Design and analysis of a novel long-distance double tendon-sheath transmission device for breast intervention robots under MRI field

Cancer represents a major threat to human health. Magnetic resonance imaging (MRI) provides superior performance to other imaging-based examination methods in the detection of tumors and offers distinct advantages in biopsy and seed implantation. However, because of the MRI environment, the material requirements for actuating devices for the medical robots used in MRI are incredibly demanding. This paper describes a novel double tendon-sheath transmission device for use in MRI applications. LeBus grooves are used in the original transmission wheels, thus enabling the system to realize long-distance and large-stroke transmission with improved accuracy. The friction model of the transmission system and the transmission characteristics model of the novel tendon-sheath structure are then established. To address the problem that tension sensors cannot be installed in large-stroke transmission systems, a three-point force measurement method is used to measure and set an appropriate preload in the novel tendon-sheath transmission system. Additionally, experiments are conducted to verify the accuracy of the theoretical model and multiple groups of tests are performed to explore the transmission characteristics. Finally, the novel tendon-sheath transmission system is compensated to improve its accuracy and the experimental results acquired after compensation show that the system satisfies the design requirements

Bridges Structural Health Monitoring and Deterioration Detection Synthesis of Knowledge and Technology

INE/AUTC 10.0

Experimental investigation on the dynamic characteristics and transverse vibration instabilities of transmission belts

Serpentine belt drives are often used in front end accessory drive of automotive engine. Dynamic characteristics of belts play an important role in the behavior of such transmission and are inputs of simulation software. Moreover, free belt spans exhibit transverse vibration non linear instabilities. An experimental investigation is conducted on multi-ribbed belts, first for the determination of longitudinal stiffness and damping, bending rigidity, then to highlight the belt span transverse instabilities. An experimental set-up has been designed, it enables ,the observation and analysis of instabilities of belt spans axially excited, the determination of instability chart

Use of MMG signals for the control of powered orthotic devices: Development of a rectus femoris measurement protocol

Copyright © 2009 Rehabilitation Engineering and Assistive Technology Society (RESNA). This is an Author's Accepted Manuscript of an article published in Assistive Technology, 21(1), 1 - 12, 2009, copyright Taylor & Francis, available online at: http://www.tandfonline.com/10.1080/10400430902945678.A test protocol is defined for the purpose of measuring rectus femoris mechanomyographic (MMG) signals. The protocol is specified in terms of the following: measurement equipment, signal processing requirements, human postural requirements, test rig, sensor placement, sensor dermal fixation, and test procedure. Preliminary tests of the statistical nature of rectus femoris MMG signals were performed, and Gaussianity was evaluated by means of a two-sided Kolmogorov-Smirnov test. For all 100 MMG data sets obtained from the testing of two volunteers, the null hypothesis of Gaussianity was rejected at the 1%, 5%, and 10% significance levels. Most skewness values were found to be greater than 0.0, while all kurtosis values were found to be greater than 3.0. A statistical convergence analysis also performed on the same 100 MMG data sets suggested that 25 MMG acquisitions should prove sufficient to statistically characterize rectus femoris MMG. This conclusion is supported by the qualitative characteristics of the mean rectus femoris MMG power spectral densities obtained using 25 averages

Seasonally Frozen Soil Effects on the Seismic Performance of Highway Bridges

INE/AUTC 12.0

Improved micro-contact resistance model that considers material deformation, electron transport and thin film characteristics

This paper reports on an improved analytic model forpredicting micro-contact resistance needed for designing microelectro-mechanical systems (MEMS) switches. The originalmodel had two primary considerations: 1) contact materialdeformation (i.e. elastic, plastic, or elastic-plastic) and 2) effectivecontact area radius. The model also assumed that individual aspotswere close together and that their interactions weredependent on each other which led to using the single effective aspotcontact area model. This single effective area model wasused to determine specific electron transport regions (i.e. ballistic,quasi-ballistic, or diffusive) by comparing the effective radius andthe mean free path of an electron. Using this model required thatmicro-switch contact materials be deposited, during devicefabrication, with processes ensuring low surface roughness values(i.e. sputtered films). Sputtered thin film electric contacts,however, do not behave like bulk materials and the effects of thinfilm contacts and spreading resistance must be considered. Theimproved micro-contact resistance model accounts for the twoprimary considerations above, as well as, using thin film,sputtered, electric contact

Structural health monitoring and bridge condition assessment

Thesis (Ph.D.) University of Alaska Fairbanks, 2016This research is mainly in the field of structural identification and model calibration, optimal sensor placement, and structural health monitoring application for large-scale structures. The ultimate goal of this study is to identify the structure behavior and evaluate the health condition by using structural health monitoring system. To achieve this goal, this research firstly established two fiber optic structural health monitoring systems for a two-span truss bridge and a five-span steel girder bridge. Secondly, this research examined the empirical mode decomposition (EMD) method’s application by using the portable accelerometer system for a long steel girder bridge, and identified the accelerometer number requirements for comprehensively record bridge modal frequencies and damping. Thirdly, it developed a multi-direction model updating method which can update the bridge model by using static and dynamic measurement. Finally, this research studied the optimal static strain sensor placement and established a new method for model parameter identification and damage detection.Chapter 1: Introduction -- Chapter 2: Structural Health Monitoring of the Klehini River Bridge -- Chapter 3: Ambient Loading and Modal Parameters for the Chulitna River Bridge -- Chapter 4: Multi-direction Bridge Model Updating using Static and Dynamic Measurement -- Chapter 5: Optimal Static Strain Sensor Placement for Bridge Model Parameter Identification by using Numerical Optimization Method -- Chapter 6: Conclusions and Future Work