximeter (Microgas 7650 Kontron Instruments with Combi Sensor) and total cholesterolaemia. In PostMHW our data showed a significant (p < 0.01) impairment of hemorheological patterns and tissue oxygenation if compared with PreMHW (Group 1). In Group 3 there is a significant (p < 0.01) decrease in EI, a significant (p < 0.01) increase in AI, a significant (p < 0.01) decrease in t(1/2) and TcpO2 if compared with Control Group 1 and Group 2. Finally a further significant (p < 0.01) impairment in hemorheology and tissue oxygenation showed Group 4. In conclusion, it seems necessary, that many studies will be performed to understand really protective action of HRT on cardiovascular diseases in PostMHW and it is necessary to suppress cigarette smoking to prevent cardiovascular complications in these patients.

The effect of muscle weakness on the capability gap during gross motor function: a simulation study supporting design criteria for exoskeletons of the lower limb.

PubMed

Afschrift, Maarten; De Groote, Friedl; De Schutter, Joris; Jonkers, Ilse

2014-08-04

Enabling persons with functional weaknesses to perform activities of daily living (ADL) is one of the main challenges for the aging society. Powered orthoses, or exoskeletons, have the potential to support ADL while promoting active participation of the user. For this purpose, assistive devices should be designed and controlled to deliver assistance as needed (AAN). This means that the level of assistance should bridge the capability gap, i.e. the gap between the capabilities of the subjects and the task requirements. However, currently the actuators of exoskeletons are mainly designed using inverse dynamics (ID) based calculations of joint moments. The goal of the present study is to calculate the capability gap for the lower limb during ADL when muscle weakness is present, which is needed for appropriate selection of actuators to be integrated in exoskeletons. A musculoskeletal model (MM) is used to calculate the joint kinematics, joint kinetics and muscle forces of eight healthy subjects during ADL (gait, sit-to-stand, stand-to-sit, stair ascent, stair descent). Muscle weakness was imposed to the MM by a stepwise decrease in maximal isometric force imposed to all muscles. Muscle forces were calculated using static optimization. In order to compensate for muscle weakness, ideal moment actuators that represent the motors of an exoskeleton in the simulation were added to deliver AAN required to perform the task. The ID approach overestimates the required assistance since it relies solely on the demands of the task, whereas the AAN approach incorporates the capabilities of the subject. Furthermore, the ID approach delivers continuous support whereas the AAN approach targets the period where a capability gap occurs. The level of muscle weakness for which the external demands imposed by ADL can no longer be met by active muscle force production, is respectively 40%, 70%, 80% and 30%. The present workflow allows estimating the AAN during ADL for different levels of muscle weakness, which can be used in the mechatronic design and control of powered exoskeletons. The AAN approach is a more physiological approach than the ID approach, since the MM accounts for the subject-specific capabilities of the user.

The future of VIS-IR hyperspectral remote sensing for the exploration of the solar system

NASA Astrophysics Data System (ADS)

Filacchione, Gianrico

2017-06-01

In the last 30 years our understanding of the Solar System has greatly advanced thanks to the introduction of VIS-IR imaging spectrometers which have provided hyperspectral views of planets, satellites, asteroids, comets and rings. By providing moderate resolution images and reflectance spectra for each pixel at the same time, these instruments allow to elaborate spectral-spatial models for very different targets: when used to observe surfaces, hyperspectral methods permit to retrieve endmembers composition (minerals, ices, organics, liquids), mixing state among endmembers (areal, intimate, intraparticle), physical properties (particle size, roughness, temperature) and to correlate these quantities with geological and morphological units. Similarly, morphological, dynamical and compositional studies of gaseous and aerosol species can be retrieved for planetary atmospheres, exospheres and auroras. To achieve these results, very different optical layouts, detectors technologies and observing techniques have been adopted in the last decades, going from very large and complex payloads, like ISM (IR Spectral Mapper) on russian mission Phobos to Mars and NIMS (Near IR Mapping Spectrometer) on US Galileo mission to Jupiter, which were the first hyperspectral imagers to flow aboard planetary missions, to more recent compact and performing experiments. The future of VIS-IR hyperspectral remote sensing is challenging because the complexity of modern planetary missions drives towards the realization of increasingly smaller, lighter and more performing payloads able to survive in harsh radiation and planetary protected environments or to operate from demanding platforms like landers, rovers and cubesats. As a development for future missions, one can foresee that apart instruments designed around well-consolidated optical solutions relying on prisms or gratings as dispersive elements, a new class of innovative hyperspectral imagers will rise: recent developments in Optomechatronics (the fusion of Optical and Mechatronic technologies) including the realization of linear variable filters, acusto-optic and liquid crystals tunable filters, micro-opto-mechanical systems (MOEMS) open the possibility to realize completely new imaging spectrometers designs for planetary exploration. The resulting miniaturization of optical and dispers! ive elements with VIS-IR detectors open pathways towards more integrated and compact instruments. Parallel to those developments it will be necessary to develop also new test and calibration setups to be used to characterize this new instrumentation during AIV-AIT phases.

Current challenges in autonomous driving

NASA Astrophysics Data System (ADS)

Barabás, I.; Todoruţ, A.; Cordoş, N.; Molea, A.

2017-10-01

Nowadays the automotive industry makes a quantum shift to a future, where the driver will have smaller and smaller role in driving his or her vehicle ending up being totally excluded. In this paper, we have investigated the different levels of driving automatization, the prospective effects of these new technologies on the environment and traffic safety, the importance of regulations and their current state, the moral aspects of introducing these technologies and the possible scenarios of deploying the autonomous vehicles. We have found that the self-driving technologies are facing many challenges: a) They must make decisions faster in very diverse conditions which can include many moral dilemmas as well; b) They have an important potential in reducing the environmental pollution by optimizing their routes, driving styles by communicating with other vehicles, infrastructures and their environment; c) There is a considerable gap between the self-drive technology level and the current regulations; fortunately, this gap shows a continuously decreasing trend; d) In case of many types of imminent accidents management there are many concerns about the ability of making the right decision. Considering that this field has an extraordinary speed of development, our study is up to date at the submission deadline. Self-driving technologies become increasingly sophisticated and technically accessible, and in some cases, they can be deployed for commercial vehicles as well. According to the current stage of research and development, it is still unclear how the self-driving technologies will be able to handle extreme and unexpected events including their moral aspects. Since most of the traffic accidents are caused by human error or omission, it is expected that the emergence of the autonomous technologies will reduce these accidents in their number and gravity, but the very few currently available test results have not been able to scientifically underpin this issue yet. The increasing trend in automation of vehicles will radically change the composition of car industry players, as mechatronics will not only be a complementary part of the automobile industry but an indispensable part of it. There is a reasonable expectation that automated cars will perform the same or better in all respects than their conventional counterparts. However, it seems that the current regulations do not keep up with the development of technology and sometimes hinder the development and testing of autonomous technologies.

