Teleoperation Interface for sAFAM, a Solid Articulated Four Axes Microrobot

2021 ◽  
Author(s):  
Moath Alqatamin ◽  
Brooke Ritz ◽  
Andriy Sherehiy ◽  
Douglas Jackson ◽  
Ruoshi Zhang ◽  
...  
Keyword(s):  
Graphical User Interface ◽  
Degrees Of Freedom ◽  
Microelectromechanical Systems ◽  
Software Requirements ◽  
Experimental Setup ◽  
Control Solution ◽  
Translational Movement ◽  
Microscope Images ◽  
Mems Technology ◽  
And Control

Abstract The sAFAM is a novel mm-size microrobot built using MicroElectroMechanical Systems (MEMS) technology. It consists of a monolithically fabricated microrobotic arm assembled onto four in-plane actuators, capable of moving along four degrees of freedom, including translational movement in X and Y axes as well as pitch and yaw. In this paper, several design modifications were proposed to increase movement precision, stability, and controllability to the sAFAM tip. An interface is developed to assist a human operator accurately position the microrobot tip during nano-object handling. A Python-based graphical user interface (GUI) was programmed to make it intuitive for an operator to use and obtain required tip precision under a microscope. Experimental results demonstrate the functionality of the proposed control solution, and the tip motion resolution using microscope images of the microrobot tip under 20x magnification during operation. The hardware and software requirements for the proposed experimental setup and control platform are discussed in detail.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

Stability of Ring-Type MEMS Gyroscopes Subjected to Stochastic Angular Speed Fluctuation

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Samuel F. Asokanthan ◽  
Soroush Arghavan ◽  
Mohamed Bognash
Keyword(s):  
Angular Velocity ◽  
Degrees Of Freedom ◽  
Microelectromechanical Systems ◽  
Damping Ratio ◽  
Operating Conditions ◽  
System Stability ◽  
System Response ◽  
Ring Type ◽  
Mems Gyroscopes ◽  
The Stability

Effect of stochastic fluctuations in angular velocity on the stability of two degrees-of-freedom ring-type microelectromechanical systems (MEMS) gyroscopes is investigated. The governing stochastic differential equations (SDEs) are discretized using the higher-order Milstein scheme in order to numerically predict the system response assuming the fluctuations to be white noise. Simulations via Euler scheme as well as a measure of largest Lyapunov exponents (LLEs) are employed for validation purposes due to lack of similar analytical or experimental data. The response of the gyroscope under different noise fluctuation magnitudes has been computed to ascertain the stability behavior of the system. External noise that affect the gyroscope dynamic behavior typically results from environment factors and the nature of the system operation can be exerted on the system at any frequency range depending on the source. Hence, a parametric study is performed to assess the noise intensity stability threshold for a number of damping ratio values. The stability investigation predicts the form of threshold fluctuation intensity dependence on damping ratio. Under typical gyroscope operating conditions, nominal input angular velocity magnitude and mass mismatch appear to have minimal influence on system stability.

Novel die-sinking micro-electro discharge machining process using microelectromechanical systems technology

2006 ◽  
Vol 220 (9) ◽  
pp. 1481-1487 ◽  
Author(s):  
J-B Li ◽  
K Jiang ◽  
G J Davies
Keyword(s):  
Microelectromechanical Systems ◽  
Machining Process ◽  
Metallic Surface ◽  
Manufacturing Cost ◽  
Sem Images ◽  
Deep Reactive Ion Etching ◽  
Electro Discharge Machining ◽  
Mems Technology ◽  
Fabrication Condition ◽  
Edm Process

A novel die-sinking micro-electro discharge machining (EDM) process is presented for volume fabrication of metallic microcomponents. In the process, a high-precision silicon electrode is fabricated using deep reactive ion etching (DRIE) process of microelectromechanical systems (MEMS) technology and then coated with a thin layer of copper to increase the conductivity. The metalized Si electrode is used in the EDM process to manufacture metallic microcomponents by imprinting the electrode onto a flat metallic surface. The two main advantages of this process are that it enables the fabrication of metallic microdevices and reduces manufacturing cost and time. The development of the new EDM process is described. A silicon component was produced using the Surface Technology Systems plasma etcher and the DRIE process. Such components can be manufactured with a precision in nanometres. The minimum feature of the component is 50 μm. In the experiments, the Si component was coated with copper and then used as the electrode on an EDM machine of 1 μm resolution. In the manufacturing process, 130 V and 0.2 A currents were used for a period of 5 min. The SEM images of the resulting device show clear etched areas, and the electric discharge wave chart indicates a good fabrication condition. The experimental results have been analysed and the new micro-EDM process is found to be able to fabricate 25 μm features.

