IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics最新文献
Pub Date : 2016-01-01DOI: 10.1109/AIM.2016.7576839
Yi Yang, Jianqing Zhang, Han Xu, Maokuan Chen, Lu Zhang, Z. Zhu
{"title":"Analysis of underwater locomotion and improvement of FroBot","authors":"Yi Yang, Jianqing Zhang, Han Xu, Maokuan Chen, Lu Zhang, Z. Zhu","doi":"10.1109/AIM.2016.7576839","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576839","url":null,"abstract":"","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"189 1","pages":"633-638"},"PeriodicalIF":0.0,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79580450","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 : 2016-01-01DOI: 10.1109/AIM.2016.7576761
Weiyan Shang, Can-jun Yang, F. Qiu
{"title":"Analysis on the steering characteristics of an underwater exploration robot","authors":"Weiyan Shang, Can-jun Yang, F. Qiu","doi":"10.1109/AIM.2016.7576761","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576761","url":null,"abstract":"","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"30 1","pages":"166-171"},"PeriodicalIF":0.0,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76664274","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 : 2015-07-07DOI: 10.1109/AIM.2015.7222699
Fumihiko Asan
This paper proposes a novel method for achieving limit cycle walking taking the landing position of the swing leg into account. First, we introduce a model of a planar compasslike biped robot with rigid bent legs, and develop the equations of motion and collision. Second, we propose a control strategy focused on the use of the stance-leg angle as a virtual time parameter to ensure the control of the next landing position of the swing leg. Through numerical analysis, we discuss the relationship between the gait symmetry and mechanical energy restoration. Furthermore, we numerically show that generation of a walking gait following stepping stones can be achieved on the assumption that the robot can visually perceive the road
{"title":"A novel generation method for underactuated bipedal gait with landing position control of swing leg based on property of zero dynamics","authors":"Fumihiko Asan","doi":"10.1109/AIM.2015.7222699","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222699","url":null,"abstract":"This paper proposes a novel method for achieving limit cycle walking taking the landing position of the swing leg into account. First, we introduce a model of a planar compasslike biped robot with rigid bent legs, and develop the equations of motion and collision. Second, we propose a control strategy focused on the use of the stance-leg angle as a virtual time parameter to ensure the control of the next landing position of the swing leg. Through numerical analysis, we discuss the relationship between the gait symmetry and mechanical energy restoration. Furthermore, we numerically show that generation of a walking gait following stepping stones can be achieved on the assumption that the robot can visually perceive the road","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"225 1","pages":"1184-1189"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74126064","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 : 2015-01-01DOI: 10.1109/AIM.2015.7222639
D. Grivon, Y. Civet, Z. Pataky, Y. Perriard
{"title":"Design and comparison of different Magneto-Rheological valves configurations","authors":"D. Grivon, Y. Civet, Z. Pataky, Y. Perriard","doi":"10.1109/AIM.2015.7222639","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222639","url":null,"abstract":"","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"31 1","pages":"818-823"},"PeriodicalIF":0.0,"publicationDate":"2015-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76041009","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 : 2014-07-08DOI: 10.1109/AIM.2014.6878073
D. Grivon, Y. Civet, Z. Pataky, Y. Perriard
Magneto-Rheological Fluids (MRFs) are smart materials whose physical properties can be controlled by an exciting magnetic field. MRFs are described as Bingham plastics with variable magnetic field dependent yield stress. Thanks to their particular features, MRFs have been largely employed to realize controllable power dissipating devices and, among them, regulable valves without moving parts. The most commonly configuration used for MRF based valves consists on fluid flow through an annular duct. The conception of such valves implies to deal with different physics. In particular, the magnetic circuit is usually designed and verified by mean of FE (Finite Element) analysis, while the duct geometry is usually dimensioned using an approximated formula based on fluid flow between parallel plates. In the presented work, a complete and detailed derivation of the analytical model is discussed in order to describe the flow of MRFs through an annulus using an approximate parallel plate geometry. Successively, the Bingham-Papanastasiou regularization is chosen as the mean to accurately describe the continuous non-linear yield stress and shear dependent viscosity of a commercially available MRF and it is then implemented into a FE software. This step allows to built a complete multiphysics problem for the design of MRFs based devices. Results obtained from the analytical model and FE analysis are then compared and the different steps in the proposed approaches are validated.