Towards a future robotic home environment: a survey.

PubMed

Güttler, Jörg; Georgoulas, Christos; Linner, Thomas; Bock, Thomas

2015-01-01

Demographic change has resulted in an increase of elderly people, while at the same time the number of active working people is falling. In the future, there will be less caretaking, which is necessary to support the aging population. In order to enable the aged population to live in dignity, they should be able to perform activities of daily living (ADLs) as independently as possible. The aim of this paper is to describe several solutions and concepts that can support elderly people in their ADLs in a way that allows them to stay self-sufficient for as long as possible. To reach this goal, the Building Realization and Robotics Lab is researching in the field of ambient assisted living. The idea is to implement robots and sensors in the home environment so as to efficiently support the inhabitants in their ADLs and eventually increase their independence. Through embedding vital sensors into furniture and using ICT technologies, the health status of elderly people can be remotely evaluated by a physician or family members. By investigating ergonomic aspects specific to elderly people (e.g. via an age-simulation suit), it is possible to develop and test new concepts and novel applications, which will offer innovative solutions. Via the introduction of mechatronics and robotics, the home environment can be made able to seamlessly interact with the inhabitant through gestures, vocal commands, and visual recognition algorithms. Meanwhile, several solutions have been developed that address how to build a smart home environment in order to create an ambient assisted environment. This article describes how these concepts were developed. The approach for each concept, proposed in this article, was performed as follows: (1) research of needs, (2) creating definitions of requirements, (3) identification of necessary technology and processes, (4) building initial concepts, (5) experiments in a real environment, and (6) development of the final concepts. To keep these concepts cost-effective, the suggested solutions are modular. Therefore, it will be possible to straightforwardly install the proposed devices in an existing home environment in a 'plug and play' manner once the terminals can be prefabricated off-site. This article shows a variety of concepts that have been developed to support elderly people in their ADLs. The prototypes of the proposed concepts in this paper have been tested with elderly people. The results of the tests show that robots embedded in furniture, walls, ceiling, etc. offer enhanced support, properly addressing elderly as well as disabled people to individually and independently manage their ADLs. In order to make the concepts realizable in terms of cost, it will be necessary to standardize and modularize these concepts for industrial fabrication. © 2014 S. Karger AG, Basel

Active learning innovative for the study of climatic variations in Sicily (Italy) and micro-climates in confined environments. Digitized construction of agro-meteorological laboratory and entrepreneurial development of methodical home automation systems

NASA Astrophysics Data System (ADS)

Crimi, Pietro

2017-04-01

In education to issues of environmental sustainability and the use of renewable energy resources, there are the existing laboratory teaching methodologies in Superior School "A. Volta" in Palermo (Italy) for acquisition, processing and control network of agro-meteorological data on the local area. This station was planned to allow students practical multidisciplinary learning experiences in the field of agro-meteorological applications. The School started a few months ago a project of MIUR (Italian Ministry of Education) that updates the lab through the most innovative digital technologies in the field of mechatronics, domotic and sustainable energy, that are supported by the latest needs of scientific-educational multimedia. It is an educational training that intends to implement a data collection center agro-meteorological on "digital platforms," informational purposes and applications, on current issues of climate changes and their consequences in Sicily (Italy). This active learning will interconnect the data collected from the station weather and climate of the school with those locally and regionally, with "weather-climatic patterns" correlations that are implemented in the Mediterranean area (International Program "GAW-Global Atmosphere Watch"). For this reason were enabled synergies with two major public scientific research and acquisition services-data disclosure (ENEA and SIAS-Agrometeorological Information Service, Sicily Region), both to energy efficiency of the School Station, both to support data and digital applications in GIS, with agro-meteorological services to companies operating in the agricultural and environmental sustainability, high consideration themes in European Programming. A branch of this training course is the entrepreneurship education, carried out by a few years in School with the development of "experimental models" for the creation of "innovation clusters" to make entrepreneurial experience since school, creating/managing mini-companies. In the European educational program (Erasmus + KA3) called "Innovation Cluster for Entrepreneurship Education (ICEE)", aimed at enhancing the students' creativity and entrepreneurship, one of the mini-companies, created by students at the Institute, has developed and produced with innovative software a prototype automated system, a mini-greenhouse powered by solar energy, capable of recreating the habitat suitable for house plants, through the automated control of numerous agricultural micro-climatic parameters. Creating multimedia systems such as web platforms, advanced software and app/QR-code for mobile devices, defines the most innovative tools in computer science outreach phases. This experimental approach incorporates the teaching methods that are defined by the curriculum of the "Liceo delle Scienze Applicate" that exists in the School, with the proposition of experimental models that besides being "learning models" can switch into "knowledge models" correlated with scientific and technical-scientific models that exist in the world of research. La Natura non distrugge, che per creare, e non crea, che per distruggere (Storia dell'Astronomia, 1813 - Giacomo Leopardi)

Mountain Search and Rescue with Remotely Piloted Aircraft Systems

NASA Astrophysics Data System (ADS)