Agile micromirrors with three degrees of freedom manufactured with liquid MEMS technology

2002 ◽  
Author(s):  
Alan D. Feinerman ◽  
Gary Friedman ◽  
Elina Kasman ◽  
Jonathan Montgomery ◽  
Pancham R. Patel ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Mems Technology ◽  
Three Degrees Of Freedom

Design, Construction and Control of a Remotely Operated Vehicle (ROV)

2011 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Six Degrees Of Freedom ◽  
Depth Sensors ◽  
Control Schemes ◽  
On Line ◽  
Operation Unit ◽  
And Control ◽  
Design Construction

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.

scholarly journals Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

2016 ◽  
Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Space Exploration ◽  
Robot Design ◽  
The Novel ◽  
Flexible Design ◽  
Spherical Robot ◽  
Potential Benefits ◽  
And Performance ◽  
And Control

This paper presents the design, analysis and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees of freedom in movement and flexible design. However to fully take advantage of these properties a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable and power routing systems and increased design difficulty. Here we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture and simulations of TT-3, the first untethered, fully actuated cable-driven six-bar tensegrity spherical robot ever built and tested for mobility. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system’s behavior and performance.

New Hybrid Methodology for the Development of MEMS Multivariable Sensors

2001 ◽  
Author(s):  
Emily J. Pryputniewicz ◽  
John P. Angelosanto ◽  
Gordon C. Brown ◽  
Cosme Furlong ◽  
Ryszard J. Pryputniewicz
Keyword(s):  
Process Control ◽  
Microelectromechanical Systems ◽  
Absolute Pressure ◽  
Single Chip ◽  
Specific Test ◽  
Mems Sensor ◽  
Test Conditions ◽  
Mems Technology ◽  
Functional Operation ◽  
Hybrid Methodology

Abstract Using recent advances in microelectromechanical systems (MEMS) technology, a new multivariable sensor was developed. This MEMS sensor, capable of measuring temperature, absolute pressure, and differential pressure on a single chip, is particularly suitable for applications in process control industry. However, functional operation of the sensor depends on validation of its performance under specific test conditions. We have developed a hybrid methodology, based on analysis and measurements, that allows such validation. In this paper, the MEMS multivariable sensor is described, the hybrid methodology is outlined, and its use is illustrated with representative results.

Controlling Modular Reconfigurable Robots With Handheld Smart Devices

2011 ◽  
Author(s):  
David Ko ◽  
Nalaka Kahawatte ◽  
Harry H. Cheng
Keyword(s):  
Graphical User Interface ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Effective Control ◽  
Smart Devices ◽  
Modular Robots ◽  
Reconfigurable Robots ◽  
Processing Power ◽  
Static Data ◽  
Remote Controller

Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a versatile Graphical User Interface, a set of libraries and tools have been developed which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than a considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller’s ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through an obstacle course.

RF-MEMS Components and Networks for High-Performance Reconfigurable Telecommunication and Wireless Systems

2012 ◽  
Vol 81 ◽  
pp. 65-74 ◽  
Author(s):  
Jacopo Iannacci ◽  
Giuseppe Resta ◽  
Paola Farinelli ◽  
Roberto Sorrentino
Keyword(s):  
High Performance ◽  
Microelectromechanical Systems ◽  
Rf Mems ◽  
Low Cost ◽  
Impedance Matching ◽  
Phase Shifters ◽  
Rf Systems ◽  
Mems Technology ◽  
And Performance ◽  
Rf Performance

MEMS (MicroElectroMechanical-Systems) technology applied to the field of Radio Frequency systems (i.e. RF-MEMS) has emerged in the last 10-15 years as a valuable and viable solution to manufacture low-cost and very high-performance passive components, like variable capacitors, inductors and micro-relays, as well as complex networks, like tunable filters, reconfigurable impedance matching networks and phase shifters, and so on. The availability of such components and their integration within RF systems (e.g. radio transceivers, radars, satellites, etc.) enables boosting the characteristics and performance of telecommunication systems, addressing for instance a significant increase of their reconfigurability. The benefits resulting from the employment of RF-MEMS technology are paramount, being some of them the reduction of hardware redundancy and power consumption, along with the operability of the same RF system according to multiple standards. After framing more in detail the whole context of RF MEMS technology, this paper will provide a brief introduction on a typical RF-MEMS technology platform. Subsequently, some relevant examples of lumped RF MEMS passive elements and complex reconfigurable networks will be reported along with their measured RF performance and characteristics.

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