Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985774
S. Hirai
Robots and related systems have been highly expected to offer useful applications for our society, opening a new market and bring about big economic growth. Accordingly variety of research and development projects have been conducted. However they did not necessary achieved expected results especially from the view point of social dissemination, i.e. they could not necessary open new market as they had been expected. Studying white papers on roadmaps and/or strategy for robotics R & D gives good consideration for fundamental issues of robotics and futuristic topic. In addition to engineering view of science and technology, societal matters are also important and should be considered.
{"title":"Robots for new fields","authors":"S. Hirai","doi":"10.1109/ICMA.2011.5985774","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985774","url":null,"abstract":"Robots and related systems have been highly expected to offer useful applications for our society, opening a new market and bring about big economic growth. Accordingly variety of research and development projects have been conducted. However they did not necessary achieved expected results especially from the view point of social dissemination, i.e. they could not necessary open new market as they had been expected. Studying white papers on roadmaps and/or strategy for robotics R & D gives good consideration for fundamental issues of robotics and futuristic topic. In addition to engineering view of science and technology, societal matters are also important and should be considered.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122746415","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986285
Zi-Ming Zhang, Wang Lu, Yuan-Zheng Shi, Tinglei Yang, Shuli Liang
The maternal confinement is a compulsory course for the obstetricians. It is a highly professional, technical and practical course. Generally, the multimedia is used to group teach obstetrics techniques via classroom demonstration. However, due to the lack of authenticity and interactivity features, this approach is not fundamentally to meet the modern teaching of medical simulation teaching situations and individual teaching needs. The advancement of electronic and digital signal processing technologies facilitates simulating this learning environment. This study aims to develop a fetal birth simulation teaching system for assisting teachers and obstetrics and gynecology students in obstetrics teaching and learning. Fetal birth simulation teaching system includes a simulation pregnant woman and baby, fetal tone controller, fetal birth controller, contraction controller and the software package on PC. There is a dual-display design in the software. One display shows the main interface of the program, in which set the parameters of the simulation fetal birth, such as the style of the fetal birth and fetal birth rate, etc. The other display shows the vital signs of the pregnant woman and the fetal likes the vital signs monitor. In addition, the system integrated the CPR (Cardiopulmonary resuscitation) to train the student to rescue the pregnant woman whom in the dangerous situation.
{"title":"Fetal birth simulation teaching system","authors":"Zi-Ming Zhang, Wang Lu, Yuan-Zheng Shi, Tinglei Yang, Shuli Liang","doi":"10.1109/ICMA.2011.5986285","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986285","url":null,"abstract":"The maternal confinement is a compulsory course for the obstetricians. It is a highly professional, technical and practical course. Generally, the multimedia is used to group teach obstetrics techniques via classroom demonstration. However, due to the lack of authenticity and interactivity features, this approach is not fundamentally to meet the modern teaching of medical simulation teaching situations and individual teaching needs. The advancement of electronic and digital signal processing technologies facilitates simulating this learning environment. This study aims to develop a fetal birth simulation teaching system for assisting teachers and obstetrics and gynecology students in obstetrics teaching and learning. Fetal birth simulation teaching system includes a simulation pregnant woman and baby, fetal tone controller, fetal birth controller, contraction controller and the software package on PC. There is a dual-display design in the software. One display shows the main interface of the program, in which set the parameters of the simulation fetal birth, such as the style of the fetal birth and fetal birth rate, etc. The other display shows the vital signs of the pregnant woman and the fetal likes the vital signs monitor. In addition, the system integrated the CPR (Cardiopulmonary resuscitation) to train the student to rescue the pregnant woman whom in the dangerous situation.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122859952","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985713
Junjie Yuan, Guangpin He, Xiguang Huang
A cleaning robot was designed to clear up mounting holes of carbon anode used in aluminium electrolysis process. Machine vision system consists of charge coupled device (CCD) camera and optical inspection system was installed on the robot to obtain accurate centre position of four holes on one carbon workpiece. For mounting anode rods stably, each hole has helical grooves inside the inner wall. The cleaning tool with double spindle was special designed to be capable of clearing up the wall, sub-face and grooves of the mounting hole in one feeding process along the height direction. The tool was equipped on the end of guide rail of Z-direction of the robot which center can be located to the centre of holes accurately when utilizing precision slide guide and ball screw. Force sensors were used to inspect the contact force of shaping milling cutter on main shaft and the torque of slotting tool on auxiliary shaft. Force/position control was used during the cleaning process to make the slotting tool adjust itself automatically along the spiral grooves and maintain the contact forces stable, which is similar with form copying method.
