12,382 research outputs found
Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems
This document is a self-archiving copy of the accepted version of the paper.
Please find the final published version in IEEEXplore: http://dx.doi.org/10.1109/TE.2014.2358551This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to design FDD strategies for a real system. To this end, the paper proposes a lab project where students are requested to develop a discrete event dynamic system (DEDS) diagnosis to cope with two faulty conditions in an autonomous mobile robot task. A sample solution is discussed for LEGO Mindstorms NXT robots with LabVIEW. This innovative practice is relevant to higher education engineering courses related to mechatronics, robotics, or DEDS. Results are also given of the application of this strategy as part of a postgraduate course on fault-tolerant mechatronic systems.This work was supported in part by the Spanish CICYT under Project DPI2011-22443
An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners
This paper describes the design, manufacture, and performance of a highly
dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided
percutaneous needle biopsy. Direct CT guidance allows physicians to localize
tumours quickly; however, needle insertion is still performed by hand. This
system is mounted to a fully active gantry superior to the patient's head and
teleoperated by a radiologist. Unlike other similar robots, this robot's fully
serial-link approach uses a unique combination of belt and cable drives for
high-transparency and minimal-backlash, allowing for an expansive working area
and numerous approach angles to targets all while maintaining a small in-bore
cross-section of less than . Simulations verified the system's
expansive collision free work-space and ability to hit targets across the
entire chest, as required for lung cancer biopsy. Targeting error is on average
on a teleoperated accuracy task, illustrating the system's sufficient
accuracy to perform biopsy procedures. The system is designed for lung biopsies
due to the large working volume that is required for reaching peripheral lung
lesions, though, with its large working volume and small in-bore
cross-sectional area, the robotic system is effectively a general-purpose
CT-compatible manipulation device for percutaneous procedures. Finally, with
the considerable development time undertaken in designing a precise and
flexible-use system and with the desire to reduce the burden of other
researchers in developing algorithms for image-guided surgery, this system
provides open-access, and to the best of our knowledge, is the first
open-hardware image-guided biopsy robot of its kind.Comment: 8 pages, 9 figures, final submission to IROS 201
Navigation of mini swimmers in channel networks with magnetic fields
Controlled navigation of swimming micro robots inside fluid filled channels is necessary for applications in living tissues and vessels. Hydrodynamic behavior inside channels and interaction with channel walls need to be understood well for successful design and control of these surgical-tools-to-be. In this study, two different mechanisms are used for forward and lateral motion: rotation of helices in the direction of the helical axis leads to forward motion in the viscous fluid, and rolling due to wall traction results with the lateral motion near the wall. Experiments are conducted using a magnetic helical swimmer having 1.5 mm in length and 0.5 mm in diameter placed inside two different glycerol-filled channels with rectangular cross sections. The strength, direction and rotational frequency of the externally applied rotating magnetic field are used as inputs to control the position and direction of the micro swimmer in Y- and T-shaped channels
Dynamic simulation of task constrained of a rigid-flexible manipulator
A rigid-flexible manipulator may be assigned tasks in a moving environment
where the winds or vibrations affect the position and/or orientation of surface
of operation. Consequently, losses of the contact and perhaps degradation of
the performance may occur as references are changed. When the environment is
moving, knowledge of the angle α between the contact surface and the
horizontal is required at every instant. In this paper, different profiles for
the time varying angle α are proposed to investigate the effect of this
change into the contact force and the joint torques of a rigid-flexible
manipulator. The coefficients of the equation of the proposed rotating surface
are changing with time to determine the new X and Y coordinates of the moving
surface as the surface rotates
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