Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481234
Belal Ahmad, Daiki Sato, Reo Takemoto, H. Ohtsuka, I. Ishii, T. Kawahara
We newly propose a high-speed robotic system that can investigate running insects such as ants on a 2D space. The developed system comprises a high-speed actuator (inkjet mechanism) that can make $pmb{100 mutext{m}}$ sized droplets with a 3 m/s ejection speed using a piezoelectric actuator and a high-speed online vision sensor. The design and implementation of the system is described, and its performance was confirmed through the experiments with actual running ants. This system provides on-line investigation with high functionality that has been difficult to achieve with previous approaches and contributes towards the discovery of previously unknown functions and dynamic behaviors of insects in the bioscience fields.
{"title":"Dynamic Behavior of Running Insect Activated by High-Speed Microdroplets Manipulation* This work was partially supported by the Program to Disseminate Tenure Track System, MEXT, Japan.","authors":"Belal Ahmad, Daiki Sato, Reo Takemoto, H. Ohtsuka, I. Ishii, T. Kawahara","doi":"10.1109/MARSS.2018.8481234","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481234","url":null,"abstract":"We newly propose a high-speed robotic system that can investigate running insects such as ants on a 2D space. The developed system comprises a high-speed actuator (inkjet mechanism) that can make $pmb{100 mutext{m}}$ sized droplets with a 3 m/s ejection speed using a piezoelectric actuator and a high-speed online vision sensor. The design and implementation of the system is described, and its performance was confirmed through the experiments with actual running ants. This system provides on-line investigation with high functionality that has been difficult to achieve with previous approaches and contributes towards the discovery of previously unknown functions and dynamic behaviors of insects in the bioscience fields.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"107 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132756550","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481187
Jayoung Kim, Byungjeon Kang, Phu Bao Nguyen, Eunpyo Choi, Chang-sei Kim, Jong-Oh Park
Ahstract- This paper proposes a position control algorithm for a magnetic guidewire without detection of tip-angle in sharply curved blood vessels. Key element of the proposed tip positioning control is to track a desired path regenerated in a blood vessel by a feeding control and an electromagnetic actuation (EMA) control. The path-regeneration creates an improved path in terms of properties of a magnetic guidewire and the size of a blood vessel when a magnetic guidewire can not traverse an original path. Based on a desired path, the feeding device and the EMA system make the translational and the rotational motion of a magnet tip, respectively. In this paper, for the EMA system, one pair of Helmholtz coil is employed to steer the magnet tip by adjusting the direction of the magnetic field. For the positioning control, a magnet tip is controlled with a regenerated path in order to follow a desired path without information of tip orientation. The proposed control methodology was verified through experiments on a phantom of sharply curved blood vessels. The experimental results proved that the proposed method could overcome the sharply curved blood vessel by control of the tip position of the guidewire with high accuracy in real-time.
{"title":"Magnetic Guidewire Control without Tip-Angle Detection in Sharply Curved Blood Vessel","authors":"Jayoung Kim, Byungjeon Kang, Phu Bao Nguyen, Eunpyo Choi, Chang-sei Kim, Jong-Oh Park","doi":"10.1109/MARSS.2018.8481187","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481187","url":null,"abstract":"Ahstract- This paper proposes a position control algorithm for a magnetic guidewire without detection of tip-angle in sharply curved blood vessels. Key element of the proposed tip positioning control is to track a desired path regenerated in a blood vessel by a feeding control and an electromagnetic actuation (EMA) control. The path-regeneration creates an improved path in terms of properties of a magnetic guidewire and the size of a blood vessel when a magnetic guidewire can not traverse an original path. Based on a desired path, the feeding device and the EMA system make the translational and the rotational motion of a magnet tip, respectively. In this paper, for the EMA system, one pair of Helmholtz coil is employed to steer the magnet tip by adjusting the direction of the magnetic field. For the positioning control, a magnet tip is controlled with a regenerated path in order to follow a desired path without information of tip orientation. The proposed control methodology was verified through experiments on a phantom of sharply curved blood vessels. The experimental results proved that the proposed method could overcome the sharply curved blood vessel by control of the tip position of the guidewire with high accuracy in real-time.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131587230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Motion reliability is important in the application of robot manipulator. In this paper, we evaluated the motion reliability of robot manipulator through degree of reliability, process capability index, and process performance index. The repeated positioning accuracy was derived to calculate these three indices. These indices were applied to two robots through experiments. The experimental results showed that the proposed indices can evaluate the motion reliability of robot manipulator. The results can be considered as the criterion in the selection of robot manipulator.
{"title":"Evaluation of Motion Reliability for Robot Manipulator","authors":"Yanjiang Huang, Changshu Wang, Huaiyan Tang, Yanfeng Shi, Ling Xiong, Lixin Yang, Zhenya He, Xianmin Zhang","doi":"10.1109/MARSS.2018.8481153","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481153","url":null,"abstract":"Motion reliability is important in the application of robot manipulator. In this paper, we evaluated the motion reliability of robot manipulator through degree of reliability, process capability index, and process performance index. The repeated positioning accuracy was derived to calculate these three indices. These indices were applied to two robots through experiments. The experimental results showed that the proposed indices can evaluate the motion reliability of robot manipulator. The results can be considered as the criterion in the selection of robot manipulator.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128469591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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