{"title":"Cleaning robot for carbon anode block based on vision inspection and hybrid force/position control","authors":"Junjie Yuan, Guangpin He, Xiguang Huang","doi":"10.1109/ICMA.2011.5985713","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985713","url":null,"abstract":"A cleaning robot was designed to clear up mounting holes of carbon anode used in aluminium electrolysis process. Machine vision system consists of charge coupled device (CCD) camera and optical inspection system was installed on the robot to obtain accurate centre position of four holes on one carbon workpiece. For mounting anode rods stably, each hole has helical grooves inside the inner wall. The cleaning tool with double spindle was special designed to be capable of clearing up the wall, sub-face and grooves of the mounting hole in one feeding process along the height direction. The tool was equipped on the end of guide rail of Z-direction of the robot which center can be located to the centre of holes accurately when utilizing precision slide guide and ball screw. Force sensors were used to inspect the contact force of shaping milling cutter on main shaft and the torque of slotting tool on auxiliary shaft. Force/position control was used during the cleaning process to make the slotting tool adjust itself automatically along the spiral grooves and maintain the contact forces stable, which is similar with form copying method.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"226 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131440905","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986298
S. Moosavian, M. Khorram, A. Zamani, Hamed Abedini
Model-based Control of a quadruped robot based on designed stable gaits is the focus of this paper. To this end, first explicit dynamics equations are obtained. Next, stable gait planning of the robot is investigated such that the robot can walk with a given speed over the terrain. Finally, the Sliding Mode Control (SMC) approach is applied, and a new chattering elimination method is proposed by adding a PD term to the control input. Obtained simulation results show that the performance of the SMC in terms of the tracking errors will be improved even in the presence of significant disturbances. Therefore, using the proposed approach compared to the conventional SMC will be more practically reliable.
{"title":"PD regulated sliding mode control of a quadruped robot","authors":"S. Moosavian, M. Khorram, A. Zamani, Hamed Abedini","doi":"10.1109/ICMA.2011.5986298","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986298","url":null,"abstract":"Model-based Control of a quadruped robot based on designed stable gaits is the focus of this paper. To this end, first explicit dynamics equations are obtained. Next, stable gait planning of the robot is investigated such that the robot can walk with a given speed over the terrain. Finally, the Sliding Mode Control (SMC) approach is applied, and a new chattering elimination method is proposed by adding a PD term to the control input. Obtained simulation results show that the performance of the SMC in terms of the tracking errors will be improved even in the presence of significant disturbances. Therefore, using the proposed approach compared to the conventional SMC will be more practically reliable.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132766089","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985691
Xiaowen Yu, Jing Xu, Shaoli Liu, Ken Chen
This paper presents a 6-revolutional degree of freedoms (DOFs) low-cost arm of a ping-pong robot driven by 6 actuators. Design, control, simulation and performance of this arm are examined in this paper. The task in this study is to make the ping-pong ball stay in the racket at a balanced location. The arm comprises three main components, a three DOFs arm, a spherical wrist, and a ping-pong racket. A key design goal of the control is the timeliness: controller has to meet the requirements of the real-time operation speed. Therefore, to enhance the speed of calculation and reduce the cost, the arm manipulating control has been implemented based on fuzzy algorithm and is accomplished using an ATmega128 MCU, which is able to calculate the angular position of joints real-time. Infrared touch screen is installed as a sensor to automatically obtain the position of the ball, according to which controller adjusts the orientation of the wrist in order to keep the ball in racket. Experimental results illustrate the efficacy in the arm and racket system.
