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Twisted String Actuation Systems

Twisted String Actuation Systems
  • Author : Gaponov Igor,Jee-Hwan Ryu,Simeon Nedelchev
  • Publisher :Unknown
  • Release Date :2019-11
  • Total pages :300
  • ISBN : 0128141956
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Summary : Twisted String Actuation Systems: Applications, Modelling, and Control discusses the emerging area of twisted string actuation. It provides the basics of modeling and control, while also outlining the potential advantages of this actuation technique. Several detailed case studies describe the requirements and design parameters of the TSAs developed for different robotic applications. In addition, the book covers guidelines for engineers on the design and implementation of TSA in new areas and applications, discussing how to select strings with appropriate properties and suitable material, how to model actuators, and how to predict efficiency and lifetime. The book will benefit the engineering community and increase the popularity of this promising novel type of actuator as it brings together the most up-to-date technologies and advances in the TSA field, along with their background and history. Summarizes the state-of-the-art research in the area of twisted string actuators Provides the reader with the basics of modeling and control over actuators of this type, also outlining the potential advantages of this actuation technique Presents several case studies describing, in detail, the requirements and design parameters of the TSAs developed for various engineering applications, ranging from precise object positioning, to heavy-duty manipulation Includes MATLAB code files for modeling different aspects of the TSAs

The Effects of End Termination on the Endurance Life of Twisted String Actuators

The Effects of End Termination on the Endurance Life of Twisted String Actuators
  • Author : Bradley Scott Roan
  • Publisher :Unknown
  • Release Date :2016
  • Total pages :92
  • ISBN : OCLC:969774473
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Summary : Actuation is possibly the most fundamental aspect of any robotic system; a robot without any means to interact with the physical world is simply a computer. As such, new actuation methods are valuable additions to the field of robotics, and optimization of such methods can help advance the field as a whole. Twisted string actuators (TSA) are a relatively novel type of actuator, which convert the rotary motion of an electric motor to a tensile linear motion by twisting two or more strings around one another thereby shortening the length. When the twisting element is composed of high tensile strength fibers (such as high modulus polyethylene fiber), these actuators have the potential to possess many desirable characteristics of actuators, such as high force, high speed, high specific power (power to weight ratio), and high power density (power to volume ratio). Furthermore, because the transmission element is string, these actuators can be designed and built very cost efficiently. One of the major drawbacks of TSAs is their endurance life. While many engineering components operate in the millions of cycles, twisted string actuators operate in the range of tens of thousands of cycles. For some applications, this low endurance life is no issue, because the strings in the actuator are cheap and easily replaced. For many applications, however, this low of endurance life is unacceptable. The purpose of this thesis is to explore the effects of the end termination of the twisted element on the endurance life of the actuator. The basic architecture and concept of twisted string actuators is presented, as well as the mathematical description of their behavior. A hypothesis concerning the endurance life of the twisted element with respect to the end termination of the twisted element is presented and supported. A potential solution to the problem of low endurance life of twisted string actuators is presented and tested alongside two other common architectures. The results from this test are presented and discussed. When different architectures of twisted strings were tested and compared under identical conditions (i.e. style of string, material of string, resting length of twisting element, loading of the actuator, and actuation speed) it was found that the separator plate architecture outperformed both the pulley-to-pulley architecture, and the proposed architecture. The pulley-to-pulley tests resulted in a median endurance life of 36.5 cycles, the separator plate architecture resulted in a median endurance life of 364 cycles, and the proposed architecture resulted in a median endurance life of 115 cycles. During testing, the phenomenon of axial twist of individual strings, in addition to the twisting of the string pair driven by the motor, was observed, and identified as a potential explanation for the limited endurance life of the proposed architecture when compared with that of the separator plate architecture.

Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics

Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics
  • Author : Pierre Larochelle,J. Michael McCarthy
  • Publisher :Unknown
  • Release Date :2020-04-20
  • Total pages :312
  • ISBN : 9783030439293
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Summary : This volume gathers the latest fundamental research contributions, innovations, and applications in the field of design and analysis of complex robotic mechanical systems, machines, and mechanisms, as presented by leading international researchers at the 1st USCToMM Symposium on Mechanical Systems and Robotics (USCToMM MSR 2020), held in Rapid City, South Dakota, USA on May 14-16, 2020. It covers highly diverse topics, including soft, wearable and origami robotic systems; applications to walking, flying, climbing, underground, swimming and space systems; human rehabilitation and performance augmentation; design and analysis of mechanisms and machines; human-robot collaborative systems; service robotics; mechanical systems and robotics education; and the commercialization of mechanical systems and robotics. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting and impactful research results that will inspire novel research directions and foster multidisciplinary research collaborations among researchers from around the globe.

