12,851 research outputs found
Precision Surface Processing and Software Modelling Using Shear-Thickening Polishing Slurries
Mid-spatial frequency surface error is a known manufacturing defect for aspherical and freeform precision surfaces. These surface ripples decrease imaging contrast and system signal-to-noise ratio. Existing sub-aperture polishing techniques are limited in their abilities to smooth mid-spatial frequency errors. Shear-thickening slurries have been hypothesised to reduce mid-spatial frequency errors on precision optical surfaces by increasing the viscosity at the tool-part interface. Currently, controlling the generation and mitigating existing mid-spatial frequency surface errors for aspherical and freeform surfaces requires extensive setup and the experience of seasoned workers. This thesis reports on the experimental trials of shear-thickening polishing slurries on glass surfaces. By incorporating shear-thickening slurries with the precessed bonnet technology, the aim is to enhance the ability of the precessions technology in mitigating mid-spatial frequency errors. The findings could facilitate a more streamlined manufacturing chain for precision optics for the versatile precessions technology from form correction and texture improvement, to MSF mitigation, without needing to rely on other polishing technologies. Such improvement on the existing bonnet polishing would provide a vital steppingstone towards building a fully autonomous manufacturing cell in a market of continual economic growth. The experiments in this thesis analysed the capabilities of two shear-thickening slurry systems: (1) polyethylene glycol with silica nanoparticle suspension, and (2) water and cornstarch suspension. Both slurry systems demonstrated the ability at mitigating existing surface ripples. Looking at power spectral density graphs, polyethylene glycol slurries reduced the power of the mid-spatial frequencies by ~50% and cornstarch suspension slurries by 60-90%. Experiments of a novel polishing approach are also reported in this thesis to rotate a precessed bonnet at a predetermined working distance above the workpiece surface. The rapidly rotating tool draws in the shear-thickening slurry through the gap to stiffen the fluid for polishing. This technique demonstrated material removal capabilities using cornstarch suspension slurries at a working distance of 1.0-1.5mm. The volumetric removal rate from this process is ~5% of that of contact bonnet polishing, so this aligns more as a finishing process. This polishing technique was given the term rheological bonnet finishing. The rheological properties of cornstarch suspension slurries were tested using a rheometer and modelled through CFD simulation. Using the empirical rheological data, polishing simulations of the rheological bonnet finishing process were modelled in Ansys to analyse the effects of various input parameters such as working distance, tool headspeed, precess angle, and slurry viscosity
Impact of initialization of a modified particle swarm optimization on cooperative source searching
Swarm robotic is well known for its flexibility, scalability and robustness that make it suitable for solving many real-world problems. Source searching which is characterized by complex operation due to the spatial characteristic of the source intensity distribution, uncertain searching environments and rigid searching constraints is an example of application where swarm robotics can be applied. Particle swarm optimization (PSO) is one of the famous algorithms have been used for source searching where its effectiveness depends on several factors. Improper parameter selection may lead to a premature convergence and thus robots will fail (i.e., low success rate) to locate the source within the given searching constraints. Additionally, target overshooting and improper initialization strategies may lead to a nonoptimal (i.e., take longer time to converge) target searching. In this study, a modified PSO and three different initializations strategies (i.e., random, equidistant and centralized) were proposed. The findings shown that the proposed PSO model successfully reduce the target overshooting by choosing optimal PSO parameters and has better convergence rate and success rate compared to the benchmark algorithms. Additionally, the findings also indicate that the random initialization give better searching success compared to equidistant and centralize initialization
Sizing the Actuators for a Dragon Fly Prototype
In order to improve the design of the actuators of a Dragon Fly prototype, we study the loads applied to the actuators in operation. Both external and inertial forces are taken into account, as well as internal loads, for the purposes of evaluating the influence of the compliance of the arms on that of the "end-effector". We have shown many inadequacies of the arms regarding the stiffness needed to meet the initial design requirements. In order to reduce these inadequacies, a careful structural analysis of the stiffness of the actuators is carried out with a FEM technique, aimed at identifying the design methodology necessary to identify the mechanical elements of the arms to be stiffened. As an example, the design of the actuators is presented, with the aim of proposing an indirect calibration strategy. We have shown that the performances of the Dragon Fly prototype can be improved by developing and including in the control system a suitable module to compensate the incoming errors. By implementing our model in some practical simulations, with a maximum load on the actuators, and internal stresses, we have shown the efficiency of our model by collected experimental data. A FEM analysis is carried out on each actuator to identify the critical elements to be stiffened, and a calibration strategy is used to evaluate and compensate the expected kinematic errors due to gravity and external loads. The obtained results are used to assess the size of the actuators. The sensitivity analysis on the effects of global compliance within the structure enables us to identify and stiffen the critical elements (typically the extremities of the actuators). The worst loading conditions have been evaluated, by considering the internal loads in the critical points of the machine structure results in enabling us the sizing of the actuators. So that the Dragon fly prototype project has been set up, and the first optimal design of the arms has been performed by means of FEM analysis
