An integrated approach for the design and development of a grasping and manipulation system in humanoid robotics

2002 ◽  
Author(s):  
P. Dario ◽  
C. Laschi ◽  
M.C. Carrozza ◽  
E. Guglielmelli ◽  
G. Teti ◽  
...  
Keyword(s):  
Integrated Approach ◽  
Design And Development ◽  
Humanoid Robotics ◽  
Manipulation System ◽  
Grasping And Manipulation

Design and Development of a Fused Vision Force Controller for Nanofiber Grasping and Manipulation

2007 ◽  
Author(s):  
Reza Saeidpourazar ◽  
Nader Jalili
Keyword(s):  
Inverse Kinematics ◽  
Force Feedback ◽  
Atomic Scale ◽  
Design And Development ◽  
Robust Controller ◽  
Grasping And Manipulation ◽  
Performance Capability ◽  
Fabric Production ◽  
Perturbation Estimation ◽  
Vision Feedback

This paper presents the design and development of a fused vision force feedback robust controller for a nanomanipulator used in nanofiber grasping and nano-fabric production applications. The RRP (Revolute Revolute Prismatic) manipulator considered here utilizes two rotational motors with 0.1 μrad resolution and one linear Nanomotor® with 0.25 nm resolution. Weighing just about 30g and having short lever arms (<5cm), the manipulator is capable of achieving well-behaved kinematic characteristics without the backlash in addition to atomic scale precision to guarantee accurate manipulation at the nanoscale. A mathematical model of the nanomanipulator is formulated and both direct and inverse kinematics of the system as well as dynamic equations are presented. A fused force vision feedback based modified optimal robust controller with perturbation estimation for nanomanipulator positioning is then derived and analyzed extensively. Unlike typical macroscale manipulator models and controllers, the controller development is not trivial here due to nanoscale movement and forces, coupled with unmodeled dynamics, nonlinear structural dynamics and mainly lack of position and velocity feedback in this nanomanipulator. Following the development of the fused force vision robust controller, numerical simulations of the proposed controller are preformed to demonstrate the positioning performance capability in nanofiber grasping applications.

Integrating ‘Designerly’ Ways with Engineering Science

2011 ◽  
pp. 173-194
Author(s):  
Ian de Vere ◽  
Gavin Melles
Keyword(s):  
Product Development ◽  
Product Design ◽  
Integrated Approach ◽  
Product Development Process ◽  
Professional Activity ◽  
Mutual Understanding ◽  
Engineering Science ◽  
Design Teams ◽  
Design And Development ◽  
Design Engineers

The fields of design and engineering both contribute to product design and development. Increasingly design teams require an integrated approach in environments where mutual understanding and respect replace traditional professional rivalries. These new synergies both enhance communication and understanding between designers and engineers and lead engineering into new areas of professional activity. Engineers are integral to the product development process, but change in product development and manufacturing requires new responsibilities; design engineers must assume a greater role to achieve successful product realisation. However, to be effective engineers must develop new skills; creative design ability, understanding of societal and environmental impacts and a human-centred approach. These themes, not typically addressed by engineering curricula are evident in a new approach to engineering education - product design engineering. This chapter addresses issues confronting product design and development and examines the emergence of this new engineering professional in response.

Toward a learner-centered system for adult learning

2013 ◽  
Vol 31 (1) ◽  
pp. 2-13 ◽  
Author(s):  
Henry Hermans ◽  
Marco Kalz ◽  
Rob Koper
Keyword(s):  
Learning Environments ◽  
Integrated Approach ◽  
Learning System ◽  
Design And Development ◽  
Content Type ◽  
Personal Learning ◽  
The Social ◽  
E Learning ◽  
Personal Context ◽  
Learner Perspective

Purpose – The purpose of this paper is to present an e-learning system that integrates the use of concepts of virtual learning environments, personal learning environments, and social network sites. The system is based on a learning model which comprises and integrates three learning contexts for the adult learner: the formal, instructional context, the personal context for learning management, and the social peer context. The paper outlines how the Open University of the Netherlands (OUN) implemented this model in the OpenU system and has piloted this system within the field of a MSc Program in the learning sciences. Design/methodology/approach – The paper describes the design and development of an integrated e-learning system following an ADDIE-based strategy and shows how the resulting system has been piloted. Findings – The result of the design and development process is an integrated e-learning system that was piloted with the OUN. Research limitations/implications – The limitations of the paper are that the paper reports only on the learner perspective. The paper does not report on the implication for faculty and staff. Additionally, a key question that needs further research is how the integrated approach will affect learner dropout rates. Originality/value – The value of the paper is that it provides an integrated e-learning approach, bringing together the personal, formal as well as informal context into one system.

Boeing CST-100 Landing and Recovery System Design and Development an Integrated Approach to Landing

2013 ◽  
Author(s):  
John McCann ◽  
Todd C. DePauw ◽  
John McKinney ◽  
Preston Ferguson ◽  
Melanie Weber ◽  
...  
Keyword(s):  
System Design ◽  
Integrated Approach ◽  
Design And Development ◽  
Recovery System

Integrating ‘Designerly’ Ways with Engineering Science

2012 ◽  
pp. 56-78
Author(s):  
Ian de Vere ◽  
Gavin Melles
Keyword(s):  
Product Development ◽  
Product Design ◽  
Integrated Approach ◽  
Product Development Process ◽  
Professional Activity ◽  
Mutual Understanding ◽  
Engineering Science ◽  
Design Teams ◽  
Design And Development ◽  
Design Engineers

The fields of design and engineering both contribute to product design and development. Increasingly design teams require an integrated approach in environments where mutual understanding and respect replace traditional professional rivalries. These new synergies both enhance communication and understanding between designers and engineers and lead engineering into new areas of professional activity. Engineers are integral to the product development process, but change in product development and manufacturing requires new responsibilities; design engineers must assume a greater role to achieve successful product realisation. However, to be effective engineers must develop new skills; creative design ability, understanding of societal and environmental impacts and a human-centred approach. These themes, not typically addressed by engineering curricula are evident in a new approach to engineering education - product design engineering. This chapter addresses issues confronting product design and development and examines the emergence of this new engineering professional in response.

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