Advanced Bimanual Manipulation

Advanced Bimanual Manipulation
  • Author : Bruno Siciliano
  • Publisher :Unknown
  • Release Date :2012-04-12
  • Total pages :268
  • ISBN : 9783642290404
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Summary : Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Human-Friendly Robotics 2020

Human-Friendly Robotics 2020
  • Author : Matteo Saveriano
  • Publisher :Unknown
  • Release Date :2021
  • Total pages :229
  • ISBN : 9783030713560
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Towards Autonomous Robotic Systems

Towards Autonomous Robotic Systems
  • Author : Kaspar Althoefer,Jelizaveta Konstantinova,Ketao Zhang
  • Publisher :Unknown
  • Release Date :2019-07-16
  • Total pages :503
  • ISBN : 9783030253325
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Summary : The two volumes LNAI 11649 and 11650 constitute the refereed proceedings of the 20th Annual Conference "Towards Autonomous Robotics", TAROS 2019, held in London, UK, in July 2019. The 87 full papers and 12 short papers presented were carefully reviewed and selected from 101 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: robotic grippers and manipulation; soft robotics, sensing and mobile robots; robotic learning, mapping and planning; human-robot interaction; and robotic systems and applications.

Haptics: Science, Technology, and Applications

Haptics: Science, Technology, and Applications
  • Author : Domenico Prattichizzo,Hiroyuki Shinoda,Hong Z. Tan,Emanuele Ruffaldi,Antonio Frisoli
  • Publisher :Unknown
  • Release Date :2018-06-05
  • Total pages :712
  • ISBN : 9783319933993
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Summary : The two-volume set LNCS 10893 and 10894 constitutes the refereed proceedings of the 11th International Conference EuroHaptics 2018, held in Pisa, Italy, in June 2018. The 95 papers (40 oral presentations and 554 poster presentations) presented were carefully reviewed and selected from 138 submissions. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover all aspects of haptics, including neuroscience, psychophysics, perception, engineering, computing, interaction, virtual reality and arts. ​

Airplane Flying Handbook (FAA-H-8083-3A)

Airplane Flying Handbook (FAA-H-8083-3A)
  • Author : Federal Aviation Administration
  • Publisher :Unknown
  • Release Date :2021
  • Total pages :229
  • ISBN : 9780359091157
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Programming Robots with ROS

Programming Robots with ROS
  • Author : Morgan Quigley,Brian Gerkey,William D. Smart
  • Publisher :Unknown
  • Release Date :2015-11-16
  • Total pages :448
  • ISBN : 9781449325510
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Summary : Want to develop novel robot applications, but don’t know how to write a mapping or object-recognition system? You’re not alone, but you’re certainly not without help. By combining real-world examples with valuable knowledge from the Robot Operating System (ROS) community, this practical book provides a set of motivating recipes for solving specific robotics use cases. Ideal for enthusiasts, from students in robotics clubs to professional robotics scientists and engineers, each recipe describes a complete solution using ROS open source libraries and tools. You’ll learn how to complete tasks described in the recipes, as well as how to configure and recombine components for other tasks. If you’re familiar with Python, you’re ready to go. Learn fundamentals, including key ROS concepts, tools, and patterns Program robots that perform an increasingly complex set of behaviors, using the powerful packages in ROS See how to easily add perception and navigation abilities to your robots Integrate your own sensors, actuators, software libraries, and even a whole robot into the ROS ecosystem Learn tips and tricks for using ROS tools and community resources, debugging robot behavior, and using C++ in ROS