Dynamics of undeactuated cable-driven parallel robots
This thesis focuses on the dynamics of underactuated cable-driven parallel robots (UACDPRs), including various aspects of robotic theory and practice, such as workspace computation, parameter identification, and trajectory planning. After a brief introduction to CDPRs, UACDPR kinematic and dynamic models are analyzed, under the relevant assumption of inextensible cables. The free oscillatory motion of the end-effector (EE), which is a unique feature of underactuated mechanisms, is studied in detail, from both a kinematic and a dynamic perspective. The free (small) oscillations of the EE around equilibria are proved to be harmonic and the corresponding natural oscillation frequencies are analytically computed. UACDPR workspace computation and analysis are then performed. A new performance index is proposed for the analysis of the influence of actuator errors on cable tensions around equilibrium configurations, and a new type of workspace, called tension-error-insensitive, is defined as the set of poses that a UACDPR EE can statically attain even in presence of actuation errors, while preserving tensions between assigned (positive) bounds. EE free oscillations are then employed to conceive a novel procedure aimed at identifying the EE inertial parameters. This approach does not require the use of force or torque measurements. Moreover, a self-calibration procedure for the experimental determination of UACDPR initial cable lengths is developed, which consequently enables the robot to automatically infer the EE initial pose at machine start-up. Lastly, trajectory planning of UACDPRs is investigated. Two alternative methods are proposed, which aim at (i) reducing EE oscillations even when model parameters are uncertain or (ii) eliminate EE oscillations in case model parameters are perfectly known. EE oscillations are reduced in real-time by dynamically scaling a nominal trajectory and filtering it with an input shaper, whereas they can be eliminated if an off-line trajectory is computed that accounts for the system internal dynamics
Running to Your Own Beat:An Embodied Approach to Auditory Display Design
Personal fitness trackers represent a multi-billion-dollar industry, predicated on devices for assisting users in achieving their health goals. However, most current products only offer activity tracking and measurement of performance metrics, which do not ultimately address the need for technique related assistive feedback in a cost-effective way. Addressing this gap in the design space for assistive run training interfaces is also crucial in combating the negative effects of Forward Head Position, a condition resulting from mobile device use, with a rapid growth of incidence in the population. As such, Auditory Displays (AD) offer an innovative set of tools for creating such a device for runners. ADs present the opportunity to design interfaces which allow natural unencumbered motion, detached from the mobile or smartwatch screen, thus making them ideal for providing real-time assistive feedback for correcting head posture during running. However, issues with AD design have centred around overall usability and user-experience, therefore, in this thesis an ecological and embodied approach to AD design is presented as a vehicle for designing an assistive auditory interface for runners, which integrates seamlessly into their everyday environments
Natural and Technological Hazards in Urban Areas
Natural hazard events and technological accidents are separate causes of environmental impacts. Natural hazards are physical phenomena active in geological times, whereas technological hazards result from actions or facilities created by humans. In our time, combined natural and man-made hazards have been induced. Overpopulation and urban development in areas prone to natural hazards increase the impact of natural disasters worldwide. Additionally, urban areas are frequently characterized by intense industrial activity and rapid, poorly planned growth that threatens the environment and degrades the quality of life. Therefore, proper urban planning is crucial to minimize fatalities and reduce the environmental and economic impacts that accompany both natural and technological hazardous events
Ecological and Specific Evidence-Based Safe Return To Play After Anterior Cruciate Ligament Reconstruction In Soccer Players: A New International Paradigm
Existing return to play (RTP) assessments have not demonstrated the ability to decrease risk of subsequent anterior cruciate ligament (ACL) injury after reconstruction (ACLR). RTP criteria are standardized and do not simulate the physical and cognitive activity required by the practice of sport. Most RTP criteria do not include an ecological approach. There are scientific algorithms as the "5 factor maximum model" that can identify risk profiles and help reduce the risk of a second anterior cruciate ligament injury. Nevertheless, these algorithms remain too standardized and do not include the situations experienced in games by soccer players. This is why it is important to integrate ecological situations specific to the environment of soccer players in order to evaluate players under conditions closest to their sporting activity, especially with high cognitive load. One should identify high risk players under two conditions: Clinical analyses commonly include assessments such as isokinetic testing, functional tests (hop tests, vertical force-velocity, profile), running, clinical assessments (range of motion and graft laxity), proprioception and balance (Star Excursion Balance Test modified, Y-Balance, stabilometry) and psychological parameters (kinesophobia, quality of life and fear of re-injury). Field testing usually includes game simulation, evaluation under dual-task conditions, fatigue and workload analysis, deceleration, timed-agility-test and horizontal force-velocity profiles. Although it seems important to evaluate strength, psychological variables and aerobic and anaerobic capacities, evaluation of neuromotor control in standard and ecological situations may be helpful for reducing the risk of injury after ACLR. This proposal for RTP testing after ACLR is supported by the scientific literature and attempts to approximate the physical and cognitive loads during a soccer match. Future scientific investigation will be required to demonstrate the validity of this approach.
