scholarly journals Path Planning for 3-D In-Hand Manipulation of Micro-Objects Using Rotation Decomposition

Micromachines ◽  
2021 ◽  
Vol 12 (8) ◽  
pp. 986
Author(s):  
Pardeep Kumar ◽  
Michaël Gauthier ◽  
Redwan Dahmouche
Keyword(s):  
Main Idea ◽  
Robotic Manipulation ◽  
Moderate Increase ◽  
Adhesion Forces ◽  
Dexterous Manipulation ◽  
Confined Spaces ◽  
Direct Extension ◽  
Exponential Increase ◽  
Simulation Results ◽  
Arbitrary Objects

Robotic manipulation and assembly of micro and nanocomponents in confined spaces is still a challenge. Indeed, the current proposed solutions that are highly inspired by classical industrial robotics are not currently able to combine precision, compactness, dexterity, and high blocking forces. In a previous work, we proposed 2-D in-hand robotic dexterous manipulation methods of arbitrary shaped objects that considered adhesion forces that exist at the micro and nanoscales. Direct extension of the proposed method to 3-D would involve an exponential increase in complexity. In this paper, we propose an approach that allows to plan for 3-D dexterous in-hand manipulation with a moderate increase in complexity. The main idea is to decompose any 3-D motion into a 3-D translation and three rotations about specific axes related to the object. The obtained simulation results show that 3-D in-hand dexterous micro-manipulation of arbitrary objects in presence of adhesion forces can be planned in just few seconds.

Simulation of Liquid Meniscus and Microdrop Formation of a Capillary Gripper for Microparts Transfer

2014 ◽  
Vol 971-973 ◽  
pp. 915-919
Author(s):  
Le Feng Wang ◽  
Zhao Qi Chu ◽  
Zeng Hua Fan ◽  
Wei Bin Rong
Keyword(s):  
Local Stress ◽  
Adhesion Forces ◽  
Interface Pressure ◽  
Transfer Scheme ◽  
Liquid Meniscus ◽  
Pick And Place ◽  
Optimization And Control ◽  
Potential Risks ◽  
Simulation Results ◽  
And Control

Microparts transfer plays an important role in various micromanipulation and microassembly tasks. One typical way of microparts transfer is based on the pick-and-place method with a microgripper. Microparts have the potential risks to be damaged due to the local stress concentration when they are gripped and it is a great challenge to release them reliably due to adhesion forces at microscale. In this paper, a flexible and reliable pick-and-place transfer scheme with a capillary gripper is proposed and the principle of the transfer scheme is based on microdrop control. A series of simulations are also performed. For picking microparts, the simulation results show that meniscus can be adjusted by altering the interface pressure. For placing microparts, the controllable formation of microdrops shows the placing reliability. These results are helpful to further optimization and control of the proposed capillary gripper.

scholarly journals A review on modeling of flexible deformable object for dexterous robotic manipulation

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984889
Author(s):  
Yew Cheong Hou ◽  
Khairul Salleh Mohamed Sahari ◽  
Dickson Neoh Tze How
Keyword(s):  
Accurate Result ◽  
Robotic Manipulation ◽  
Deformable Objects ◽  
Object Modeling ◽  
Dexterous Manipulation ◽  
Deformable Object ◽  
Modeling Techniques ◽  
Different Types ◽  
Recent Advancement ◽  
Deformable Object Modeling

In this article, we present a review on the recent advancement in flexible deformable object modeling for dexterous manipulation in robotic system. Flexible deformable object is one of the most research topics in computer graphic, computer vision, and robotic literature. The deformable models are known as the construction of object with material parameters in virtual environment to describe the deformation behavior. Existing modeling techniques and different types of deformable model are described. Various approaches of deformable object modeling have been used in robotic recognition and manipulation in order to reduce the time and cost to obtain more accurate result. In robotic manipulation, object detection, classification, and recognition of deformable objects are always a challenging problem and required as a first step to imbue the robot to able handle these deformable objects. Furthermore, the dexterity of robot control is also another essential key in handling of deformable object which its manipulation strategies need to plan intelligently for each sequence process. We also discuss some deserving direction for further research based on most current contribution.