Silvagni, Mario; Tonoli, Andrea; Zenerino, Enrico; Chiaberge, Marcello

2016-04-01

Remotely Piloted Aircraft Systems (RPAS) also known as Unmanned Aerial Systems (UAS) are nowadays becoming more and more popular in several applications. Even though a complete regulation is not yet available all over the world, researches, tests and some real case applications are wide spreading. These technologies can bring many benefits also to the mountain operations especially in emergencies and harsh environmental conditions, such as Search and Rescue (SAR) and avalanche rescue missions. In fact, during last decade, the number of people practicing winter sports in backcountry environment is increased and one of the greatest hazards for recreationists and professionals are avalanches. Often these accidents have severe consequences leading, mostly, to asphyxia-related death, which is confirmed by the hard drop of survival probability after ten minutes from the burying. Therefore, it is essential to minimize the time of burial. Modern avalanche beacon (ARTVA) interface guides the rescuer during the search phase reducing its time. Even if modern avalanche beacons are valid and reliable, the seeking range influences the rescue time. Furthermore, the environment and morphologic conditions of avalanches usually complicates the rescues. The recursive methodology of this kind of searching offers the opportunity to use automatic device like drones (RPAS). These systems allow performing all the required tasks autonomously, with high accuracy and without exposing the rescuers to additional risks due to secondary avalanches. The availability of highly integrated electronics and subsystems specifically meant for the applications, better batteries, miniaturized payload and, in general, affordable prices, has led to the availability of small RPAS with very good performances that can give interesting application opportunities in unconventional environments. The present work is one of the outcome from the experience made by the authors in RPAS fields and in Mechatronics devices for Mountain Safety and shows the design, construction and testing of a multipurpose RPAS to be used in mountain operations. The flying, multi-rotors based, platform and its embedded avionics is designed to meet environmental requirements such as temperature, altitude and wind, assuring the capability of carrying different payloads (separately or together) aimed to: • Avalanche Beacon search with automatic signal recognition and path following algorithms for quick buried identification. • Visual (visible and InfraRed) search and rescue for identifying missing persons on snow and woods even during night. • Customizable payload deployment to drop emergency kits or specific explosive cartridge for controlled avalanche detachment. The resulting small (less than 5kg) RPA is capable of full autonomous flight (including take-off and landing) on a pre-programmed, or easily configurable, custom mission. Furthermore, the embedded autopilot manages the sensors measurements (i.e. beacons or cameras) to update the flying mission. Specific features such as laser altimeter for terrain following have been developed and implemented. Remote control of the RPA from a ground station is available and a possible infrastructure, based on cloud/on-line architecture, for the real application is presented.

The "Mud-volcanoes route" (Emilia Apennines, northern Italy)

NASA Astrophysics Data System (ADS)

Coratza, Paola; Castaldini, Doriano

2016-04-01

In the present paper the "Mud-volcanoes route" (MVR), an itinerary unfolds across the districts of Viano, Sassuolo, Fiorano Modenese and Maranello, in which part of the Emilia mud volcanoes fields are located, is presented. The Mud-volanoes route represents an emotional journey that connects places and excellences through the geological phenomenon of mud volcanoes, known with the local name "Salse". The Mud Volcanoes are created by the surfacing of salt water and mud mixed with gaseous and liquid hydrocarbons along faults and fractures of the ground. The name "Salsa"- from Latin salsus - results from the"salt" content of these muddy waters, ancient heritage of the sea that about a million years ago was occupying the current Po Plain. The "Salse" may take the shape of a cone or a level-pool according to the density of the mud. The Salse of Nirano, in the district of Fiorano Modenese, is one of the most important in Italy and among the most complex in Europe. Less extensive but equally charming and spectacular, are the "Salse" located in the districts of Maranello (locality Puianello), Sassuolo (locality Montegibbio) and Viano (locality Casola Querciola and Regnano). These fascinating lunar landscapes have always attracted the interest of researchers and tourist.The presence on the MVR territory of ancient settlements, Roman furnaces and mansions, fortification systems and castles, besides historic and rural buildings, proves the lasting bond between this land and its men. In these places, where the culture of good food has become a resource, we can find wine cellars, dairy farms and Balsamic vinegar factories that enable us to appreciate unique worldwide products. This land gave also birth to some personalities who created unique worldwide famous values, such as the myth of the Ferrrari, the ceramic industry and the mechatronics. The MVR is represented in a leaflet containing, short explanation, photos and a map in which are located areas with mud volcanoes, castles, archaeological sites, historic and holy buildings and represent an initiative for the promotion of the environment, art, wellness, tastes, technology and talent of the territory of districts of Viano, Sassuolo, Fiorano Modenese and Maranello. The MVR presented in this article is an example of how geology can be a starting point and provide continuity for a journey offering close encounters with our region's science, art, history, culture. This research aimed to transform geomorphological sites into a culturally accessible and shared heritage and therefore into a resource for social and economic development in their own territory. Indeed geological sites are considered as new elements that can catalyse the potentialities of a territory which are often neglected or pass unnoticed. In this way the proposal become an instrument for territorial upgrading, by means of qualified measures on abandoned or secondary areas, thus promoting them to the rank of development models.

SMART (Sandia's Modular Architecture for Robotics and Teleoperation) Ver. 1.0

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Robert

"SMART Ver. 0.8 Beta" provides a system developer with software tools to create a telerobotic control system, i.e., a system whereby an end-user can interact with mechatronic equipment. It consists of three main components: the SMART Editor (tsmed), the SMART Real-time kernel (rtos), and the SMART Supervisor (gui). The SMART Editor is a graphical icon-based code generation tool for creating end-user systems, given descriptions of SMART modules. The SMART real-time kernel implements behaviors that combine modules representing input devices, sensors, constraints, filters, and robotic devices. Included with this software release is a number of core modules, which can be combinedmore » with additional project and device specific modules to create a telerobotic controller. The SMART Supervisor is a graphical front-end for running a SMART system. It is an optional component of the SMART Environment and utilizes the TeVTk windowing and scripting environment. Although the code contained within this release is complete, and can be utilized for defining, running, and interfacing to a sample end-user SMART system, most systems will include additional project and hardware specific modules developed either by the system developer or obtained independently from a SMART module developer. SMART is a software system designed to integrate the different robots, input devices, sensors and dynamic elements required for advanced modes of telerobotic control. "SMART Ver. 0.8 Beta" defines and implements a telerobotic controller. A telerobotic system consists of combinations of modules that implement behaviors. Each real-time module represents an input device, robot device, sensor, constraint, connection or filter. The underlying theory utilizes non-linear discretized multidimensional network elements to model each individual module, and guarantees that upon a valid connection, the resulting system will perform in a stable fashion. Different combinations of modules implement different behaviors. Each module must have at a minimum an initialization routine, a parameter adjustment routine, and an update routine. The SMART runtime kernel runs continuously within a real-time embedded system. Each module is first set-up by the kernel, initialized, and then updated at a fixed rate whenever it is in context. The kernel responds to operator directed commands by changing the state of the system, changing parameters on individual modules, and switching behavioral modes. The SMART Editor is a tool used to define, verify, configure and generate source code for a SMART control system. It uses icon representations of the modules, code patches from valid configurations of the modules, and configuration files describing how a module can be connected into a system to lead the end-user in through the steps needed to create a final system. The SMART Supervisor serves as an interface to a SMART run-time system. It provides an interface on a host computer that connects to the embedded system via TCPIIP ASCII commands. It utilizes a scripting language (Tel) and a graphics windowing environment (Tk). This system can either be customized to fit an end-user's needs or completely replaced as needed.« less