# Level of Evidence
Performance enhancement of the soft robotic segment for a trunk-like arm
Introduction: Trunk-like continuum robots have wide applications in manipulation and locomotion. In particular, trunk-like soft arms exhibit high dexterity and adaptability very similar to the creatures of the natural world. However, owing to the continuum and soft bodies, their performance in payload and spatial movements is limited.Methods: In this paper, we investigate the influence of key design parameters on robotic performance. It is verified that a larger workspace, lateral stiffness, payload, and bending moment could be achieved with adjustments to soft materials’ hardness, the height of module segments, and arrayed radius of actuators.Results: Especially, a 55% increase in arrayed radius would enhance the lateral stiffness by 25% and a bending moment by 55%. An 80% increase in segment height would enlarge 112% of the elongation range and 70 % of the bending range. Around 200% and 150% increments in the segment’s lateral stiffness and payload forces, respectively, could be obtained by tuning the hardness of soft materials. These relations enable the design customization of trunk-like soft arms, in which this tapering structure ensures stability via the stocky base for an impact reduction of 50% compared to that of the tip and ensures dexterity of the long tip for a relatively larger bending range of over 400% compared to that of the base.Discussion: The complete methodology of the design concept, analytical models, simulation, and experiments is developed to offer comprehensive guidelines for trunk-like soft robotic design and enable high performance in robotic manipulation
Virtual Stiffness: A Novel Biomechanical Approach to Estimate Limb Stiffness of a Multi-Muscle and Multi-Joint System
In recent years, different groups have developed algorithms to control the stiffness of a robotic device through the electromyographic activity collected from a human operator. However, the approaches proposed so far require an initial calibration, have a complex subject-specific muscle model, or consider the activity of only a few pairs of antagonist muscles. This study described and tested an approach based on a biomechanical model to estimate the limb stiffness of a multi-joint, multi-muscle system from muscle activations. The “virtual stiffness” method approximates the generated stiffness as the stiffness due to the component of the muscle-activation vector that does not generate any endpoint force. Such a component is calculated by projecting the vector of muscle activations, estimated from the electromyographic signals, onto the null space of the linear mapping of muscle activations onto the endpoint force. The proposed method was tested by using an upper-limb model made of two joints and six Hill-type muscles and data collected during an isometric force-generation task performed with the upper limb. The null-space projection of the muscle-activation vector approximated the major axis of the stiffness ellipse or ellipsoid. The model provides a good approximation of the voluntary stiffening performed by participants that could be directly implemented in wearable myoelectric controlled devices that estimate, in real-time, the endpoint forces, or endpoint movement, from the mapping between muscle activation and force, without any additional calibrations
Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot
A vast number of applications for legged robots entail tasks in complex,
dynamic environments. But these environments put legged robots at high risk for
limb damage. This paper presents an empirical study of fault tolerant dynamic
gaits designed for a quadrupedal robot suffering from a single, known
``missing'' limb. Preliminary data suggests that the featured gait controller
successfully anchors a previously developed planar monopedal hopping template
in the three-legged spatial machine. This compositional approach offers a
useful and generalizable guide to the development of a wider range of tripedal
recovery gaits for damaged quadrupedal machines.Comment: Updated *increased font size on figures 2-6 *added a legend, replaced
text with colors in figure 5a and 6a *made variables representing vectors
boldface in equations 8-10 *expanded on calculations in equations 8-10 by
adding additional lines *added a missing "2" to equation 8 (typo) *added mass
of the robot to tables II and III *increased the width of figures 1 and
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