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2012 First International Conference on Innovative Engineering Systems最新文献

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Assessment of walking quality by using Inertial Measurement Units 用惯性测量单元评价行走质量
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530837
K. Saito, M. Zecca, S. Sessa, Z. Lin, L. Bartolomeo, S. Cosentino, K. Petersen, H. Ishii, T. Ikai, A. Takanishi
{"title":"Assessment of walking quality by using Inertial Measurement Units","authors":"K. Saito, M. Zecca, S. Sessa, Z. Lin, L. Bartolomeo, S. Cosentino, K. Petersen, H. Ishii, T. Ikai, A. Takanishi","doi":"10.1109/ICIES.2012.6530837","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530837","url":null,"abstract":"A device for the gait analysis during a long-distance walking is important for the correct assessment of patients during the rehabilitation. This device should be able to measure all gait parameters in a single unit. In addition, it is required that the measurement system is not spatially constrained. In our group, we have been developing a new wireless system, namely WB-4R, composed of Inertial Measurement Units, to be used in rehabilitation centers for gait analysis that is cheap, small, and relatively maintenance-free. This paper presents the results of a pilot study conducted with healthy subjects. The system was able to detect the gait phase and provide frequency analysis of the angular velocity and acceleration of the lower limbs.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"37 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":"127827089","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: 5
Fully automatic system for producing carbon nanotubes (CNTs) by using arc-discharge technique multi electrodes 多电极电弧放电技术生产碳纳米管的全自动系统
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530850
S. Yousef, A. Khattab, T. Osman, M. Zaki
{"title":"Fully automatic system for producing carbon nanotubes (CNTs) by using arc-discharge technique multi electrodes","authors":"S. Yousef, A. Khattab, T. Osman, M. Zaki","doi":"10.1109/ICIES.2012.6530850","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530850","url":null,"abstract":"The production and industrial applications of carbon nanotubes (CNT) are recently the main concern of research in nanotechnology. CNT exhibit unique properties which have valuable commercial applications ranging from electronics to chemical processes. The main goal of the present paper is to develop the complete design of fully automatic system for producing carbon nanotubes (CNTs) by using deionized water and extra pure graphite multiple electrodes (99.9% pure). The advantage of the designed system is the increase yield of Carbon Nanotubes CNTs within the experimental limitations, through the increase of the number of cathodes and anodes and by using automatic feeding system for the electrodes, considering techniques at lower costs. The results of these experiments were examined by scanning electron microscope (HRSEM) and transmission electron microscope (HRTEM). The results show that the produced CNTs are multi-wall carbon nanotubes with average diameter of 25nm.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"1 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":"128754444","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: 9
Modeling and control of a new quadrotor manipulation system 新型四旋翼操纵系统的建模与控制
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530854
Alaa Khalifa, M. Fanni, Ahmed M. Ramadan, A. Abo-Ismail
{"title":"Modeling and control of a new quadrotor manipulation system","authors":"Alaa Khalifa, M. Fanni, Ahmed M. Ramadan, A. Abo-Ismail","doi":"10.1109/ICIES.2012.6530854","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530854","url":null,"abstract":"This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. Controller is designed based on feedback linearization to track desired trajectories. Controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"6 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":"130741745","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: 39
Design and development of Stewart platform-type assist device for ankle-foot rehabilitation Stewart平台型踝足康复辅助装置的设计与研制
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530835
T. Onodera, M. Ding, H. Takemura, H. Mizoguchi
{"title":"Design and development of Stewart platform-type assist device for ankle-foot rehabilitation","authors":"T. Onodera, M. Ding, H. Takemura, H. Mizoguchi","doi":"10.1109/ICIES.2012.6530835","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530835","url":null,"abstract":"In this research, we propose a novel ankle-foot assist device for rehabilitation. This device uses a Stewart platform mechanism to measure and assist the movements of a human ankle joint in six DOF. The Stewart platform mechanism adapts to the displacement of the rotation axis of a human ankle joint during the movement of a human foot. In this study, check the accuracy of motion measurement of this device and the performance of motion control of this assist device by conducting static measurement and motion reproduction experiments. The translation error and The rotation error were less than 0.5 [mm] and 0.6 [deg] respectively. The mean reproducibility of all subjects was 0.98 These experimental results show the validity of our proposed assist device.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"22 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":"133179257","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: 5
A mechatronic vision system for inspection of garnished wall plates 一种用于装饰墙板检测的机电视觉系统
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530859
W. A. El-Badry, A. M. Aly, F. Tolbah
{"title":"A mechatronic vision system for inspection of garnished wall plates","authors":"W. A. El-Badry, A. M. Aly, F. Tolbah","doi":"10.1109/ICIES.2012.6530859","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530859","url":null,"abstract":"Detecting drawn objects on reflective surfaces is a challenging process due to severe reflectivity of illumination even with the utilization of inclined light sources. Lens distortion, which is a common problem, could jeopardize the accuracy of metrics needed during assessment of ceramic plates to classify its quality. This paper proposes a complete mechatronic vision system covering all aspects of building a robust system for inspecting garnished wall plates.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"16 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":"127870963","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
Compliant worm-like robotic mechanism with decentrally controlled pneumatic artificial muscles 具有分散控制气动人造肌肉的柔顺蠕虫式机器人机构
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530877
M. Eder, M. Karl, A. Knoll, S. Riesner