Electronics and telecommunications in Poland, issues and perspectives: Part I. Society and education

NASA Astrophysics Data System (ADS)

Modelski, Józef; Romaniuk, Ryszard

2010-09-01

Electronics is under development in this country in an organized and institutional way since the beginning of 30-ties of the previous century. It grew up from electrical engineering of weak currents and its first name used popularly was communications. It was time when television was born and the radio was maturing. Electronics is a branch of research and technology which deals with generation and processing of electrical and electromagnetic signals. A subject of telecommunications is signal transmission for a distance. Electronics and telecommunications (ET) includes or is combined with other branches like: microelectronics, radioelectronics, optoelectronics, photonics, acoustoelectronics, magnetronics, bioelectronics, energoelectronics, material engineering, semiconductor physics, automation and robotics, mechatronics and microsystems, informatics, teleinformatics, software engineering and other. Devices and functional systems of ET such as computers, data warehouses, cell phones, TV sets, Internet, GPS are build of electronic components and circuits. ET is a branch which belongs to hi-tech area, where the products gather a large load of knowledge of value overcoming frequently the price of work and material. ET has recently turned to an active participant of the processes of generation, storing, processing, transportation, distribution and usage of knowledge in the society. ET started to create artificial intelligence, co-creates intellectual property, searches for knowledge in big data sets, aids medicine, extends virtual/augmented reality, builds Internet of persons and things, strengthens security, protects natural environment, facilitates our life, aids our decisions, activates individuals, equalizes chances, provides convenient personal communications and access to data, starts building a penetrating ubiquitous infrastructure, ceases to be only a branch of technology, grows into the social space, touches culture, sociology, psychology and art. Such an important role of ET is combined with the existence in the society of an adequate infrastructure which recreates the full development cycle of high technology embracing: people, institutions, finances and logistics, in this also science, higher education, education, continuous training, dissemination and outreach, professional social environment, legal basis, political support and lobbying, innovation structures, applications, industry and economy. The digest of chosen development tendencies in ET was made here from the academic perspective, in a wider scale and on this background the national one, trying to situate this branch in the society, determine its changing role to build a new technical infrastructure of a society based on knowledge, a role of builder of many practical gadgets facilitating life, a role of a big future integrator of today's single bricks into certain more useful unity. This digest does not have a character of a systematic analysis of ET. It is a kind of an arbitrary utterance of the authors inside their field of competence. The aim of this paper is to take an active part in the discussion of the academic community in this country on the development strategy of ET, choice of priorities for cyclically rebuilding economy, in competitive environments. The review paper was initiated by the Committee of Electronics and Telecommunications of Polish Academy of Sciences and was published in Polish as introductory chapter of a dedicated expertise, printed in a book format. This version makes the included opinions available for a wider community.

Electronics and telecommunications in Poland, issues and perspectives: Part II. Science, research, development, higher education

NASA Astrophysics Data System (ADS)

Modelski, Józef; Romaniuk, Ryszard

2010-09-01

Electronics is under development in this country in an organized and institutional way since the beginning of 30-ties of the previous century. It grew up from electrical engineering of weak currents and its first name used popularly was communications. It was time when television was born and the radio was maturing. Electronics is a branch of research and technology which deals with generation and processing of electrical and electromagnetic signals. A subject of telecommunications is signal transmission for a distance. Electronics and telecommunications (ET) includes or is combined with other branches like: microelectronics, radioelectronics, optoelectronics, photonics, acoustoelectronics, magnetronics, bioelectronics, energoelectronics, material engineering, semiconductor physics, automation and robotics, mechatronics and microsystems, informatics, teleinformatics, software engineering and other. Devices and functional systems of ET such as computers, data warehouses, cell phones, TV sets, Internet, GPS are build of electronic components and circuits. ET is a branch which belongs to hi-tech area, where the products gather a large load of knowledge of value overcoming frequently the price of work and material. ET has recently turned to an active participant of the processes of generation, storing, processing, transportation, distribution and usage of knowledge in the society. ET started to create artificial intelligence, co-creates intellectual property, searches for knowledge in big data sets, aids medicine, extends virtual/augmented reality, builds Internet of persons and things, strengthens security, protects natural environment, facilitates our life, aids our decisions, activates individuals, equalizes chances, provides convenient personal communications and access to data, starts building a penetrating ubiquitous infrastructure, ceases to be only a branch of technology, grows into the social space, touches culture, sociology, psychology and art. Such an important role of ET is combined with the existence in the society of an adequate infrastructure which recreates the full development cycle of high technology embracing: people, institutions, finances and logistics, in this also science, higher education, education, continuous training, dissemination and outreach, professional social environment, legal basis, political support and lobbying, innovation structures, applications, industry and economy. The digest of chosen development tendencies in ET was made here from the academic perspective, in a wider scale and on this background the national one, trying to situate this branch in the society, determine its changing role to build a new technical infrastructure of a society based on knowledge, a role of builder of many practical gadgets facilitating life, a role of a big future integrator of today's single bricks into certain more useful unity. This digest does not have a character of a systematic analysis of ET. It is a kind of an arbitrary utterance of the authors inside their field of competence. The aim of this paper is to take an active part in the discussion of the academic community in this country on the development strategy of ET, choice of priorities for cyclically rebuilding economy, in competitive environments. The review paper was initiated by the Committee of Electronics and Telecommunications of Polish Academy of Sciences and was published in Polish as introductory chapter of a dedicated expertise, printed in a book format. This version makes the included opinions available for a wider community.

Electronics and telecommunications in Poland, issues and perspectives: Part III. Innovativeness, applications, economy, development scenarios, politics

NASA Astrophysics Data System (ADS)

