In this paper, a novel haptic tele-manipulation environment is presented. This includes an interface between a master haptic mechanism and a slave mechatronic mechanism for biomedical operations. The ...novelty stems from the fact that the environment's slave is a micromechatronic device driven by two inexpensive centripetal force vibration micromotors. The unique characteristics and challenges that arise during the haptic micromanipulation of the specific device are described and analyzed. The developed solutions are presented and discussed. The environment employs three input modes and two force control phases, which are described in detail. The haptic tele-manipulation environment is illustrated by several examples. These show that, while the interaction between the haptic mechanism and the vibration driven device is complicated, the micromanipulation of the device can be successful and appear to the operator as simple.
This paper presents a new driving principle for microrobotic platforms whose actuation mechanism is based on two centripetal force actuators. The driving principle results to a controlled motion with ...precision of a few microns and is suitable for manipulation tasks. The drivers generate an appropriately selected sequence of pulsed actuations resulting in successive microsteps with high repeatability. Simulation results are presented and are compared with experimental results that demonstrate the displacement of a cantilever monitored by a video-microscope. The paper also presents an overview of the hardware assembly process giving emphasis on the integration of the electronic systems and demonstrating the simplicity of the design and the hardware integration process.
Perceiving mechanical stimuli and converting them into bioelectric signals to complete sensing information transmission and computation is a fundamental mechanism for survival and evolution of ...natural animals. This leads to a variety of intelligent behaviors, such as processing, learning, judgment, feedback, and so on when tackling complex and changeable environmental challenges. Until now, the realization of a bionic system to mimic the above activities has long been an important goal which is mainly based on the integration of distributed functional units, lacking the coordination between functional units and the whole systems. Herein, based on the mechano‐electronic coupling effect of liquid metals and by following the basic principle of perception and transduction of piezo proteins, a biomimetic functional liquid metal mechatronic device is proposed with the switching behavior via establishing the reversible charge gradient. Owing to flexible features of liquid metals, this all‐soft mechatronic device exhibits excellent compliance with the whole system. Based on electrochemical characteristics of liquid metals, the passive intelligent device demonstrates versatile behaviors, such as self‐energy supply, encoding, computation, sensing, information identification, communicating, and controlling functions etc. which can only possibly be achieved by living animals. This work opens a new strategy for developing intelligent mechatronic systems.
Inspired by the switching behavior of Piezo proteins, an all‐soft liquid metal mechatronic device is proposed, where input signals (liquid metal patterns) actuated by mechanical stimuli are mapped to electrical output signals. Based on the electrochemical characteristics of liquid metal, the all‐in‐one function integration, including encoding, computation, sensing, information identification, communicating, and controlling functions, is implemented in self‐powered manner.
Mechatronic device of AI systems Kulsha, A. Y.; Klimovich, M. A.; Sterjanov, M. V. ...
Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki,
06/2020, Letnik:
18, Številka:
4
Journal Article
Recenzirano
Odprti dostop
The purpose of this work is to demonstrate the phased development of a mechatronic device, to describe the development process of the device design and software, to demonstrate the application of the ...theory of selected sections of mathematics and physics in robotics, and, in particular, linear algebra, geometry, computational mathematics, discrete mathematics and mechanics. The study was based on the mechatronic device, which had been designed by the youth team of the Republic of Belarus in preparation for the international robotics competition “First Global Challenge 2019”, which became the winner of this event. The article describes in detail the statement of the problem at this competition, identifies the basic requirements for the robot being built, provides a general description of the stages of building the device both during the design process and during the immediate implementation of the project, as well as substantiates the engineering decisions that were made during the design process. The stages that are of the greatest interest in terms of applying the theory of applied physics and mathematics are described in more detail. Particular attention is paid to the design and development of structural modules, as well as to the development of software for controlling the device. The robot is an experimental model that can be used in further research in the field of artificial intelligence, machine learning, automation systems, and is also a potential platform for teaching robotics at the level of specialized secondary and higher education.