{"title":"Bingham-papanastasiou and approximate parallel models comparison for the design of magneto-rheological valves","authors":"D. Grivon, Y. Civet, Z. Pataky, Y. Perriard","doi":"10.1109/AIM.2014.6878073","DOIUrl":"https://doi.org/10.1109/AIM.2014.6878073","url":null,"abstract":"Magneto-Rheological Fluids (MRFs) are smart materials whose physical properties can be controlled by an exciting magnetic field. MRFs are described as Bingham plastics with variable magnetic field dependent yield stress. Thanks to their particular features, MRFs have been largely employed to realize controllable power dissipating devices and, among them, regulable valves without moving parts. The most commonly configuration used for MRF based valves consists on fluid flow through an annular duct. The conception of such valves implies to deal with different physics. In particular, the magnetic circuit is usually designed and verified by mean of FE (Finite Element) analysis, while the duct geometry is usually dimensioned using an approximated formula based on fluid flow between parallel plates. In the presented work, a complete and detailed derivation of the analytical model is discussed in order to describe the flow of MRFs through an annulus using an approximate parallel plate geometry. Successively, the Bingham-Papanastasiou regularization is chosen as the mean to accurately describe the continuous non-linear yield stress and shear dependent viscosity of a commercially available MRF and it is then implemented into a FE software. This step allows to built a complete multiphysics problem for the design of MRFs based devices. Results obtained from the analytical model and FE analysis are then compared and the different steps in the proposed approaches are validated.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"143 1","pages":"168-173"},"PeriodicalIF":0.0,"publicationDate":"2014-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86183986","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 : 2014-07-08DOI: 10.1109/AIM.2014.6878275
D. Grivon, Y. Civet, Z. Pataky, Y. Perriard
Magneto-Rheological Elastomers (MREs) represent emerging composite materials consisting of small magnetic particles dispersed in a highly elastic polymeric matrix. Particles interactions with external fields (magnetic and electric) and external stresses result in a variation of rheological and physical properties of the material. In particular, MRE samples exhibit piezoresistivity, i.e. a change in the intrinsic material resistivity if subjected to an external stress. While literature reports experimental sessions aimed to establish the MREs piezoresistive characteristics and sensing capabilities, tests assessing the presences of hysteresis and cyclic drifts for multiple loading/unloading cycles of the MREs are not diffused. Nevertheless, these information are crucial to establish the quality and reliability of a sensing system. The presented work addresses the investigation of such parasitic phenomena for different MRE samples in order to assess their existence and relevance, to provide a more detailed and comprehensive description of the MRE piezoresistive effect as well as to enlighten further important elements useful to determine the possibility of using such materials for the realization of force or pressure sensors.
{"title":"Experimental study of non-ideal phenomena affecting magneto-rheological elastomers piezoresistivity","authors":"D. Grivon, Y. Civet, Z. Pataky, Y. Perriard","doi":"10.1109/AIM.2014.6878275","DOIUrl":"https://doi.org/10.1109/AIM.2014.6878275","url":null,"abstract":"Magneto-Rheological Elastomers (MREs) represent emerging composite materials consisting of small magnetic particles dispersed in a highly elastic polymeric matrix. Particles interactions with external fields (magnetic and electric) and external stresses result in a variation of rheological and physical properties of the material. In particular, MRE samples exhibit piezoresistivity, i.e. a change in the intrinsic material resistivity if subjected to an external stress. While literature reports experimental sessions aimed to establish the MREs piezoresistive characteristics and sensing capabilities, tests assessing the presences of hysteresis and cyclic drifts for multiple loading/unloading cycles of the MREs are not diffused. Nevertheless, these information are crucial to establish the quality and reliability of a sensing system. The presented work addresses the investigation of such parasitic phenomena for different MRE samples in order to assess their existence and relevance, to provide a more detailed and comprehensive description of the MRE piezoresistive effect as well as to enlighten further important elements useful to determine the possibility of using such materials for the realization of force or pressure sensors.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"25 1","pages":"1381-1386"},"PeriodicalIF":0.0,"publicationDate":"2014-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74022444","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 : 2014-01-01DOI: 10.1109/AIM.2014.6878202
Su Zhao, Iwasaku Toshihiro, Z. Lim, C. Shee, Silu Chen, W. T. Ang
{"title":"Design of a variable stiffness flexure mechanism for micromanipulation tasks","authors":"Su Zhao, Iwasaku Toshihiro, Z. Lim, C. Shee, Silu Chen, W. T. Ang","doi":"10.1109/AIM.2014.6878202","DOIUrl":"https://doi.org/10.1109/AIM.2014.6878202","url":null,"abstract":"","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"102 1","pages":"949-954"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88544031","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 : 2013-07-09DOI: 10.1109/AIM.2013.6584199
David Effa, E. Abdel-Rahman, M. Yavuz
This paper reports on-going research progress towards the development of an innovative frequency modulation MEMS gyroscope. The microgyroscope design includes a cantilever beam with a proof mass at its free end coupled electrostatically with two fixed electrodes. The beam is designed with silicon nitride and a layer of electrode material (Au). The microgyroscope undergoes coupled flexural vibrations in two orthogonal directions when subjected to base rotation around the beam's longitudinal axis. The rotation rate is measured by detecting the shift in the frequencies of the two closely spaced global vibration modes. A modeling framework is presented here for the development of the microgyroscope's frequency equation. The governing equations are derived using the Extended Hamilton's Principle and solved numerically to incorporate the nonlinear behavior. Currently, the device is in the process of fabrication using Silicon on Insulator (SOI) wafer using a micromachining process, including Deep Reactive Ion Etching.