{"title":"A control system of a ping-pong robot arm based on fuzzy method","authors":"Xiaowen Yu, Jing Xu, Shaoli Liu, Ken Chen","doi":"10.1109/ICMA.2011.5985691","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985691","url":null,"abstract":"This paper presents a 6-revolutional degree of freedoms (DOFs) low-cost arm of a ping-pong robot driven by 6 actuators. Design, control, simulation and performance of this arm are examined in this paper. The task in this study is to make the ping-pong ball stay in the racket at a balanced location. The arm comprises three main components, a three DOFs arm, a spherical wrist, and a ping-pong racket. A key design goal of the control is the timeliness: controller has to meet the requirements of the real-time operation speed. Therefore, to enhance the speed of calculation and reduce the cost, the arm manipulating control has been implemented based on fuzzy algorithm and is accomplished using an ATmega128 MCU, which is able to calculate the angular position of joints real-time. Infrared touch screen is installed as a sensor to automatically obtain the position of the ball, according to which controller adjusts the orientation of the wrist in order to keep the ball in racket. Experimental results illustrate the efficacy in the arm and racket system.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132913259","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985682
Chen Junfeng, L. Kun, Xiao Kai
The Active Magnetic Bearings-supported rotor offer unique advantages in many applications, and it also pose a challenging control problem due to rotor-speed dependence, dynamics coupling, and nonlinear nature of the system. Closed loop identification experiments are done to identify the models at different speeds, and the model uncertainty bound is deduced for controller design. H∞ controller is then synthesized to guarantee (through the specification of loop-shaping weights) closed-loop robustness and performance with the identified uncertainty bound at the designed rotational speed range. Results through numerical simulations show that the robustness against the uncertainty and the nominal performance for output disturbance rejection of the controller satisfy the design requirements.
{"title":"H∞ control of Active Magnetic Bearings using closed loop identification model","authors":"Chen Junfeng, L. Kun, Xiao Kai","doi":"10.1109/ICMA.2011.5985682","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985682","url":null,"abstract":"The Active Magnetic Bearings-supported rotor offer unique advantages in many applications, and it also pose a challenging control problem due to rotor-speed dependence, dynamics coupling, and nonlinear nature of the system. Closed loop identification experiments are done to identify the models at different speeds, and the model uncertainty bound is deduced for controller design. H∞ controller is then synthesized to guarantee (through the specification of loop-shaping weights) closed-loop robustness and performance with the identified uncertainty bound at the designed rotational speed range. Results through numerical simulations show that the robustness against the uncertainty and the nominal performance for output disturbance rejection of the controller satisfy the design requirements.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"353 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134039256","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986237
Ali Pyambri Paramani
In General, there are two methods to analyse the inverse kinematic of manipulators, one of which can be selected with respect to the conditions and the type of the manipulator. One of the methods is the closed solution which is based on the analytical expressions or forth degree or less polynomial solution in which the calculations are non-repetitive. The other method is the numerical solution. In the numerical solutions, the numbers are repeated and generally it is much slower than the closed solutions. The slowness of this method is so noticeable in such a way that principally there is no interest to use the numerical solutions to solve kinematic equations. The purpose of the present paper is to present a compound method that is made up of the numerical and the closed solutions which does not have the problems of the current methods and can be generalized to similar robots with different degrees of freedom. The method which will be presented is based on the connecting lines between the pairs of links and the conditions under which the size of the connecting lines are created. The inverse matrix equations are not applied in this analysis. However, the positions of all links are expressed based on the geometrical position of the interfaces and the use of the mathematical function.
