scholarly journals Algorithms for the Motion of Randomly Positioned Hexagonal and Square Microparts on a “Smart Platform” with Electrostatic Forces and a New Method for Their Simultaneous Centralization and Alignment

Micromachines ◽  
2019 ◽  
Vol 10 (12) ◽  
pp. 874
Author(s):  
Georgia Kritikou ◽  
Nikos Aspragathos ◽  
Vassilis Moulianitis
Keyword(s):  
Collision Avoidance ◽  
Center Of Mass ◽  
Initial Configuration ◽  
New Method ◽  
Electrostatic Forces ◽  
Multiple Electrodes ◽  
Parallel Motion ◽  
Glass Type

In this paper, an approach is proposed for the simultaneous manipulation of multiple hexagonal and square plastic–glass type microparts that are positioned randomly on a smart platform (SP) using electrostatic forces applied by the suitable activation of circular conductive electrodes. First, the statics analysis of a micropart on the SP is presented in detail and the forces and torques that are applied to and around the center of mass (COM) respectively due to the activation of a SP electrode are determined. The “single electrode activation” (SEA) and the “multiple electrodes activations” (MEA) algorithms are introduced to determine the feasible SP electrodes activations for the microparts manipulation considering their initial configuration. An algorithm for the simultaneous handling of multiple microparts is studied considering the collision avoidance with neighboring microparts. An approach is presented for the simultaneous centralization and alignment of the microparts preparing them for their batch parallel motion on the SP. The developed algorithms are applied to a simulated platform and the results are presented and discussed.

A New Method for Completely Force Balancing Simple Linkages

1969 ◽  
Vol 91 (1) ◽  
pp. 21-26 ◽  
Author(s):  
R. S. Berkof ◽  
G. G. Lowen
Keyword(s):  
Center Of Mass ◽  
Time Dependent ◽  
New Method ◽  
Practical Applications ◽  
Mass Distributions ◽  
Linearly Independent ◽  
Planar Linkages

A new method, herein referred to as the “Method of Linearly Independent Vectors,” is shown to permit the complete force balancing of certain planar linkages. This method consists of writing the equation describing the position of the total mechanism center of mass in such a way that the coefficients of the time-dependent terms may be set equal to zero. In this way, the total center of mass can be made stationary, and the shaking force vanishes. Derivations as well as practical applications are shown for four-bar and six-bar linkages with arbitrary link mass distributions.

Grasp Motion Planning with Redundant DOF of Grasping Pose

2013 ◽  
Vol 25 (3) ◽  
pp. 538-544 ◽  
Author(s):  
Kazuyuki Nagase ◽  
◽  
Yasumichi Aiyama
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Target Object ◽  
Degree Of Freedom ◽  
New Method ◽  
Redundant Manipulators ◽  
Grasp Planning

In this paper, we propose a new method of grasp planning for a manipulator with a parallel jaw gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environments. In general, however, a redundant degree of freedom (DOF) is required to avoid obstacle and to grasp. In our proposal, we pay attention to redundant DOF in a grasping pose. Using redundant DOF in a grasping pose, a manipulator can avoid obstacles and grasp a target object. It does not require any redundant manipulators.

Collision Avoidance for a Multiple-DOF Manipulator Based on Empty Space Analysis of the 3-D Real World

1992 ◽  
Vol 4 (5) ◽  
pp. 430-436 ◽  
Author(s):  
Hiromu Onda ◽  
◽  
Tsutomu Hasegawa ◽  
Toshihiro Matsui ◽  
Keyword(s):  
Collision Avoidance ◽  
Real World ◽  
Degrees Of Freedom ◽  
Empty Space ◽  
Joint Space ◽  
Degree Of Freedom ◽  
New Method ◽  
Promising Direction ◽  
Space Analysis ◽  
Path Search

This paper describes a new method for finding collisionfree paths for a multiple-degree of freedom (DOF) manipulator with rotational joints and a grasped object. The method first analyzes the structure of empty space in the 3-D workspace. Based on this space analysis, the path search is divided and direction which appears to be most promising is determined in the 3-D workspace. Finally, the path search is systematically executed in the joint space in the direction equivalent to the promising direction. This method is applicable to various problems regardless of the number of degrees of freedom of the manipulator, its structure, and the presence of a grasped object.

Complete Force Balancing of Spatial Linkages

1971 ◽  
Vol 93 (2) ◽  
pp. 620-626 ◽  
Author(s):  
Roger E. Kaufman ◽  
George N. Sandor
Keyword(s):  
Center Of Mass ◽  
Time Dependent ◽  
New Method ◽  
Operator Equations ◽  
Spatial Linkages ◽  
The Given

A new method permits the complete force balancing of spatial linkages such as the RSSR and RSSP mechanisms. Operator equations are written describing the location of the center of mass for the given mechanism. The coefficients of the time-dependent terms are set to zero by properly locating the mass centers of selected links. As a result, the location of the total center of mass is invariant and there is no resultant shaking force.