NEW CONCATENATION SCHEMES BASED ON THE MULTITHRESHOLD DECODERS OF CONVOLUTIONAL SELF-ORTHOGONAL CODES FOR GAUSSIAN CHANNELS

2021 ◽  
Vol 9 (4) ◽  
pp. 51-62
Author(s):  
Dina Satybaldina ◽  
◽  
Valery Zolotarev ◽  
Gennady Ovechkin ◽  
Zhuldyz Sailau kyzy ◽  
...  
Keyword(s):  
Viterbi Algorithm ◽  
Convolutional Codes ◽  
Performance Characteristics ◽  
Moderate Increase ◽  
Two Dimensional ◽  
Reed Solomon Codes ◽  
Gaussian Channels ◽  
Orthogonal Codes ◽  
Simulation Results ◽  
Decoding Delay

New serial concatenation schemes based on the multithreshold decoders and di- vergent principle for the convolutional self-orthogonal codes under Gaussian channels are proposed. Using both binary and symbolic decoders on the second decoding stage of the convolutional codes are considered. Simulation results are indicated the higher performance characteristics of the proposed cascade schemes on majority decoders in comparison with clas- sical schemes based on the Viterbi algorithm and Reed-Solomon codes. A moderate increase in decoding delay during concatenation is revealed. It is determined by the absence of the need to use traditional two-dimensional concatenated structures.

Performance Evaluation of Different Backoff Algorithms in IEEE 802.15.4 using Double Sensing

2017 ◽  
Vol 5 (2) ◽  
pp. 376
Author(s):  
Md. Mohibur Rahaman ◽  
Mohammad Khairul Islam ◽  
Kazi Ashrafuzzaman ◽  
Mohammad Sanaullah Chowdhury
Keyword(s):  
Performance Evaluation ◽  
Ieee 802.15.4 ◽  
The Other ◽  
Area Network ◽  
Exponential Increase ◽  
Exponential Decrease ◽  
Simulation Results ◽  
Personal Area Network ◽  
Low Rate ◽  
Better Than

<p>The IEEE 802.15.4 is the standard for Low Rate Wireless Personal Area network (LR-WPAN). It is widely used in many application areas. The standard uses Slotted CSMA/CA mechanism in its contention access period (CAP) for the beacon enabled mode. The protocol has two modes - single sensing (SS) and double sensing (DS). The protocol also adopts a binary exponential backoff (BEB) algorithm. In this paper, we explore the saturation throughput, delay and energy consumption of this standard with double sensing (DS) using the existing BEB algorithm. We also investigate three other backoff schemes - exponential increase exponential decrease (EIED), exponential increase linear decrease (EILD) and exponential increase multiplicative decrease (EIMD). From simulation results, it is found that the EIED, EILD, EIMD perform better than the BEB for higher loads. It shows that the EIED, EILD, EIMD have better throughput and lower delay than the BEB. The EIED outperforms the other schemes in terms of throughput, delay and energy for the higher loads.</p>

Design of a miniature modular inchworm robot with an anisotropic friction skin

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 521-538 ◽  
Author(s):  
Wael Saab ◽  
Peter Racioppo ◽  
Anil Kumar ◽  
Pinhas Ben-Tzvi
Keyword(s):  
High Frequency ◽  
Experimental Validation ◽  
Anisotropic Friction ◽  
Confined Spaces ◽  
Model And Simulation ◽  
Body Dynamics ◽  
Two Generations ◽  
Simulation Results ◽  
Multi Body ◽  
Friction Analysis