Aircraft Electrical and Electronic Systems

Aircraft Electrical and Electronic Systems
  • Author : David Wyatt,Mike Tooley
  • Publisher :Unknown
  • Release Date :2009-06-04
  • Total pages :424
  • ISBN : 9781136444340
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Summary : The Aircraft Engineering Principles and Practice Series provides students, apprentices and practicing aerospace professionals with the definitive resources to take forward their aircraft engineering maintenance studies and career. This book provides a detailed introduction to the principles of aircraft electrical and electronic systems. It delivers the essential principles and knowledge required by certifying mechanics, technicians and engineers engaged in engineering maintenance on commercial aircraft and in general aviation. It is well suited for anyone pursuing a career in aircraft maintenance engineering or a related aerospace engineering discipline, and in particular those studying for licensed aircraft maintenance engineer status. The book systematically covers the avionic content of EASA Part-66 modules 11 and 13 syllabus, and is ideal for anyone studying as part of an EASA and FAR-147 approved course in aerospace engineering. All the necessary mathematical, electrical and electronic principles are explained clearly and in-depth, meeting the requirements of EASA Part-66 modules, City and Guilds Aerospace Engineering modules, BTEC National Units, elements of BTEC Higher National Units, and a Foundation Degree in aircraft maintenance engineering or a related discipline.

Planning Algorithms

Planning Algorithms
  • Author : Steven M. LaValle
  • Publisher :Unknown
  • Release Date :2006-05-29
  • Total pages :229
  • ISBN : 9781139455176
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Summary : Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning, but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the 'configuration spaces' of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. This text and reference is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.

Advances in Italian Mechanism Science

Advances in Italian Mechanism Science
  • Author : Giuseppe Carbone,Alessandro Gasparetto
  • Publisher :Unknown
  • Release Date :2018-10-29
  • Total pages :529
  • ISBN : 9783030033200
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Summary : This book constitutes the Proceedings of the Second International Conference of IFToMM ITALY, held in Cassino, Italy, in 2018. The main topics of the workshop include: Computational Kinematics, Dynamics of Machinery, Gearing and Transmissions, Multibody Dynamics, Mechatronics, Mechanism Design, Tribology, Vibration, Industrial and non-Industrial Applications.

Mathematical Models of Hysteresis

Mathematical Models of Hysteresis
  • Author : I.D. Mayergoyz
  • Publisher :Unknown
  • Release Date :2012-12-06
  • Total pages :207
  • ISBN : 9781461230281
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Summary : The purpose of this book is to describe in sufficient detail the mathematical models of hysteresis nonlinearities with "nonlocal memories. " The distinct feature of these nonlinearities is that their future states depend on past histories of input variations. It turns out that memories of hysteresis nonlinearities are quite selective. Indeed, experiments show that only some past input extrema (not the entire input variations) leave their marks upon future states of hysteresis nonlinearities. Thus, special mathematical tools are needed to describe nonlocal selective memories of hysteresis nonlinearities. The origin of such tools can be traced back to the landmark paper of Preisach. The book is primarily concerned with Preisach-type models of hysteresis. All these models have a common generic feature; they are constructed as superposi tions of simplest hysteresis nonlinearities-rectangular loops. The discussion is by and large centered around the following topics: various generalizations and extensions of the classical Preisach model (with special emphasis on vector generalizations), finding of necessary and sufficient conditions for the represen tation of actual hysteresis nonlinearities by various Preisach-type models, solution of identification problems for these models, and numerical implementa tion and experimental testing of Preisach-type models. Although the study of Preisach-type models constitutes the main subject of the book, some effort is also made to establish some interesting connections between these models and such topics as the critical state model for superconducting hysteresis, the classi cal Stoner-Wohlfarth model for vector magnetic hysteresis, thermal activation type models for viscosity, magnetostrictive hysteresis and neural networks.

Electric Drives and Electromechanical Systems

Electric Drives and Electromechanical Systems
  • Author : Richard Crowder
  • Publisher :Unknown
  • Release Date :2019-10-19
  • Total pages :322
  • ISBN : 9780081028858
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Summary : Electric Drives and Electromechanical Devices: Applications and Control, Second Edition, presents a unified approach to the design and application of modern drive system. It explores problems involved in assembling complete, modern electric drive systems involving mechanical, electrical, and electronic elements. This book provides a global overview of design, specification applications, important design information, and methodologies. This new edition has been restructured to present a seamless, logical discussion on a wide range of topical problems relating to the design and specification of the complete motor-drive system. It is organised to establish immediate solutions to specific application problem. Subsidiary issues that have a considerable impact on the overall performance and reliability, including environmental protection and costs, energy efficiency, and cyber security, are also considered. Presents a comprehensive consideration of electromechanical systems with insights into the complete drive system, including required sensors and mechanical components Features in-depth discussion of control schemes, particularly focusing on practical operation Includes extensive references to modern application domains and real-world case studies, such as electric vehicles Considers the cyber aspects of drives, including networking and security

IEEE RO-MAN 2018

IEEE RO-MAN 2018
  • Author : John-Joh Cabibihan
  • Publisher :Unknown
  • Release Date :2018
  • Total pages :229
  • ISBN : 1538679809
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Underactuated Robotic Hands

Underactuated Robotic Hands
  • Author : Lionel Birglen,Thierry Laliberté,Clément M. Gosselin
  • Publisher :Unknown
  • Release Date :2008-02-11
  • Total pages :244
  • ISBN : 9783540774587
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Summary : This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.