In this paper, the processing of the data of a 3D light detection and distance measurement (LiDAR) sensor mounted on a mobile robot is demonstrated, introducing an innovative methodology to manage ...the data and extract useful information. The LiDAR sensor is placed on a mobile robot which has a modular design that permits the easy change of the number of wheels, was designed to travel through several environments, and saves energy by changing the number and arrangement of the wheels in each environment. In addition, the robot can recognize landmarks in a structured environment by using a classification technique on each frame acquired by the LiDAR. Furthermore, considering the experimental tests, a new simple algorithm based on the LiDAR data processing together with the inertial data (IMU sensor) through a Kalman filter is proposed to characterize the robot’s pose by the surrounding environment with fixed landmarks. Finally, the limits of the proposed algorithm have been analyzed, highlighting new improvements in the future prospective development for permitting autonomous navigation and environment perception with a simple, modular, and low-cost device.
In this paper, the processing of the data of a 3D light detection and distance measurement (LiDAR) sensor mounted on a mobile robot is demonstrated, introducing an innovative methodology to manage ...the data and extract useful information. The LiDAR sensor is placed on a mobile robot which has a modular design that permits the easy change of the number of wheels, was designed to travel through several environments, and saves energy by changing the number and arrangement of the wheels in each environment. In addition, the robot can recognize landmarks in a structured environment by using a classification technique on each frame acquired by the LiDAR. Furthermore, considering the experimental tests, a new simple algorithm based on the LiDAR data processing together with the inertial data (IMU sensor) through a Kalman filter is proposed to characterize the robot’s pose by the surrounding environment with fixed landmarks. Finally, the limits of the proposed algorithm have been analyzed, highlighting new improvements in the future prospective development for permitting autonomous navigation and environment perception with a simple, modular, and low-cost device.
Radio frequency (RF) cavity resonators are one of the key structures in particle accelerators. An RF source transmits required power for acceleration to cavity through waveguides. Due to impedance ...mismatch, some of the available power generated by the RF source reflects back from the cavity. To save power and provide the maximum accelerating field, it is desirable to minimize this reflected power by equalizing the frequencies of the cavity and source. In this paper, an adaptive gradient based algorithm is developed to automatically reach the minimum value of the reflected power and maintain this condition. The control algorithm is derived through a Lyapunov-based analysis. The proposed adaptive gradient based controller is further compared with a constant gain controller and a classical perturbation-based extremum seeking method. Experimental and simulation results are presented to evaluate the performance of the algorithms in tuning the resonance frequency.
This reprint addresses the unique opportunities and challenges associated with human–computer interaction with intelligent systems. First, state-of-the-art reviews are presented about speech ...emotions, automatic spelling correction, and art usage in virtual reality. We encouraged authors to submit reports describing systems built for different languages and multilingual systems. The linguistic, emotional, prosodic, and dialogue aspects of speech communication are investigated. Special attention is given to sentiment and emotional analysis from text and speech. Speech audiometry, offline speech recognition, and text-independent speaker verification systems are elaborated. The rapidly growing domain of virtual reality applications is of interest both as an application domain in which new interfaces and interaction methods are needed and as a potential testbed for evaluating speech and other interface modalities.
This reprint addresses the unique opportunities and challenges associated with human–computer interaction with intelligent systems. First, state-of-the-art reviews are presented about speech ...emotions, automatic spelling correction, and art usage in virtual reality. We encouraged authors to submit reports describing systems built for different languages and multilingual systems. The linguistic, emotional, prosodic, and dialogue aspects of speech communication are investigated. Special attention is given to sentiment and emotional analysis from text and speech. Speech audiometry, offline speech recognition, and text-independent speaker verification systems are elaborated. The rapidly growing domain of virtual reality applications is of interest both as an application domain in which new interfaces and interaction methods are needed and as a potential testbed for evaluating speech and other interface modalities.
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