SUMMARYThis paper presents the design, analysis, and experimental validation of a miniature modular inchworm robot (MMIR). Inchworm robots are capable of maneuvering in confined spaces due to their small size, a desirable characteristic for surveillance, exploration and search and rescue operations. This paper presents two generations of the MMIR (Version 1—V1 and Version 2—V2) that utilize anisotropic friction skin and an undulatory rectilinear gait to produce locomotion. This paper highlights design improvements and a multi-body dynamics approach to model and simulate the system. The MMIR V2 incorporates a slider-crank four-bar mechanism and a relative body revolute joint to produce high-frequency relative translation and rotation to increase forward velocity and enable turning capabilities. Friction analysis and locomotion experiments were conducted to assess the systems performance on various surfaces, validate the dynamic model and simulation results, and measure the maximum forward velocity. The MMIR V1 and V2 were able to achieve maximum forward velocities of 12.7 mm/s and 137.9 mm/s, respectively. These results are compared to reported results of similar robots published in the literature.

The Application of Transfer Matrix Method for Multibody Systems in the Dynamics of Sail Mounted Hydroplanes System

2018 ◽  
Author(s):  
Dongyang Chen ◽  
Laith K. Abbas ◽  
Guoping Wang ◽  
Xiaoting Rui
Keyword(s):  
Transfer Matrix ◽  
Transfer Matrix Method ◽  
Matrix Method ◽  
Multibody Systems ◽  
Flow Model ◽  
Main Idea ◽  
Vibration Characteristic ◽  
Software Simulation ◽  
Structure Interaction ◽  
Simulation Results

Transfer Matrix Method for Multibody Systems (MSTMM) is easy to formulate, systematic to apply, simple to code and the matrices are low order which contributes to higher computational efficiency than ordinary dynamics methods. The main idea about how to simulate the vibration characteristic and hydroelastic behavior of a submarine sail mounted hydroplanes system based on MSTMM and coupled with Theodorsen flow model is presented in this paper. The simulation results are compared with those theoretical and experimental reported in the existing literature and commercial software simulation, and good results are obtained. The main idea of this paper provides a reference for dynamics of system with fluid-structure interaction (FSI) simulation and analysis of similar problems in the field of engineering.

Design and Analysis of a Miniature Modular Inchworm Robot

2016 ◽  
Author(s):  
Wael Saab ◽  
Anil Kumar ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Linear Expansion ◽  
Low Cost ◽  
Equations Of Motion ◽  
Search And Rescue ◽  
Linear Motion ◽  
Motion Modeling ◽  
Anisotropic Friction ◽  
Confined Spaces ◽  
Simulation Results ◽  
Friction Analysis

This paper presents the design and analysis of a bioinspired miniature modular Inchworm robot. Inchworm robots play crucial roles in surveillance, exploration and search and rescue operations where maneuvering in confined spaces is required. Rectilinear gaits have been demonstrated with favorable results in terms of stability and small size due to the absence of wheels and tracks; however, exhibit slow speeds. The proposed mechanism utilizes undulatory rectilinear gait motion through linear expansion/contraction of modules and anisotropic friction skin to produce pure linear motion. The use of anisotropic friction skin results in a simple, low cost, miniature mechanical structure. Friction analysis of the anisotropic material is performed and the system is modeled to derive its equations of motion. Modeling and simulation results are validated through experiments performed with an integrated prototype. Results indicate that the robot can achieves an average forward velocity of 11 mm/s on various surfaces.

Historical Nutrient Enrichment of Lake Ontario: Paleolimnological Evidence

1991 ◽  
Vol 48 (8) ◽  
pp. 1529-1538 ◽  
Author(s):  
Claire L. Schelske
Keyword(s):  
Primary Productivity ◽  
Nutrient Enrichment ◽  
Lake Ontario ◽  
Phosphorus Loading ◽  
Moderate Increase ◽  
Sediment Record ◽  
Carbon Production ◽  
European Settlement ◽  
Exponential Increase ◽  
Major Nutrients