{"title":"Compliant worm-like robotic mechanism with decentrally controlled pneumatic artificial muscles","authors":"M. Eder, M. Karl, A. Knoll, S. Riesner","doi":"10.1109/ICIES.2012.6530877","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530877","url":null,"abstract":"When human interacts with a robot, it must be guaranteed that in case of system failure no severe injury can happen. Thus either the control of the robotic device or the actuators or rather the mechanism itself have to necessarily comprise compliance. Compared to other solutions, using pneumatic artificial muscles (PAM) as actuators is an inexpensive way to end up with a mechanism that is compliant. The most challenging part here is the precision of the control, due to the highly non-linear properties of the PAM actuators [1]. This paper presents a prototypic implementation of a robotic mechanism which guarantees inherently compliant and thus human-friendly behavior. The novel idea of the shown concept is the high maneuverability due to cardan joint double axes with centrally fed actuator arrangement that allows more precise control as well as much more modularity than state of the art. A crucial challenge is the development of a smart control of the introduced mechanism, which has a labile equilibrium as a matter of principle.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"74 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":"127366558","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: 5
Nonlinear estimation method of a self-energizing clutch actuator load 自激离合器作动器负载的非线性估计方法
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530875
Jinsung Kim, J. Oh, Seibum B. Choi
{"title":"Nonlinear estimation method of a self-energizing clutch actuator load","authors":"Jinsung Kim, J. Oh, Seibum B. Choi","doi":"10.1109/ICIES.2012.6530875","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530875","url":null,"abstract":"Clutch torque estimation is an important problem in automotive transmission control. The self-energizing clutch actuator system has a novel mechanism to amplify the clutch torque for reducing actuation energy. The nonlinear disturbance observer is designed such that the clutch torque is estimated with guaranteeing asymptotic convergence by using the actuation motor measurement signal. The simulation result shows that the developed method is useful to identify the load characteristics of a self-energizing clutch actuator system in comparison with the result of proportional-integrative type observer.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"1 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":"130486522","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
Thin film heterostructure based on nano-polyaniline and porous silicon 基于纳米聚苯胺和多孔硅的薄膜异质结构
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530847
S. E. El-Zohary, M. Shenashen, T. Okamoto, M. Haraguchi
{"title":"Thin film heterostructure based on nano-polyaniline and porous silicon","authors":"S. E. El-Zohary, M. Shenashen, T. Okamoto, M. Haraguchi","doi":"10.1109/ICIES.2012.6530847","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530847","url":null,"abstract":"Heterojunction between n-type nanopoly-aniline and p-type porous silicon was fabricated chemically by in-situ polymerization method. Our method leads to excellent coverage of polyanilne and forming of homogenous polyaniline film upon the porous silicon wafer. The composition and morphology of the nano-polymer were confirmed by FTIR, SEM, UV-visible and TEM. Different parameters of heterojunction such as ideality factor, barrier height and series resistance values were calculated from I-V measurements at different temperature range. Ideality factor value indicated that NPANI/PSi SBD represents a non-ideal diode. The series resistance values are decreased with increasing temperature. The results also indicated that the polymerization took place throughout the porous layer.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"17 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113980241","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: 1
Shape characterization of a multi-modal tactile display device for biomedical applications 生物医学应用的多模态触觉显示装置的形状表征
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530836
N. A. Mansour, A. F. El-Bab, M. Abdellatif
{"title":"Shape characterization of a multi-modal tactile display device for biomedical applications","authors":"N. A. Mansour, A. F. El-Bab, M. Abdellatif","doi":"10.1109/ICIES.2012.6530836","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530836","url":null,"abstract":"Tactile display has recently been attracting much attention in medical applications such as Minimally Invasive Surgery-MIS. It is needed for surgeons to feel the tissue hardness during MIS. In this paper, a multi modal tactile display device is presented for displaying both shape and stiffness of soft tissues. The concept of design is built upon simple use of several springs which are made from Shape Memory Alloy, SMA, to control shape and stiffness. The mechanical design of the device is described, and sensors (displacement, current and force) are integrated with the device to control the SMA springs. The elongation spring, responsible for displaying the shape is characterized and controlled experimentally. The device shows it can display a displacement of 5 mm in 5 seconds with PI controller using LabVIEW software.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"51 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":"133484814","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: 5
Low cost tactile, force and size feedback system for surgical robotics 低成本手术机器人触觉、力和尺寸反馈系统
2012 First International Conference on Innovative Engineering Systems Pub Date : 2012-12-01 DOI: 10.1109/ICIES.2012.6530845
M. Yaqoob, S. R. Qaisrani, M. Waqas, Y. Ayaz, S. Iqbal, S. Nisar
{"title":"Low cost tactile, force and size feedback system for surgical robotics","authors":"M. Yaqoob, S. R. Qaisrani, M. Waqas, Y. Ayaz, S. Iqbal, S. Nisar","doi":"10.1109/ICIES.2012.6530845","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530845","url":null,"abstract":"Robotic manipulator is designed and analyzed at patient end which includes force and current sensors that allows the operator to get force, size and tactile feedback at the surgeon end. Three methods of feedback are used i.e. force sensors for exact force estimation, current sensing for tactile feedback and position estimation to replicate motion. The three mentioned methods are analyzed and developed on the PC. Graphs are obtained for objects of different strength and size by experiments on the gripper at the end of robotic manipulator. Master-Slave topology is used to attain some benefits over conventional control systems in term of ergonomics, accuracy and timing etc. Interactive GUI at master end shows us forces, size and motions at each joint of the slave unit. Gripper, yaw and pitch motion of robotic manipulator at slave or patient end is also controlled by surgeon using master controller.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"1 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":"122400955","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: 1
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