Modelski, Józef; Romaniuk, Ryszard

2010-09-01

Electronics is under development in this country in an organized and institutional way since the beginning of 30-ties of the previous century. It grew up from electrical engineering of weak currents and its first name used popularly was communications. It was time when television was born and the radio was maturing. Electronics is a branch of research and technology which deals with generation and processing of electrical and electromagnetic signals. A subject of telecommunications is signal transmission for a distance. Electronics and telecommunications (ET) includes or is combined with other branches like: microelectronics, radioelectronics, optoelectronics, photonics, acoustoelectronics, magnetronics, bioelectronics, energoelectronics, material engineering, semiconductor physics, automation and robotics, mechatronics and microsystems, informatics, teleinformatics, software engineering and other. Devices and functional systems of ET such as computers, data warehouses, cell phones, TV sets, Internet, GPS are build of electronic components and circuits. ET is a branch which belongs to hi-tech area, where the products gather a large load of knowledge of value overcoming frequently the price of work and material. ET has recently turned to an active participant of the processes of generation, storing, processing, transportation, distribution and usage of knowledge in the society. ET started to create artificial intelligence, co-creates intellectual property, searches for knowledge in big data sets, aids medicine, extends virtual/augmented reality, builds Internet of persons and things, strengthens security, protects natural environment, facilitates our life, aids our decisions, activates individuals, equalizes chances, provides convenient personal communications and access to data, starts building a penetrating ubiquitous infrastructure, ceases to be only a branch of technology, grows into the social space, touches culture, sociology, psychology and art. Such an important role of ET is combined with the existence in the society of an adequate infrastructure which recreates the full development cycle of high technology embracing: people, institutions, finances and logistics, in this also science, higher education, education, continuous training, dissemination and outreach, professional social environment, legal basis, political support and lobbying, innovation structures, applications, industry and economy. The digest of chosen development tendencies in ET was made here from the academic perspective, in a wider scale and on this background the national one, trying to situate this branch in the society, determine its changing role to build a new technical infrastructure of a society based on knowledge, a role of builder of many practical gadgets facilitating life, a role of a big future integrator of today's single bricks into certain more useful unity. This digest does not have a character of a systematic analysis of ET. It is a kind of an arbitrary utterance of the authors inside their field of competence. The aim of this paper is to take an active part in the discussion of the academic community in this country on the development strategy of ET, choice of priorities for cyclically rebuilding economy, in competitive environments. The review paper was initiated by the Committee of Electronics and Telecommunications of Polish Academy of Sciences and was published in Polish as introductory chapter of a dedicated expertise, printed in a book format. This version makes the included opinions available for a wider community.

Carbon-Based Wear Coatings: Properties and Applications

NASA Technical Reports Server (NTRS)

Miyoshi, Kazuhisa

2003-01-01

The technical function of numerous engineering systems - such as vehicles, machines, and instruments - depends on the processes of motion and on the surface systems. Many processes in nature and technology depend on the motion and dynamic behavior of solids, liquids, and gases. Smart surface systems are essential because of the recent technological push toward higher speeds, loads, and operating temperatures; longer life; lighter weight and smaller size (including nanotechnology); and harsh environments in mechanical, mechatronic, and biomechanical systems. If proper attention is not given to surface systems, then vehicles, machines, instruments, and other technical systems could have short lives, consume excessive energy, experience breakdowns, result in liabilities, and fail to accomplish their missions. Surface systems strongly affect our national economy and our lifestyles. At the NASA Glenn Research Center, we believe that proper attention to surface systems, especially in education, research, and application, could lead to economic savings of between 1.3 and 1.6 percent of the gross domestic product. Wear coatings and surface systems continue to experience rapid growth as new coating and surface engineering technologies are discovered, more cost-effective coating and surface engineering solutions are developed, and marketers aggressively pursue, uncover, and exploit new applications for engineered surface systems in cutting tools and wear components. Wear coatings and smart surface systems have been used widely in industrial, consumer, automotive, aerospace, and biomedical applications. This presentation expresses the author's views of and insights into smart surface systems in wear coatings. A revolution is taking place in carbon science and technology. Diamond, an allotrope of carbon, joins graphite, fullerenes, and nanotubes as its major pure carbon structures. It has a unique combination of extreme properties: hardness and abrasion resistance; adhesion and friction; thermal conductivity; chemical and thermal inertness; corrosion and wear resistance; radiation resistance and biocompatibility; electronic, acoustic, and electrochemical characteristics; and environmental compatibility. These properties make diamond attractive for a wide range of diverse applications. In particular, chemical-vapor-deposited (CVD) diamond coatings offer a broad potential, since size and cost are not as limiting. The production of large, superhard diamond films or sheets at low cost make designer materials possible. This presentation is divided into two sections: properties and applications of hard coatings. The first section is concerned with the fundamental properties of the surfaces of CVD diamonds and related materials. The surface properties of hard coatings with favorable coefficients of friction (less than or equal to 0.1) and dimensional wear coefficients (less than or equal to 10(exp -6) cubic millimeters/N.m) in specific environments are discussed. The second section is devoted to applications. Examples of actual, successful applications and of potential challenging applications of the coatings.such as CVD diamond, diamondlike carbon, and cubic boron nitride-are described. Cutting tools coated with CVD diamond are of immediate commercial interest. Other applications, such as microelectromechanical systems (MEMS), valves, and bearings of CVD diamond, are being developed, but at a slow pace. There is a continually growing interest in commercializing diamondlike carbon for wear parts applications, such as biomedical parts and implants, forming dies, transport guides, magnetic tapes and disks, valves, and gears. Cubic boron nitride films are receiving attention because they can be used on tools to machine ferrous materials or on wear parts in sliding contact with ferrous materials.

Electromechanically active polymer transducers: research in Europe

NASA Astrophysics Data System (ADS)

Carpi, Federico; Graz, Ingrid; Jager, Edwin; Ladegaard Skov, Anne; Vidal, Frédéric

2013-10-01

Smart materials and structures based on electromechanically active polymers (EAPs) represent a fast growing and stimulating field of research and development. EAPs are materials capable of changing dimensions and/or shape in response to suitable electrical stimuli. They are commonly classified in two major families: ionic EAPs (activated by an electrically induced transport of ions and/or solvent) and electronic EAPs (activated by electrostatic forces). These polymers show interesting properties, such as sizable active strains and/or stresses in response to electrical driving, high mechanical flexibility, low density, structural simplicity, ease of processing and scalability, no acoustic noise and, in most cases, low costs. Since many of these characteristics can also describe natural muscle tissues from an engineering standpoint, it is not surprising that EAP transducers are sometimes also referred to as 'muscle-like smart materials' or 'artificial muscles'. They are used not only to generate motion, but also to sense or harvest energy from it. In particular, EAP electromechanical transducers are studied for applications that can benefit from their 'biomimetic' characteristics, with possible usages from the micro- to the macro-scale, spanning several disciplines, such as mechatronics, robotics, automation, biotechnology and biomedical engineering, haptics, fluidics, optics and acoustics. Currently, the EAP field is just undergoing its initial transition from academic research into commercialization, with companies starting to invest in this technology and the first products appearing on the market. This focus issue is intentionally aimed at gathering contributions from the most influential European groups working in the EAP field. In fact, today Europe hosts the broadest EAP community worldwide. The rapid expansion of the EAP field in Europe, where it historically has strong roots, has stimulated the creation of the 'European Scientific Network for Artificial Muscles—ESNAM', entirely focused on EAPs and gathering the most active research institutes, as well as key industrial developers and end users. The ESNAM network has received financial support from the European COST (Cooperation in Science and Technology) programme (COST Action MP1003), leading to fruitful collaboration, of which some results are showcased in this issue. This focus issue deals with a number of relevant topics on ionic and electronic EAPs. The contents, which span highly heterogeneous and cross diverse disciplines, such as physics, chemistry, material science and engineering, embrace size scales from nano to macro, and cover different areas, such as new materials, devices and applications. This collection of papers helps elucidate, on the one hand, how heterogeneous and dynamic the EAP field is in general and, on the other hand, the state of the art of the EAP research in Europe. We hope that this focus issue might help to stimulate future work in this emerging field of research and generate new applications. Acknowledgments We would like to thank all the authors for their contributions, and the Smart Materials and Structures Editor-in-Chief, Professor Garcia, for having accepted our proposal to organize this focus issue. Special thanks also go to Natasha Leeper, from the IOP Publishing team, for her continued support and impeccable professionalism in arranging this focus issue. We also gratefully acknowledge financial support from COST (European Cooperation in Science and Technology) in the framework of 'ESNAM—European Scientific Network for Artificial Muscles' (COST Action MP1003), which made possible cooperation that led to contributions to this issue.

