Design and characterization of a novel fabric-based robotic arm for future wearable robot application

2017 ◽  
Author(s):  
Xinquan Liang ◽  
Hong Kai Yap ◽  
Jin Guo ◽  
Raye Chen Hua Yeow ◽  
Yi Sun ◽  
...  
Keyword(s):  
Robotic Arm ◽  
Wearable Robot

Calibration and Characterization of a Magnetic Positioning System Using a Robotic Arm

2019 ◽  
Vol 68 (5) ◽  
pp. 1494-1502 ◽  
Author(s):  
Francesco Santoni ◽  
Alessio De Angelis ◽  
Isaac Skog ◽  
Antonio Moschitta ◽  
Paolo Carbone
Keyword(s):  
Robotic Arm ◽  
Positioning System

scholarly journals Construcción y control de posición de un prototipo de brazo robótico de dos grados de libertad

2012 ◽  
pp. 92-101
Author(s):  
Oscar Darío Zabaleta Laverde
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Pid Controllers ◽  
Tuning Method ◽  
Dc Motors ◽  
Starting Point ◽  
Reaction Curve ◽  
Physical Construction ◽  
Made In

La construcción física y el control electrónico del brazo robótico de dos grados de libertad, tiene como punto de partida la aproximación del sistema a las dinámicas de plantas de primer orden, donde a partir de la caracterización de la curva de reacción o comportamiento del brazo robótico, es posible la implementación de controladores PID con el método de sintonización de Ziegler y Nichols, que es sencillo y efectivo para el buen desempeño del prototipo expuesto en el presente artículo. En cuanto a la construcción del brazo robótico, es necesario resaltar el diseño y la implementacióndel acondicionamiento que requieren los actuadores del prototipo (Motorreductores DC) y los sensores que requiere el brazo (encoders de cuadratura), ya que deben ir acordescon el diseño y la construcción mecánica del brazo robótico, cuya estructura está elaborada en resina que se caracteriza por ser un material liviano y resistente al deterioro.Es necesario resaltar el acople de dos motores DC a la estructura mecánica del brazo robótico, cuya ubicación es indispensable para su correcta movilidad. Palabras claveBrazo robótico, controlador PID, lazo abierto y cerrado, actuadores y sensores. AbstractThe physical construction and electronic control of the robotic arm of two degrees of freedom has as a starting point the approach of the system to the plants dynamics of first order, where from the characterization of reaction curve or behavior of the robotic arm is possible the implementation of PID controllers with Ziegler and Nichols tuning method, that is simple and effective for the good performance of the prototype presented in this article. With regard to the construction of the robotic arm, it is necessary to highlight the design and implementation of the conditioning that requires the actuators of prototype (DC gearmotors) and sensors which requires the arm (squaring encoders), inasmuch as they must be consistent with the design and the mechanical constructionof the robotic arm, whose structure is made in resin that is characterized as a lighter material and resistant to decay.It is necessary to highlight the docking of two DC motors to the mechanical structure of the robotic arm, whose location is essential for its proper mobility.KeywordsRobotic arm, PID controller, open and closed loop, actuators and sensors. 

Robotic Arm for Automatic Sound Intensity Measurements

2016 ◽  
Author(s):  
Paul Kalbfleisch ◽  
Taeho Kim ◽  
Monika Ivantysynova
Keyword(s):  
Sound Intensity ◽  
Automatic Measurement ◽  
Measurement Procedure ◽  
Robotic Arm ◽  
Sound Power ◽  
Positive Displacement ◽  
Intensity Measurements ◽  
Successful Design ◽  
Specific Implementation

The characterization of the noise emitted by positive displacement machines serves as an important metric for the design of positive displacement machines and their corresponding systems. One method of characterizing the noise produced by positive displacement machines utilizes the two microphone-intensity probes at various locations surrounding the unit to approximate the total sound power generated by the machine in question. This paper proposes a method of utilizing a robotic arm to perform automatic sound intensity measurements (ASIM). This paper will explain the various theoretical motivations and justifications for the basic design concept as well as the specific implementation. All the necessary theoretical considerations and technical difficulties were accounted for in the successful design and manufacturing of an ASIM robot. To highlight the usefulness of the automatic measurement procedure, three case studies was performed to evaluate the robotic ASIM’s ability to measure sound power. A total of 1086 measurement locations were taken in order for each grid study to quantify the convergence of the field non-uniformity.