Feedback Systems

Feedback Systems
  • Author : Karl Johan Åström,Richard M. Murray
  • Publisher :Unknown
  • Release Date :2010-04-12
  • Total pages :408
  • ISBN : 9781400828739
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Summary : This book provides an introduction to the mathematics needed to model, analyze, and design feedback systems. It is an ideal textbook for undergraduate and graduate students, and is indispensable for researchers seeking a self-contained reference on control theory. Unlike most books on the subject, Feedback Systems develops transfer functions through the exponential response of a system, and is accessible across a range of disciplines that utilize feedback in physical, biological, information, and economic systems. Karl Åström and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. Åström and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. They provide exercises at the end of every chapter, and an accompanying electronic solutions manual is available. Feedback Systems is a complete one-volume resource for students and researchers in mathematics, engineering, and the sciences. Covers the mathematics needed to model, analyze, and design feedback systems Serves as an introductory textbook for students and a self-contained resource for researchers Includes exercises at the end of every chapter Features an electronic solutions manual Offers techniques applicable across a range of disciplines

Smart Helicopter Rotors

Smart Helicopter Rotors
  • Author : Ranjan Ganguli,Dipali Thakkar,Sathyamangalam Ramanarayanan Viswamurthy
  • Publisher :Unknown
  • Release Date :2015-12-16
  • Total pages :257
  • ISBN : 9783319247687
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Summary : Exploiting the properties of piezoelectric materials to minimize vibration in rotor-blade actuators, this book demonstrates the potential of smart helicopter rotors to achieve the smoothness of ride associated with jet-engined, fixed-wing aircraft. Vibration control is effected using the concepts of trailing-edge flaps and active-twist. The authors’ optimization-based approach shows the advantage of multiple trailing-edge flaps and algorithms for full-authority control of dual trailing-edge-flap actuators are presented. Hysteresis nonlinearity in piezoelectric stack actuators is highlighted and compensated by use of another algorithm. The idea of response surfaces provides for optimal placement of trailing-edge flaps. The concept of active twist involves the employment of piezoelectrically induced shear actuation in rotating beams. Shear is then demonstrated for a thin-walled aerofoil-section rotor blade under feedback-control vibration minimization. Active twist is shown to be significant in reducing vibration caused by dynamic stall. The exposition of ideas, materials and algorithms in this monograph is supported by extensive reporting of results from numerical simulations of smart helicopter rotors. This monograph will be a valuable source of reference for researchers and engineers with backgrounds in aerospace, mechanical and electrical engineering interested in smart materials and vibration control. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Wearable Robotics: Challenges and Trends

Wearable Robotics: Challenges and Trends
  • Author : José González-Vargas,Jaime Ibáñez,Jose L. Contreras-Vidal,Herman van der Kooij,José Luis Pons
  • Publisher :Unknown
  • Release Date :2016-10-04
  • Total pages :449
  • ISBN : 9783319465326
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Summary : The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 2nd International Symposium on Wearable Robotics, WeRob2016, held October 18-21, 2016, in Segovia, Spain, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2016 with the International Conference on Neurorehabilitation, INCR2016. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies.

Tensegrity Systems

Tensegrity Systems
  • Author : Robert E. Skelton,Mauricio C. de Oliveira
  • Publisher :Unknown
  • Release Date :2009-06-04
  • Total pages :216
  • ISBN : 9780387742427
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Summary : This book discusses analytical tools for designing energy efficient and lightweight structures that embody the concept of tensegrity. The book provides both static and dynamic analysis of special tensegrity structural concepts, which are motivated by biological material architecture. This is the first book written to attempt to integrate structure and control design.

Wearable Robots

Wearable Robots
  • Author : José L. Pons
  • Publisher :Unknown
  • Release Date :2008-04-15
  • Total pages :358
  • ISBN : 9780470987650
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Summary : A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.