Work Term Assignment Spring 2017

NASA Technical Reports Server (NTRS)

Sico, Mallory

2017-01-01

My tour in the Engineering Robotics directorate exceeded my expectations. I learned lessons about Creo, manufacturing and assembly, collaboration, and troubleshooting. During my first tour, last spring, I used Creo on a smaller project, but had limited experience with it before starting in the Dynamic Systems Test branch this spring. I gained valuable experience learning assembly design, sheet metal design and designing with intent for manufacturing and assembly. These skills came from working both on the hatch and the floor. I also learned to understand the intent of other designers on models I worked with. While redesigning the floor, I was modifying an existing part and worked to understand what the previous designer had done to make it fit with the new model. Through working with the machine shop and in the mock-up, I learned much more about manufacturing and assembly. I used a Dremel, rivet gun, belt sander, and countersink for the first time. Through taking multiple safety training for different machine shops, I learned new machine shop safety skills specific to each one. This semester also gave me new collaborative opportunities. I collaborated with engineers within my branch as well as with Human Factors and the building 10 machine shop. This experience helped me learn how to design for functionality and assembly, not only for what would be easiest in my designs. In addition to these experiences, I learned many lessons in troubleshooting. I was the first person in my office to use a Windows 10 computer. This caused unexpected issues with NASA services and programs, such as the Digital Data Management Server (DDMS). Because of this, I gained experience finding solutions to lockout and freeze issues as well as Creo specific settings. These will be useful skills to have in the future and will be implemented in future rotations. This co-op tour has motivated me more to finish my degree and pursue my academic goals. I intend to take a machining Career Gateway Elective in the Fall to improve my skills in building as well as designing with manufacturing intent. I am also inspired to take more mechatronics CGE courses before I graduate to learn more about the crossover between mechanical and electrical engineering. This semester, I worked on multiple projects and had the opportunity to learn from engineers of different disciplines. I became proficient in Creo 2.0, a program I had not used significantly before. I finished modifying the hatch for 3D print and made sizeable modifications to the nose floor support design. I also gained hands-on experience that will be useful in my engineering career in the future. I would consider all of these major achievements from this spring semester. Lastly, I learned to ask more questions and to search for the right people to find answers which I know will be a valuable skill in the future. This summer, I will be completing my last rotation in the Flight Operations Directorate at Ellington Air Field. After this last tour, I will be returning to school for the Fall, Spring and Summer. I will graduate in August of 2018. I am looking forward to learning more about the different jobs available to engineers. This division works directly with many different types of aircrafts and I am excited to learn more about this focus of engineering. The Aircraft Operations Division values team work greatly and I intend to improve my interpersonal skills by working with them this summer.

BOOK REVIEW: Solid State Physics: An Introduction

NASA Astrophysics Data System (ADS)

Jakoby, Bernhard

2009-07-01

There's a wealth of excellent textbooks on solid state physics. The author of the present book is well aware of this fact and does not attempt to write just another one. Rather, he has provided a very compact introduction to solid state physics for third-year students. As we are faced with the continuous appearance interdisciplinary fields and associated study curricula in natural and engineering sciences (biophysics, mechatronics, etc), a compact text in solid state physics would be appreciated by students of these disciplines as well. The book features 11 chapters where each is provided with supplementary discussion questions and problems. The first chapters deal with a review of chemical bonding mechanisms, crystal structures and mechanical properties of solids, which are brief but by no means superficial. The following, somewhat more detailed chapter on thermal properties of lattices includes a nice introduction to phonons. The foundations of solid state electronics are treated in the next three chapters. Here the author first discusses the classical treatment of electronic behaviour in metals (Drude model) and continues with a quantum-theoretical approach starting with the free-electron model and leading to the band structures in conductive solids. The next chapter is devoted to semiconductors and ends with a brief but, with respect to the topical scope, adequate discussion of semiconductor devices. The classical topics of magnetic and dielectric behaviour are treated in the sequel. The book closes with a chapter on superconductivity and a brief chapter covering the modern topics of quantum confinement and aspects of nanoscale physics. In my opinion, the author has succeeded in creating a very concise yet not superficial textbook. The account presented often probes subjects deep enough to lay the basis for a thorough understanding, preparing the reader for more specialized textbooks. For instance, I think that this book may serve as an excellent first introduction to semiconductor physics. Of course, the detailed treatment of some topics had to be spared and it is certainly a matter of taste which subjects should be treated in detail in a solid state textbook and which can be covered by references to other textbooks or further literature. A typical example for the latter is the decision to omit the detailed treatment of the local field concept leading to the Clausius-Mosotti relation. What could be improved in further editions (which will hopefully be coming) are more specific cross-references within the book and to other textbooks. In the current edition, missing internal cross-references can be compensated for by consulting the subject index, but it would be nicer to have these in the text. As mentioned above, I expect that this book will also be useful to engineering students. For these, it would be beneficial to provide more details on underlying terms and concepts that they, according to common engineering curricula, may not be that familiar with. Examples for such topics are quantum theory beyond the very first principles (e.g., multi-particle treatment, operators and observables) and thermodynamics (e.g., the relevance of electrochemical potential and Fermi levels). These topics could be treated in a concise manner in additional appendices. The current appendix is very short and rudimentary at times, e.g., for the microscopic form of Maxwell's equations, electric and magnetic fluxes are introduced but not outlined further (in that respect, it could also be useful to have a list of used symbols). In summary, this textbook definitely has an interesting scope within an established field and it has been written with appealing didactic skills. This first edition truly deserves to be discovered by students of various disciplines, who want to obtain a quick introduction to solid state physics.