Morphological Characterization of Mycobacteriophage R1

1974 ◽  
Vol 32 ◽  
pp. 254-255
Author(s):  
B. L. Soloff ◽  
T. A. Rado
Keyword(s):  
Carbon Source ◽  
Stationary Phase ◽  
Growth Phase ◽  
Minimal Medium ◽  
Morphological Characterization ◽  
Logarithmic Growth Phase ◽  
Complete Lysis ◽  
Lysogenic Culture ◽  
Logarithmic Growth

Mycobacteriophage R1 was originally isolated from a lysogenic culture of M. butyricum. The virus was propagated on a leucine-requiring derivative of M. smegmatis, 607 leu−, isolated by nitrosoguanidine mutagenesis of typestrain ATCC 607. Growth was accomplished in a minimal medium containing glycerol and glucose as carbon source and enriched by the addition of 80 μg/ ml L-leucine. Bacteria in early logarithmic growth phase were infected with virus at a multiplicity of 5, and incubated with aeration for 8 hours. The partially lysed suspension was diluted 1:10 in growth medium and incubated for a further 8 hours. This permitted stationary phase cells to re-enter logarithmic growth and resulted in complete lysis of the culture.

AEM analysis of crystallization in Ti-based amorphous alloys

1983 ◽  
Vol 41 ◽  
pp. 270-271
Author(s):  
A.R. Pelton ◽  
A.F. Marshall ◽  
Y.S. Lee
Keyword(s):  
Magnetic Properties ◽  
Amorphous Alloys ◽  
Amorphous Materials ◽  
Isothermal Annealing ◽  
Amorphous Matrix ◽  
Nucleation And Growth ◽  
Current Interest ◽  
Amorphous Films ◽  
Electrical And Magnetic Properties

Amorphous materials are of current interest due to their desirable mechanical, electrical and magnetic properties. Furthermore, crystallizing amorphous alloys provides an avenue for discerning sequential and competitive phases thus allowing access to otherwise inaccessible crystalline structures. Previous studies have shown the benefits of using AEM to determine crystal structures and compositions of partially crystallized alloys. The present paper will discuss the AEM characterization of crystallized Cu-Ti and Ni-Ti amorphous films.Cu60Ti40: The amorphous alloy Cu60Ti40, when continuously heated, forms a simple intermediate, macrocrystalline phase which then transforms to the ordered, equilibrium Cu3Ti2 phase. However, contrary to what one would expect from kinetic considerations, isothermal annealing below the isochronal crystallization temperature results in direct nucleation and growth of Cu3Ti2 from the amorphous matrix.

Characterization of Coherent, Ordered Precipitates in Nickel-Base Alloys

1973 ◽  
Vol 31 ◽  
pp. 144-145
Author(s):  
B. H. Kear ◽  
J. M. Oblak
Keyword(s):  
Stable Phase ◽  
Nickel Base Superalloy ◽  
Alloy 718 ◽  
Commercial Alloy ◽  
Precipitate Morphology ◽  
Continuous Precipitation ◽  
Nickel Base ◽  
Base Superalloy ◽  
Strengthening Precipitate

A nickel-base superalloy is essentially a Ni/Cr solid solution hardened by additions of Al (Ti, Nb, etc.) to precipitate a coherent, ordered phase. In most commercial alloy systems, e.g. B-1900, IN-100 and Mar-M200, the stable precipitate is Ni3 (Al,Ti) γ′, with an LI2structure. In A lloy 901 the normal precipitate is metastable Nis Ti3 γ′ ; the stable phase is a hexagonal Do2 4 structure. In Alloy 718 the strengthening precipitate is metastable γ″, which has a body-centered tetragonal D022 structure.Precipitate MorphologyIn most systems the ordered γ′ phase forms by a continuous precipitation re-action, which gives rise to a uniform intragranular dispersion of precipitate particles. For zero γ/γ′ misfit, the γ′ precipitates assume a spheroidal.

The Use of Advanced Analytical Techniques for Characterization of the Chemical, Physical, and Crystallographic Nature of a Surface

1973 ◽  
Vol 31 ◽  
pp. 132-133 ◽  
Author(s):  
R. E. Herfert
Keyword(s):  
Surface Characterization ◽  
Analytical Techniques ◽  
X Ray Diffraction ◽  
Depth Of Penetration ◽  
X Ray ◽  
The Past ◽  
Transmission Electron ◽  
Scanning Electron

Studies of the nature of a surface, either metallic or nonmetallic, in the past, have been limited to the instrumentation available for these measurements. In the past, optical microscopy, replica transmission electron microscopy, electron or X-ray diffraction and optical or X-ray spectroscopy have provided the means of surface characterization. Actually, some of these techniques are not purely surface; the depth of penetration may be a few thousands of an inch. Within the last five years, instrumentation has been made available which now makes it practical for use to study the outer few 100A of layers and characterize it completely from a chemical, physical, and crystallographic standpoint. The scanning electron microscope (SEM) provides a means of viewing the surface of a material in situ to magnifications as high as 250,000X.