{"title":"Cantilever beam microgyroscope based on Frequency modulation","authors":"David Effa, E. Abdel-Rahman, M. Yavuz","doi":"10.1109/AIM.2013.6584199","DOIUrl":"https://doi.org/10.1109/AIM.2013.6584199","url":null,"abstract":"This paper reports on-going research progress towards the development of an innovative frequency modulation MEMS gyroscope. The microgyroscope design includes a cantilever beam with a proof mass at its free end coupled electrostatically with two fixed electrodes. The beam is designed with silicon nitride and a layer of electrode material (Au). The microgyroscope undergoes coupled flexural vibrations in two orthogonal directions when subjected to base rotation around the beam's longitudinal axis. The rotation rate is measured by detecting the shift in the frequencies of the two closely spaced global vibration modes. A modeling framework is presented here for the development of the microgyroscope's frequency equation. The governing equations are derived using the Extended Hamilton's Principle and solved numerically to incorporate the nonlinear behavior. Currently, the device is in the process of fabrication using Silicon on Insulator (SOI) wafer using a micromachining process, including Deep Reactive Ion Etching.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"13 1","pages":"844-849"},"PeriodicalIF":0.0,"publicationDate":"2013-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85008861","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 : 2011-07-03DOI: 10.1109/AIM.2011.6027145
U. LeonardoRodriguez, M. EmilioGarcia, A. FranciscoMorant, S. AntonioCorrecher, C. E. Quiles
This paper describes the formalization and use of Latent Nesting Method (LNM) using Coloured Petri Nets (CPNs) for fault diagnosis and recovery in hybrid and complex systems. The method presented here will expand the initial proposed using Hybrid Petri Nets (HPNs) for adding the continuous dynamic. This method is illustrated with a comprehensive example of a lubrication and cooling system in the wind turbine's gearbox. It is analyzed step by step and results are shown and interpreted.
{"title":"Hybrid Latent Nesting Method: A fault diagnosis case study in the wind turbine subsets","authors":"U. LeonardoRodriguez, M. EmilioGarcia, A. FranciscoMorant, S. AntonioCorrecher, C. E. Quiles","doi":"10.1109/AIM.2011.6027145","DOIUrl":"https://doi.org/10.1109/AIM.2011.6027145","url":null,"abstract":"This paper describes the formalization and use of Latent Nesting Method (LNM) using Coloured Petri Nets (CPNs) for fault diagnosis and recovery in hybrid and complex systems. The method presented here will expand the initial proposed using Hybrid Petri Nets (HPNs) for adding the continuous dynamic. This method is illustrated with a comprehensive example of a lubrication and cooling system in the wind turbine's gearbox. It is analyzed step by step and results are shown and interpreted.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"11 1","pages":"566-571"},"PeriodicalIF":0.0,"publicationDate":"2011-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87497639","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 : 2010-07-01DOI: 10.1109/aim.2010.5695918
Mehmet Temel, Katherine S Rudolph, Sunil K Agrawal
Smart Knee Brace (SKB) is designed to provide controlled perturbations to the human knee during walking. A dynamic model of human walking is then used to evaluate the human applied joint torques to hypothesize how the human neuro-muscular system modulates the joint torques as a response to the perturbations caused on the gait. Our results show that the neuro-muscular response to perturbations can be reasonably well characterized by including the following features in the model: (i) normal gait in the absence of perturbation, (ii) corrective torque at a joint in response to the error at that joint and other joints, (iii) a characteristic time shift in the response. We believe that these parameters can be used to characterize subjects who are more prone to falling under gait perturbations.
{"title":"Gait Recovery in Healthy Subjects: Perturbations to the Knee Motion with a Smart Knee Brace.","authors":"Mehmet Temel, Katherine S Rudolph, Sunil K Agrawal","doi":"10.1109/aim.2010.5695918","DOIUrl":"https://doi.org/10.1109/aim.2010.5695918","url":null,"abstract":"<p><p>Smart Knee Brace (SKB) is designed to provide controlled perturbations to the human knee during walking. A dynamic model of human walking is then used to evaluate the human applied joint torques to hypothesize how the human neuro-muscular system modulates the joint torques as a response to the perturbations caused on the gait. Our results show that the neuro-muscular response to perturbations can be reasonably well characterized by including the following features in the model: (i) normal gait in the absence of perturbation, (ii) corrective torque at a joint in response to the error at that joint and other joints, (iii) a characteristic time shift in the response. We believe that these parameters can be used to characterize subjects who are more prone to falling under gait perturbations.</p>","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"2010 ","pages":"527-532"},"PeriodicalIF":0.0,"publicationDate":"2010-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/aim.2010.5695918","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9252222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics
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