A Modular Re-configurable Rover System

NASA Astrophysics Data System (ADS)

Bouloubasis, A.; McKee, G.; Active Robotics Lab

In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. The Multitasking Rover (MTR) aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability [1]. The rover system has enhanced mobility characteristics. It operates in conjunction with Science Packs (SPs) and Tool Packs (TPs) - modules attached to the main frame of the rover, which are either special tools or science instruments and alter the operation capabilities of the system. To date, each rover system design is very much task driven for example, the scenario of cooperative transportation of extended payloads [2], comprises two rovers each equipped with a manipulator dedicated to the task [3]. The MTR approach focuses mostly on modularity and upgradeability presenting at the same time a fair amount of internal re-configurability for the sake of rough terrain stability. The rover itself does not carry any scientific instruments or tools. To carry out the scenario mentioned above, the MTR would have to locate and pick-up a TP with the associated manipulator. After the completion of the task the TP could be put away to a storage location enabling the rover to utilize a different Pack. The rover will not only offer mobility to these modules, but also use them as tools, transforming its role and functionality. The advantage of this approach is that instead of sending a large number of rovers to perform a variety of tasks, a smaller number of MTRs could be deployed with a large number of SPs/TPs, offering multiples of the functionality at a reduced payload. Two SPs or TPs (or a combination of) can be carried and deployed. One of the key elements in the design of the four wheeled rover, lies within its suspension system. It comprises a linear actuator located within each leg and also an active differential linking the two shoulders. This novel design allows the MTR to lift, lower, roll or tilt its body. It also provides the ability to lift any of the legs by nearly 300mm, enhancing internal re-configurability and therefore rough terrain stability off the robotic vehicle. A modular software and control architecture will be used so that integration to, and operation through the MTR, of different Packs can be demonstrated. An on-board high-level controller [4] will communicate with a small network of micro-controllers through an RS485 bus. Additional processing power could be obtained through a Pack with equivalent or higher computational capabilities. 1 The nature of the system offers many opportunities for behavior based control. The control system must accommodate not only rover based behaviors like obstacle avoidance and vehicle stabilization, but also any additional behaviors that different Packs may introduce. The Ego-Behavior Architecture (EBA) [5] comprises a number of behaviors which operate autonomously and independent of each other. This facilitates the design and suits the operation of the MTR since it fulfills the need for uncomplicated assimilation of new behaviors in the existing architecture. Our work at the moment focuses on the design and construction of the mechanical and electronic systems for the MTR and an associated Pack. References [1] NASA, Human Exploration of Mars: The Reference Mission (Version 3.0 with June, 1998 Addendum) of the NASA Mars Exploration Study Team, Exploration Office, Advanced Development Office, Lyndon B. Johnson Space Center, Houston, TX 77058, June, 1998. [2] A. Trebi-Ollennu, H Das Nayer, H Aghazarian, A ganino, P Pirjanian, B Kennedy, T Huntsberger and P Schenker, Mars Rover Pair Cooperatively Transporting a Long Payload, in Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May 2002, pp. 3136-3141. [3] A. K. Bouloubasis, G. T McKee, P. S. Schenker, A Behavior-Based Manipulator for Multi-Robot Transport Tasks, in proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2003, Taipei, Taiwan, September 2003, pp. 2287-2292. [4] www.gumstix.com [5] M. G. Lewis, P. M. Sharkey, A plug and play architecture for emergent behaviour in robot control, Proceedings Configuration an Control Aspects of Mechatronics, Ilmeneau, Germany, September 1997. 2

Usable Translational Hand Controllers for NASA's Habitability Design Center

NASA Technical Reports Server (NTRS)

Westbrook, Kimberly

2016-01-01

This summer I was given the opportunity to work at the Habitability Design Center (HDC). NASA Johnson Space Center's HDC is currently developing Cislunar and Mars spacecraft mockups. I contributed to this effort by designing from scratch low cost, functional translational hand controllers (THCs) that will be used in spacecraft mission simulation in low to medium fidelity exploration spacecraft mockups. This project fell under the category of mechatronics, a combination of mechanical, electrical, and computer engineering. Being an aerospace engineering student, I was out of my comfort zone. And that was a wonderful thing. The autonomy that my mentor, Dr. Robert Howard, allowed me gave me the opportunity to learn by trying, failing, and trying again. This project was not only a professional success for me, but a significant learning experience. I appreciated the freedom that I had to take the time to learn new things for myself rather than blindly follow instructions. I was the sole person working on this project, and was required to work independently to solve the many hardware and software challenges that the project entailed. I researched THCs that have been used on the ISS, the Space Shuttle, and the Orion MPVC and based my design off of these. I worked through many redesigns before finding an optimal configuration of the necessary mechanisms and electrical components for the THC. Once I had a functional hardware design, I dove into the challenge of getting an Arduino Uno, an extremely low cost and easily programmable microcontroller, to behave as a human interface device. The THCs I built needed to be able to integrate to a mission simulation designed by NASA's Graphics and Visualization Lab. This proved to be the most challenging aspect of the project. To accomplish this I learned how to change the firmware of the USB serial converter microcontroller. The process was very complicated as it involved multiple software programs and manual flashing of pins on the Arduino itself. When I successfully achieved the goal I wrote an instructions manual for the process so that the HDC will be able to do this easily in the future for any human interface device they may want to create. I also created a detailed CAD model of my THC design with construction instructions. My THC utilizes three ultrasonic sensors, one for each axis of motion. I wrote a code that stimulates these sensors continuously and feeds back values from each axis ranging from -%100 to %100 of the min/max position in relation to the neutral position of each axis. This was the data that the Graphics and Visualization Lab required to interface with their simulation. I truly enjoyed working in the HDC surrounded by passionate, proactive, and brilliantly creative people. I felt valued and respected as a part of their team. I was given the time and support of my mentor whenever I asked for it. Beyond my positive project experience, I was fortunate enough to be able to take advantage of many of the extra activities that JSC has to offer. I took Russian Phase One during my lunch break every day and can now read Russian and accomplish basic verbal communication. I was heavily involved with the co-tern music video, which led to numerous incredible experiences and friendships. I saw every facility, attended every lecture, and met everyone that I could. I had coffee with Lauri Hansen. I played on an intern volleyball team at the Gilruth. I traveled to Michoud, Stennis, NOLA, and Big Bend National Park. I had the time of my life and I fell in love with JSC. In the next month I will return to Maryland and start my senior year of my undergraduate degree. As I work through it I will remember that all of the studying I do, all of the concentration I give, and all of the sacrifices that I make for school are so that I can work at a place like JSC where I am proud and excited to go into work every day. This internship was an invaluable experience for me, both professionally and personally.