Skeletal elements of crinoid echinoderms: High-resolution structural and microanalytical results

1983 ◽  
Vol 41 ◽  
pp. 194-195
Author(s):  
D. F. Blake ◽  
L. F. Allard ◽  
D. R. Peacor
Keyword(s):  
High Resolution ◽  
Marine Invertebrates ◽  
Sea Urchins ◽  
Structural Features ◽  
Sea Stars ◽  
High Resolution Tem ◽  
Relationship Of ◽  
The Relationship ◽  
Insight Into

Echinodermata is a phylum of marine invertebrates which has been extant since Cambrian time (c.a. 500 m.y. before the present). Modern examples of echinoderms include sea urchins, sea stars, and sea lilies (crinoids). The endoskeletons of echinoderms are composed of plates or ossicles (Fig. 1) which are with few exceptions, porous, single crystals of high-magnesian calcite. Despite their single crystal nature, fracture surfaces do not exhibit the near-perfect {10.4} cleavage characteristic of inorganic calcite. This paradoxical mix of biogenic and inorganic features has prompted much recent work on echinoderm skeletal crystallography. Furthermore, fossil echinoderm hard parts comprise a volumetrically significant portion of some marine limestones sequences. The ultrastructural and microchemical characterization of modern skeletal material should lend insight into: 1). The nature of the biogenic processes involved, for example, the relationship of Mg heterogeneity to morphological and structural features in modern echinoderm material, and 2). The nature of the diagenetic changes undergone by their ancient, fossilized counterparts. In this study, high resolution TEM (HRTEM), high voltage TEM (HVTEM), and STEM microanalysis are used to characterize tha ultrastructural and microchemical composition of skeletal elements of the modern crinoid Neocrinus blakei.

Some applications of electron beam microanalysis techniques in VLSI process evaluation

1983 ◽  
Vol 41 ◽  
pp. 160-161
Author(s):  
Simon Thomas
Keyword(s):  
Integrated Circuits ◽  
Process Evaluation ◽  
Large Scale ◽  
Technology Development ◽  
Analytical Techniques ◽  
Successful Implementation ◽  
Analysis Of Failures ◽  
Characterization Of Materials ◽  
Circuits Vlsi

Trends in the technology development of very large scale integrated circuits (VLSI) have been in the direction of higher density of components with smaller dimensions. The scaling down of device dimensions has been not only laterally but also in depth. Such efforts in miniaturization bring with them new developments in materials and processing. Successful implementation of these efforts is, to a large extent, dependent on the proper understanding of the material properties, process technologies and reliability issues, through adequate analytical studies. The analytical instrumentation technology has, fortunately, kept pace with the basic requirements of devices with lateral dimensions in the micron/ submicron range and depths of the order of nonometers. Often, newer analytical techniques have emerged or the more conventional techniques have been adapted to meet the more stringent requirements. As such, a variety of analytical techniques are available today to aid an analyst in the efforts of VLSI process evaluation. Generally such analytical efforts are divided into the characterization of materials, evaluation of processing steps and the analysis of failures.

Irradiation behavior of pyrolytic silicon carbide

1983 ◽  
Vol 41 ◽  
pp. 72-73
Author(s):  
R. J. Lauf
Keyword(s):  
Silicon Carbide ◽  
Fission Products ◽  
Thermodynamics And Kinetics ◽  
Neutron Fluences ◽  
Fuel Particles ◽  
Sic Coatings ◽  
Irradiation Behavior ◽  
Kinetics Of ◽  
Htgr Fuel

Fuel particles for the High-Temperature Gas-Cooled Reactor (HTGR) contain a layer of pyrolytic silicon carbide to act as a miniature pressure vessel and primary fission product barrier. Optimization of the SiC with respect to fuel performance involves four areas of study: (a) characterization of as-deposited SiC coatings; (b) thermodynamics and kinetics of chemical reactions between SiC and fission products; (c) irradiation behavior of SiC in the absence of fission products; and (d) combined effects of irradiation and fission products. This paper reports the behavior of SiC deposited on inert microspheres and irradiated to fast neutron fluences typical of HTGR fuel at end-of-life.

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