2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

In this study, three types of gait generation methods in Quadruped walking are compared using simulation software such as ADAMS and Matlab/Simulink. Stability and straight path following performance of these three types is simulated and third type of gait generation method (Trotting) is found considerably well suited for practical point of view. View full abstract»

This paper presents a connection method for two ubiquitous robot spaces. The ubiquitous robotics is recently proposed and many methods are suggested to implement this concept. In many cases, software modularization and middleware technology are adopted. However, different middlewares are used for each case since there is no standard for such a technology. Thus, the implemented robotic space keeps ... View full abstract»

Modular robots are a class of robots which are composed of a set of similar and independent mechatronical parts. Researchers and scientists are interested in these robots mostly because of their massive adaptability. These robots are likely to be used in various fields of industry in near future. Given the fact that an important application of modular robots is accomplishing missions in remote and... View full abstract»

Modular fixture configuration design is a complicated task requiring both intensive knowledge and experience. Automated or semi-automated computer aided modular fixture systems based on CAD packages do not appear to have made a significant impact within the manufacturing industry. Modular fixture designers still prefer traditional systems such as paper or physical model; as such models provide a m... View full abstract»

A centimeter-scale robotic fish is proposed and realized in this paper. The robotic fish mimics a type of small crucian. Its swimming pattern of cruise-straight, cruise-in-turning, burst and coast are realized respectively. The remote control function is realized at the base of an infrared sensor. An IPMC actuator and two pieces of PVC film construct a caudal fin to mimic the swing of the small cr... View full abstract»

A pneumatic multi-chamber rubber tube actuator was designed, fabricated, and tested. Applying pneumatic pressure to each chamber sequentially causes periodical motions of the rubber tube surface tracing a polygon shape. By winding a pair of the tube actuators in parallel spirally around a colonoscope, they generate deformation waves around the colonoscope traveling along its axis, cause the locomo... View full abstract»

The interaction between belt and pulley in belt drive running is complicated. Since no inertial force or partial inertial force was taken into account, it is necessary to add in the inertial affection fully for more accurate dynamic analysis modeling of the belt drive. In the assumption that belt material is deformed in linear elasticity and the flat belt drive is running in steady state, the dyna... View full abstract»

The aim of this research is to develop a laptop micro reactor system which can apply to many chemical synthetic processes. If we can reach the reactive conditions quickly and effectively using this micro reactor system, the speed of research and development will improve spectacularly. Here we design and fabricate a prototype of micro reactor with integrated fluid control devices. Developed fluid c... View full abstract»

Research has been undertaken to explore the possibility of using smart materials for the actuation of screw-in cartridge valves. Four types were considered and a piezoelectric (PZT) stack was selected as the most appropriate actuator. The concept of a spool valve piloted by a PZT valve was chosen for investigation. A mathematical model of a hydraulic system with a spool valve piloted by a PZT valv... View full abstract»

In the case of fault diagnosis of the plant machinery, knowledge for distinguishing faults is ambiguous because definite relationships between symptoms and fault types cannot be easily identified. So this paper presents a sequential diagnosis method for rolling bearing by a fuzzy neural network with the features of a vibration signal in time domain. The fuzzy neural network is realized with a deve... View full abstract»

In applications, the signals used for order tracking of rotating machinery are often distorted by non-order components, such as the fixed frequencies arising from power-frequency interferences, and local structure resonances, which may render the results from the analysis meaningless or inaccurate. Independent component analysis (ICA), as a statistical method, has the ability to segregate multiple... View full abstract»

With the development of computer technology, computer medical image has gained a lot of importance in the clinical diagnosis and remedies. Its clinical application has a close link with image processing technology. Moreover, edge detection is one of the most important methods in the processing. A method in medical image edge detection based on multifractal theory was applied in the paper. The Hold... View full abstract»

The marine diesel engine is a complex system, which has the important function to guarantee the marine security. In this paper a novel approach of optimizing and training fuzzy neural network based on the ant colony algorithm is proposed for the intelligent fault diagnosis of this kind of diesel engine. The structure and the parameter of fuzzy neural network for fault diagnosis system are introduc... View full abstract»

This paper introduces a semi-analytic model that provides a simple and quick solution for analyzing large deflection beam-based flexure joints of various configurations. Such configurations consist of a beam-based flexure joint coupled with any rigid-link length. This model provides an accurate approximation of large deflection beam-based flexure joints achieving a deviation as low as 0.06% when c... View full abstract»

Based on the vermicular motion of the pine caterpillar and inchworm, this paper presents two novel module climbing caterpillar kinematics models. The analysis of the valid gaits and climbing safety of them indicates the differences of two models. The pine caterpillar model with all active joints has the disadvantage of introducing the redundant actuating to its locomotion but higher security than ... View full abstract»

More advanced robotic applications require high accuracy positioning of the robot manipulator. This paper introduces a novel approach to measure the elastic deformations of robot links in order to improve its pose accuracy. The paper develops a model of the fiber Bragg sensors that locally measure strain. In conjunction with an finite model of the link geometry this information enables the predict... View full abstract»

In this paper, a new synthesis method of force/position control systems of robot manipulators is proposed. The control systems synthesized on the basis of this method without using force/moment sensors and other additional devices provide simultaneous accurate control of both the position of robotpsilas end-effector and the force (may be variable) exerted by end-effector on some object (or environ... View full abstract»

In this paper, a new control method called nonlinear PD learning control (NPD-LC) is proposed and applied for the trajectory tracking control of a closed loop manipulator. The proposed control algorithm is a combination of a nonlinear PD feedback control and a directly iterative learning (feedforward) control. Consequently, this new control method possesses both adaptive and learning properties. O... View full abstract»