Special section on biomimetics of movement.

PubMed

Carpi, Federico; Erb, Rainer; Jeronimidis, George

2011-12-01

Movement in biology is an essential aspect of survival for many organisms, animals and plants. Implementing movement efficiently to meet specific needs is a key attribute of natural living systems, and can provide ideas for man-made developments. If we had to find a subtitle able to essentially convey the aim of this special section, it could read as follows: 'taking inspiration from nature for new materials, actuators, structures and controls for systems that move'. Our world is characterized by a huge variety of technical, engineering systems that move. They surround us in countless products that integrate actuators for different kinds of purposes. Basically, any kind of mechatronic system, such as those used for consumer products, machines, vehicles, industrial systems, robots, etc, is based on one or more devices that move, according to different implementations and motion ranges, often in response to external and internal stimuli. Despite this, technical solutions to develop systems that move do not evolve very quickly as they rely on traditional and well consolidated actuation technologies, which are implemented according to known architectures and with established materials. This fact limits our capability to overcome challenges related to the needs continuously raised by new fields of application, either at small or at large scales. Biomimetics-based approaches may provide innovative thinking and technologies in the field, taking inspiration from nature for smart and effective solutions. In an effort to disseminate current advances in this field, this special section collects some papers that cover different topics. A brief synopsis of the content of each contribution is presented below. The first paper, by Lienhard et al [1], deals with bioinspiration for the realization of structural parts in systems that passively move. It presents a bioinspired hingeless flapping mechanism, considered as a solution to the kinematics of deployable systems for architectural structures. The approach relies on structural elasticity to replace the need for local hinges. To this end, the authors have used fibre-reinforced polymers combining high tensile strength with low bending stiffness. The solution favours lower structural complexity as well as higher design versatility. Bioinspiration from the elastic kinetics of plants is a central pillar of the paper, which highlights the interrelation of form, actuation and kinematics in those natural systems. The second paper, by Nakata et al [2], deals with bioinspired systems that actively move, and, more specifically, fly. The paper is about the aerodynamics of a bio-inspired flexible flapping-wing micro air vehicle conceived to fly in a Reynolds number regime used by most natural flyers, including insects, bats and birds. The paper presents a study of the flexible wing aerodynamics of the flapping vehicle by combining an in-house computational fluid dynamic model with wind tunnel experiments. In particular, the developed model is shown to be able to predict unsteady aerodynamics in terms of vortex and wake structures and their relationship with aerodynamic force generation. Simulations are validated by wind tunnel experiments, confirming the effectiveness of the adopted design solutions, as well as the importance of wing flexibility in designing small flapping-wing vehicles. The third paper, by Annunziata et al [3], deals with bioinspired control strategies for systems that move. In particular, the paper describes approaches to increase the stiffness variability in multi-muscle driven joints. Different strategies for simultaneous control of torque and stiffness in a hinge joint actuated by two antagonistic muscle pairs are presented. The proposed strategies combine torque and stiffness control by co-activation with approaches based on activation overflow and inverse modelling. Extensive simulations are performed and described to assess the control efficacy. In the fourth paper, Merker et al [4] present a study on stable walking with asymmetric legs. The authors are concerned with the need to clarify to what extent differences in the leg function of contralateral limbs can be tolerated during walking or running. A bipedal spring-mass model simulating walking with compliant legs is used to show that even remarkable differences between contralateral legs can not only be tolerated, but may also introduce advantages to the robustness of the system dynamics. This study might contribute to shedding light on the stability of asymmetric leg walking, including the potential benefits of asymmetry, with possible implications for design of prosthetic or orthotic systems. The last two papers of this special section deal with active bioinspired systems driven by new actuators made of smart materials. In particular, the paper authored by Rossi et al [5] presents an underwater fish-like robot based on bending structures driven by shape memory alloys. These kinds of actuators are used to bend the backbone of the fish, which in turn causes a change in the curvature of the fish body. The paper describes the mechanisms by which standard swimming patterns can be reproduced with the proposed design, and show characterizations in terms of the actuation speed and position accuracy of prototype systems. The last paper, by Carpi et al [6], presents an overview on ionic- and electronic-type electromechanically active polymer actuators as artificial muscles for bioinspired applications. The electrical responsiveness and numerous functional and structural properties that these materials and actuators have in common with natural muscles are shown to be the key motivation by which they are studied as artificial muscles for a huge variety of possible uses. The authors describe the fundamental aspects of relevant technologies and emphasize how after several years of basic research, electromechanically active polymer actuators are today facing their important initial transition from academia into commercialization. In conclusion, we hope that the selection of papers in this special section might help to provide readers with a balanced overview, through examples on the relevant fundamental aspects, materials, actuators, structures, controls and on their effective integration, in order to develop approaches which will be successful in 'taking inspiration from nature for systems that move'. References [1] Lienhard J, Schleicher S, Poppinga S, Masselter T, Milwich M, Speck T and Knippers J 2011 Flectofin: a hingeless flapping mechanism inspired by nature Bioinsp. Biomim. 6 045001 [2] Nakata T, Liu H, Tanaka Y, Nishihashi N, Wang X and Sato A 2011 Aerodynamics of a bio-inspired flexible flapping-wing micro air vehicle Bioinsp. Biomim. 6 045002 [3] Annunziata S, Paskarbeit J and Schneider A 2011 Novel bioinspired control approaches to increase the stiffness variability in multi-muscle driven joints Bioinsp. Biomim. 6 045003 [4] Merker A, Rummel J and Seyfarth A 2011 Stable walking with asymmetric legs Bioinsp. Biomim. 6 045004 [5] Rossi C, Colorado J, Coral W and Barrientos A 2011 Bending continuous structures with SMAs: a novel robotic fish design Bioinsp. Biomim. 6 045005 [6] Carpi F, Kornbluh R, Sommer-Larsen P and Alici G 2011 Electroactive polymer actuators as artificial muscles: are they ready for bioinspired applications? Bioinsp. Biomim. 6 045006.