Complete Balancing of Multicylinder Engines Without Requiring Harmonic Balancers

1995 ◽  
Author(s):  
Cemil Bagci
Keyword(s):  
Angular Momentum ◽  
Center Of Mass ◽  
New Method ◽  
Harmonic Force ◽  
Vector Method ◽  
Numerical Examples ◽  
Single Cylinder ◽  
Linearly Independent ◽  
Phase Angles ◽  
Shaking Moment

Abstract Presently used balancing methods for multicylinder engines and pumps are for partial balancing. As a result the complete shaking force, shaking torque, and shaking moment balancings of engines require the use of harmonic force and harmonic torque and moment balancers. This article presents a new method for complete shaking force and shaking moment balancing of multicylinder engines that requires no harmonic balancers. This is achieved by keeping the total center of mass of each slider crank loop stationary, where the design equations are developed using a linearly independent mass vector method. Balancing the shaking force also balances the shaking moment. Shaking torque is balanced by eliminating the angular momentum of each mechanism loop and by arranging the phase angles of the crank throws. Four-, six-, and eight-cylinder engines are balanced in the numerical examples given. Two methods of completely balancing single-cylinder engines are also given.

Dual Robot Control for Part Handling Services with Human Interaction

2012 ◽  
pp. 338-356
Author(s):  
Theodor Borangiu ◽  
Florin Daniel Anton ◽  
Silvia Anton
Keyword(s):  
Collision Avoidance ◽  
Robot Control ◽  
Human Interaction ◽  
New Method ◽  
Human Operator ◽  
Depth Sensor ◽  
Robot System ◽  
Natural Interaction ◽  
Depth Sensors ◽  
The Right

The chapter also discusses a new method of using robots to interact with humans (natural interaction) to provide assistance services. Using depth sensors, the robots are able to detect the human operator and to avoid collisions. Collision avoidance is implemented using a depth sensor, which monitors the activity outside and inside the multi-robot system workspace, using skeleton tracking, which allows the robot to detect collisions and stop the motion at the right time.

Null Correlation Method for Estimation of the Primary Energies of Cosmic Ray Jets

1973 ◽  
Vol 51 (8) ◽  
pp. 804-813
Author(s):  
Robert E. Streitmatter
Keyword(s):  
Monte Carlo ◽  
Center Of Mass ◽  
Monte Carlo Model ◽  
Correlation Method ◽  
Cosmic Ray ◽  
High Energy ◽  
Cloud Chamber ◽  
New Method ◽  
Cosmic Ray Interactions

A new method for estimating the center of mass of high energy cosmic ray interactions is introduced and tested with a simple Monte Carlo model and a small number of cloud chamber jets.

Distributed Multi-Objective Algorithm for Preventing Multi-Ship Collisions at Sea

2020 ◽  
Vol 73 (5) ◽  
pp. 971-990 ◽  
Author(s):  
Jinxin Li ◽  
Hongbo Wang ◽  
Zhiying Guan ◽  
Chong Pan
Keyword(s):  
Collision Avoidance ◽  
Distributed Algorithm ◽  
New Method ◽  
Free Solution ◽  
Multi Objective ◽  
Ant Lion ◽  
Velocity Obstacle

Avoidance of collisions at sea is crucial to navigational safety. In this paper, we use a distributed algorithm to communicate the entire collision avoidance trajectory information for each ship. In each communication, we suggest a new improvement function considering safety and efficiency to identify the avoidance ship in each cycle. Considering the nonlinear collision avoidance trajectory of ships, a new method for calculating the degree of danger using a velocity obstacle algorithm is proposed. Therefore, in each communication, each ship considers the avoidance behaviours of other ships in planning its avoidance trajectory. Additionally, we combine bi-criterion evolution (BCE) and the ant lion optimiser to plan the entire collision avoidance path. Three scenarios are designed to demonstrate the performance of this method. The results show that the proposed method can find a suitable collision-free solution for all ships.

Research on Fast Locating Solder Joint on Fully-Automatic LED Wire Bonder

2011 ◽  
Vol 105-107 ◽  
pp. 1827-1830
Author(s):  
Zhi Chao Huang ◽  
Mu Liu ◽  
Hua Dong Liu ◽  
Xing Ming Fan ◽  
Yi Zhong
Keyword(s):  
Solder Joint ◽  
Center Of Mass ◽  
Window Size ◽  
Adaptive Threshold ◽  
New Method ◽  
Median Filtering ◽  
Adaptive Window ◽  
Grey Scale ◽  
Fully Automatic ◽  
Potential Area

A new method is put forward to positioning solder joints on fully-automatic LED wire bonder. In the method, the image of a LED micro-chip is first processed with GPU by median filtering based on average and adaptive window size. Then the potential areas of the micro-chip are determined by the algorithm of adaptive threshold for image. These potential areas are stored in groups according to distances. The best potential area of each group is screened out in terms of symmetrical features of grey scale after that it is a weighted process. Finally, the LED micro-chip solder joint is precisely located by calculating the center of mass. The results show that the proposed method is fast, accurate, effective, suitable for automation, and has no requirement to the consistency of the shape of LED micro-chips.

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