{"title":"Optimum inverse kinematic method for a 12 DOF manipulator","authors":"Ali Pyambri Paramani","doi":"10.1109/ICMA.2011.5986237","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986237","url":null,"abstract":"In General, there are two methods to analyse the inverse kinematic of manipulators, one of which can be selected with respect to the conditions and the type of the manipulator. One of the methods is the closed solution which is based on the analytical expressions or forth degree or less polynomial solution in which the calculations are non-repetitive. The other method is the numerical solution. In the numerical solutions, the numbers are repeated and generally it is much slower than the closed solutions. The slowness of this method is so noticeable in such a way that principally there is no interest to use the numerical solutions to solve kinematic equations. The purpose of the present paper is to present a compound method that is made up of the numerical and the closed solutions which does not have the problems of the current methods and can be generalized to similar robots with different degrees of freedom. The method which will be presented is based on the connecting lines between the pairs of links and the conditions under which the size of the connecting lines are created. The inverse matrix equations are not applied in this analysis. However, the positions of all links are expressed based on the geometrical position of the interfaces and the use of the mathematical function.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132278729","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 : 2011-08-15DOI: 10.7735/KSMTE.2012.21.1.123
C. Jung, W. Chung, J. Ahn, Myung Sik Kim, Gi Soo Shin, Soon Jea Kwon
Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, we have to remove the impurities which are stuck to the inner face of the pipe (diameter: 300mm or 400mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), we will propose an in-pipe cleaning robot of GACF with the 6-link sliding mechanism which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300mm. In addition, for the pipe with diameter of 400mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn® when the link of sliding mechanism is stretched to fit into the 400mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS® Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.
最近，随着垃圾自动收集设施(GACF)在首都圈的普及，对管道内清扫机器人(管内清扫机器人)的关注日益增加。迄今为止，管道机器人的研究主要集中在检测上，而不是清洁上。在GACF中，当垃圾移动时，我们要去除粘在管道内表面的杂质(直径:300mm或400mm)。因此，在本文中，我们将利用TRIZ(俄语缩写:Inventive Theory of Problem Solving)提出一种GACF管道内清洁机器人，该机器人具有六连杆滑动机构，可以通过气动压力(而不是弹簧)调节以适应管道内表面。本文提出的GACF管道内清扫机器人在清扫过程中既可以实现自身的向前/向后运动，也可以实现刷体的旋转。机器人本体应具有适用于直径为300mm的较小管道的极限尺寸。此外，对于直径为400mm的管道，机器人的连杆应通过滑动机构拉伸以适应管道的直径。基于使用TRIZ的概念设计，我们将与韩国robot Valley, Inc.的现场工程师合作建立机器人的初步设计。为了优化管道内清扫机器人的设计，利用RecurDyn®软件对机器人在将滑动机构的连杆拉伸到400mm直径的管道内时，与管道内壁碰撞产生的最大冲力进行了仿真。在实验设计(Design of Experiment，简称DOE)的基础上，利用ANSYS®Workbench对滑动机构6个连杆在最大冲力作用下的应力进行仿真。最后确定4个连杆的最优尺寸，包括厚度，以使本文的最佳安全系数为2，并使4个连杆的质量最小。与Robot Valley, Inc.的专家进行的初始设计相比，将验证4个连杆的优化设计具有接近2的最佳安全系数以及4个连杆的最小质量。此外，还将对管道内清洁机器人的原型进行进一步的研究。
{"title":"Optimal mechanism design of in-pipe cleaning robot","authors":"C. Jung, W. Chung, J. Ahn, Myung Sik Kim, Gi Soo Shin, Soon Jea Kwon","doi":"10.7735/KSMTE.2012.21.1.123","DOIUrl":"https://doi.org/10.7735/KSMTE.2012.21.1.123","url":null,"abstract":"Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, we have to remove the impurities which are stuck to the inner face of the pipe (diameter: 300mm or 400mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), we will propose an in-pipe cleaning robot of GACF with the 6-link sliding mechanism which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300mm. In addition, for the pipe with diameter of 400mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn® when the link of sliding mechanism is stretched to fit into the 400mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS® Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133373020","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985771
Jianfang Liu, Xuguang Sun, Guojun Liu, Xiaotao Li, Y. Liu
In order to achieve the accurate delivery for electro rheological (ER) fluids, dual chamber parallel piezoelectric stack pump (PESP) is designed. Firstly, working principle of dual chamber parallel PESP is analyzed, and its output performance is discussed in different working modes. Next, based on the characteristic of piezoelectric stack that the output pressure is large but the volume change is little, a new passive check valve is designed. According to finite element analysis of flow field in chamber, asymmetric flow channel is adopted. Finally, the prototype pump is manufactured, and the output performance is tested in both synchronous mode and asynchronous mode. As is shown in the experimental result, comparing with single chamber pump, dual chamber parallel piezoelectric stack pump cannot improve output pressure, but it can raise the output flow rate. In synchronous mode, the output flow rate of dual chamber has been increased to twice as compared with single chamber, but pulsation is large, while in asynchronous mode the output flow rate of dual chamber has been increased to three times as compared with single chamber and pulsation is little.
