2012 First International Conference on Innovative Engineering Systems最新文献

Control system simulation for endoscopie surgical manipulator based on virtual chain approach 基于虚拟链方法的内镜手术机械臂控制系统仿真

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530839

K. Ibrahim, A. Ramadan, M. Farmi, Y. Kobayashi, A. Abo-Ismail, M. Fujie

{"title":"Control system simulation for endoscopie surgical manipulator based on virtual chain approach","authors":"K. Ibrahim, A. Ramadan, M. Farmi, Y. Kobayashi, A. Abo-Ismail, M. Fujie","doi":"10.1109/ICIES.2012.6530839","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530839","url":null,"abstract":"This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122977718","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Elimination of building error in Rapid Manufacturing using iterative off-line building algorithm 利用迭代离线构建算法消除快速制造中的构建误差

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530873

M. Hamoud, A. El-Wahab, A. Barakat

{"title":"Elimination of building error in Rapid Manufacturing using iterative off-line building algorithm","authors":"M. Hamoud, A. El-Wahab, A. Barakat","doi":"10.1109/ICIES.2012.6530873","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530873","url":null,"abstract":"Rapid Manufacturing (RM) is a recent technology which provides new opportunities in the manufacture of highly complex physical models, from a 3D CAD data. Unfortunately, the current CAD/CAM systems don't provide any guidance to the user to predict or eliminate the building error. This paper presents an application study to analyze the dimensional building error of selected model. The study is started by reading the CAD file data, reorienting the model in definite different building orientation angles about its own axes, and then slicing the model with different values of layer thickness. The resulted errors at each layer thickness with different angles are then calculated and finally the suitable building orientation and suitable layer thickness that eliminate the error in Z-direction of the physical model is suggested. This study helps in building a complete physical model without wasting any material depending on its dimensions. It also provides guidance and valuable information to the RM users to get the best choice of process parameters without extra arbitrary trials before the actual building process.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122025050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Dimensional reduction effect on momentum of carrier electrons in nanoscale silicon materials 纳米硅材料中载流子动量的降维效应

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530848

K. Nakamura

引用次数: 2

Multi-objective optimization for number of joints and lengths of multi-jointed robot arm 多关节机械臂关节数和长度的多目标优化

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530869

Hyeongjun Kim, H. Yamakawa

引用次数: 2

A new configuration of a two-wheeled double inverted pendulum-like robotic vehicle with movable payload on an inclined plane 一种倾斜平面上可移动载荷的两轮双倒摆机器人车辆的新结构

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530852

A. M. Almeshal, K. Goher, M. Tokhi, S. A. Agouri

引用次数: 4

Automated textile defects recognition system using computer vision and interval type-2 fuzzy logic 基于计算机视觉和区间2型模糊逻辑的纺织品缺陷自动识别系统

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530861

N. A. Khalifa, S. Darwish, M. A. El-Iskandarani

引用次数: 3

Novel hybrid ground/aerial autonomous robot 新型混合地面/空中自主机器人

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530853

M. Elsamanty, M. Fanni, A. Ramadan

{"title":"Novel hybrid ground/aerial autonomous robot","authors":"M. Elsamanty, M. Fanni, A. Ramadan","doi":"10.1109/ICIES.2012.6530853","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530853","url":null,"abstract":"This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132507551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

Accurate indoor localization based on RSSI with adaptive environmental parameters in wireless sensor networks 基于自适应环境参数RSSI的无线传感器网络室内精确定位

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530866

R. A. Z. El-din, M. Rizk

引用次数: 4

Indoor positioning based on difference between carrier-phases transmitted from proximately-located antennas of a multi-channel pseudolite 基于多通道伪卫星近端天线发射载波相位差的室内定位

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530862

Y. Sakamoto, Y. Totoki, T. Ebinuma, K. Fujii, S. Sugano

引用次数: 1

A potential field and bug compound navigation algorithm for nonholonomic wheeled robots 非完整轮式机器人的势场与bug复合导航算法

2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530864

Ji-wung Choi

引用次数: 5