Recent studies of Lake Ontario show four periods of nutrient enrichment that can be identified from the sediment record in this phosphorus-limited system: pristine phosphorus loads (early 1800s before European settlement), moderate increase in phosphorus loading after settlement (beginning approximately 1850), exponential increase in phosphorus loading from urban sources (approximately 1940–70), and decreased phosphorus loading as the result of phosphorus abatement strategies (beginning in mid-1970s). Paleolimnological data are used to infer new paradigms about historical dynamics and cycling of major nutrients. The temporal pattern of organic carbon production closely parallels changes in phosphorus loading. Silica supplies which were replete for diatom production before forest clearance in the mid-1800s became limiting for diatom production in the summer epilimnion after 1865 and in the water column after 1950. Silica reserves were depleted by increased diatom production and sedimentation that resulted from increased phosphorus loading. Biologically induced precipitation of calcite began after 1940 as an indirect effect of increased urban phosphorus loading on primary productivity. Calcite began to be precipitated when historical increases in CO2 utilized for primary productivity increased epilimnetic pH and the calcium carbonate saturation product was exceeded.

scholarly journals Method to Locate Contaminant Source and Estimate Emission Strength

2013 ◽  
Vol 2013 ◽  
pp. 1-7
Author(s):  
Qu Hongquan ◽  
Wang Yongjiao ◽  
Pang Liping ◽  
Chang Haijuan ◽  
Zhang Changnian
Keyword(s):  
Source Strength ◽  
Confined Space ◽  
Source Position ◽  
Remedial Action ◽  
Contaminant Source ◽  
Analysis Algorithm ◽  
Confined Spaces ◽  
Simulation Results ◽  
Emission Strength ◽  
Main Factor

People greatly concern the issue of air quality in some confined spaces, such as spacecraft, aircraft, and submarine. With the increase of residence time in such confined space, contaminant pollution has become a main factor which endangers life. It is urgent to identify a contaminant source rapidly so that a prompt remedial action can be taken. A procedure of source identification should be able to locate the position and to estimate the emission strength of the contaminant source. In this paper, an identification method was developed to realize these two aims. This method was developed based on a discrete concentration stochastic model. With this model, a sensitivity analysis algorithm was induced to locate the source position, and a Kalman filter was used to further estimate the contaminant emission strength. This method could track and predict the source strength dynamically. Meanwhile, it can predict the distribution of contaminant concentration. Simulation results have shown the virtues of the method.

scholarly journals Tactile Sensor Analysis during Early Stages of Manipulation for Single Grasp Identification of Daily Objects

2021 ◽  
Vol 6 (1) ◽  
pp. 56
Author(s):  
Vinicius Prado da Fonseca
Keyword(s):  
Wrist Joint ◽  
Somatosensory System ◽  
Tactile Sensor ◽  
Object Identification ◽  
Robotic Manipulation ◽  
Human Hand ◽  
Sample Collection ◽  
Dexterous Manipulation ◽  
Unstructured Environments ◽  
Early Phases

Dexterous robotic manipulation in unstructured environments is still challenging, despite the increasing number of robots entering human settings each day. Even though robotic manipulation provides complete solutions in factories and industries, it still lacks essential techniques, displaying clumsy or limited operation in unstructured environments. Daily objects typically aim at the human hand, and the human somatosensory system is responsible for solving all the complex calculations required for dexterous manipulations in unstructured settings. Borrowing concepts of the human visuotactile system can improve dexterous manipulation and increase robotics usage in unstructured environments. In humans, required finger and wrist joint adjustments occur after fast identification of the object in the initial stages of manipulation. Fast object identification during those phases may increase robotic dexterous manipulation performance. The present paper explores human-inspired concepts such as haptic glance to develop robotic single-grasp object identification. This concept can assist early phases of robotic manipulation, helping automated decision-making, such as type of grasp and joint position, during manipulation tasks. The main stages developed here are detecting sensor activation and sample collection using signal-to-noise and z-score filtering on tactile data. This procedure automates touch detection and reduces the sensor space for classification. Experiments on a daily objects dataset presented compelling results that will assist in the later stages of the early phases of robotic grasping.

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