{"title":"Experiment on dual-chamber parallel piezoelectric stack pump for electrorheological fluids","authors":"Jianfang Liu, Xuguang Sun, Guojun Liu, Xiaotao Li, Y. Liu","doi":"10.1109/ICMA.2011.5985771","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985771","url":null,"abstract":"In order to achieve the accurate delivery for electro rheological (ER) fluids, dual chamber parallel piezoelectric stack pump (PESP) is designed. Firstly, working principle of dual chamber parallel PESP is analyzed, and its output performance is discussed in different working modes. Next, based on the characteristic of piezoelectric stack that the output pressure is large but the volume change is little, a new passive check valve is designed. According to finite element analysis of flow field in chamber, asymmetric flow channel is adopted. Finally, the prototype pump is manufactured, and the output performance is tested in both synchronous mode and asynchronous mode. As is shown in the experimental result, comparing with single chamber pump, dual chamber parallel piezoelectric stack pump cannot improve output pressure, but it can raise the output flow rate. In synchronous mode, the output flow rate of dual chamber has been increased to twice as compared with single chamber, but pulsation is large, while in asynchronous mode the output flow rate of dual chamber has been increased to three times as compared with single chamber and pulsation is little.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130313950","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985729
Jin-ping Ni, Tao Dong
Aiming at the problems of existing device in measuring the projectile proximity fuze three-dimensional coordinate of space burst point. A system based on six light-screens principle and flame detector was presented. The system's main detector includes two multi-screen sky screens and one flame detector. The six light-screens detector array is composed by six optical and photoelectric conversion parts of the two multiscreen sky screens. When the projectile passes through the six light-screens, the data acquisition instrument records the data of the analog signals produced by the sky screens. The projectile velocity V, angle of incidence θ and γ, impacting coordinates X and Y all can be got by processing the signal. The projectile's explosion time T can be detected by the flame detector. And then projectile's three-dimensional coordinate of space burst point can be calculated by above-mentioned parameter. It is proved by the experiment that the system is stable and reliable, and can meet the demand of the shooting range well.
{"title":"Study on the space burst point test system used in proximity fuze projectile","authors":"Jin-ping Ni, Tao Dong","doi":"10.1109/ICMA.2011.5985729","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985729","url":null,"abstract":"Aiming at the problems of existing device in measuring the projectile proximity fuze three-dimensional coordinate of space burst point. A system based on six light-screens principle and flame detector was presented. The system's main detector includes two multi-screen sky screens and one flame detector. The six light-screens detector array is composed by six optical and photoelectric conversion parts of the two multiscreen sky screens. When the projectile passes through the six light-screens, the data acquisition instrument records the data of the analog signals produced by the sky screens. The projectile velocity V, angle of incidence θ and γ, impacting coordinates X and Y all can be got by processing the signal. The projectile's explosion time T can be detected by the flame detector. And then projectile's three-dimensional coordinate of space burst point can be calculated by above-mentioned parameter. It is proved by the experiment that the system is stable and reliable, and can meet the demand of the shooting range well.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130338759","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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