3,461 research outputs found
Cable compliance
The object of the investigation was to solve mechanical problems using cable-in-bending and cable-in-torsion. These problems included robotic contacts, targets, and controls using cable compliance. Studies continued in the use of cable compliance for the handicapped and the elderly. These included work stations, walkers, prosthetic knee joints, elbow joints, and wrist joints. More than half of these objects were met, and models were made and studies completed on most of the others. It was concluded that the many different and versatile solutions obtained only opened the door to many future challenges
HATSouth: a global network of fully automated identical wide-field telescopes
HATSouth is the world's first network of automated and homogeneous telescopes
that is capable of year-round 24-hour monitoring of positions over an entire
hemisphere of the sky. The primary scientific goal of the network is to
discover and characterize a large number of transiting extrasolar planets,
reaching out to long periods and down to small planetary radii. HATSouth
achieves this by monitoring extended areas on the sky, deriving high precision
light curves for a large number of stars, searching for the signature of
planetary transits, and confirming planetary candidates with larger telescopes.
HATSouth employs 6 telescope units spread over 3 locations with large longitude
separation in the southern hemisphere (Las Campanas Observatory, Chile; HESS
site, Namibia; Siding Spring Observatory, Australia). Each of the HATSouth
units holds four 0.18m diameter f/2.8 focal ratio telescope tubes on a common
mount producing an 8.2x8.2 arcdeg field, imaged using four 4Kx4K CCD cameras
and Sloan r filters, to give a pixel scale of 3.7 arcsec/pixel. The HATSouth
network is capable of continuously monitoring 128 square arc-degrees. We
present the technical details of the network, summarize operations, and present
weather statistics for the 3 sites. On average each of the 6 HATSouth units has
conducted observations on ~500 nights over a 2-year time period, yielding a
total of more than 1million science frames at 4 minute integration time, and
observing ~10.65 hours per day on average. We describe the scheme of our data
transfer and reduction from raw pixel images to trend-filtered light curves and
transiting planet candidates. Photometric precision reaches ~6 mmag at 4-minute
cadence for the brightest non-saturated stars at r~10.5. We present detailed
transit recovery simulations to determine the expected yield of transiting
planets from HATSouth. (abridged)Comment: 25 pages, 11 figures, 1 table, submitted to PAS
Impact of Ear Occlusion on In-Ear Sounds Generated by Intra-oral Behaviors
We conducted a case study with one volunteer and a recording setup to detect sounds induced by the actions: jaw clenching, tooth grinding, reading, eating, and drinking. The setup consisted of two in-ear microphones, where the left ear was semi-occluded with a commercially available earpiece and the right ear was occluded with a mouldable silicon ear piece. Investigations in the time and frequency domains demonstrated that for behaviors such as eating, tooth grinding, and reading, sounds could be recorded with both sensors. For jaw clenching, however, occluding the ear with a mouldable piece was necessary to enable its detection. This can be attributed to the fact that the mouldable ear piece sealed the ear canal and isolated it from the environment, resulting in a detectable change in pressure. In conclusion, our work suggests that detecting behaviors such as eating, grinding, reading with a semi-occluded ear is possible, whereas, behaviors such as clenching require the complete occlusion of the ear if the activity should be easily detectable. Nevertheless, the latter approach may limit real-world applicability because it hinders the hearing capabilities.</p
Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton
This paper presents design principles for comfort-centered wearable robots
and their application in a lightweight and backdrivable knee exoskeleton. The
mitigation of discomfort is treated as mechanical design and control issues and
three solutions are proposed in this paper: 1) a new wearable structure
optimizes the strap attachment configuration and suit layout to ameliorate
excessive shear forces of conventional wearable structure design; 2) rolling
knee joint and double-hinge mechanisms reduce the misalignment in the sagittal
and frontal plane, without increasing the mechanical complexity and inertia,
respectively; 3) a low impedance mechanical transmission reduces the reflected
inertia and damping of the actuator to human, thus the exoskeleton is
highly-backdrivable. Kinematic simulations demonstrate that misalignment
between the robot joint and knee joint can be reduced by 74% at maximum knee
flexion. In experiments, the exoskeleton in the unpowered mode exhibits 1.03 Nm
root mean square (RMS) low resistive torque. The torque control experiments
demonstrate 0.31 Nm RMS torque tracking error in three human subjects.Comment: 8 pages, 16figures, Journa
Lab-on-Sensor for Structural Behavior Monitoring: Theory and Applications
There are over 600,000 bridges in the U.S. National Bridge Inventory (NBI). Nearly 50% of them rapidly approach their design life and deteriorate at an alarming rate, particularly under an increasing volume of overweight trucks. Visual inspection as the current practice in bridge management is labor intensive and subjective, resulting in inconsistent and less reliable element ratings. Lab-on-sensor technologies can provide supplemental mission-critical data to the visual inspection for both qualitative and quantitative evaluations of structural conditions, and thus critical decision-making of cost-effective strategies in bridge preservation.
In this presentation, the design and operation characteristics of highway bridges are first reviewed to establish the needs for structural behavior monitoring in order to align monitoring outcomes with daily practices in bridge preservation. Next, a lab-on-sensor design theory is presented and applied to detect and assess structural behaviors such as concrete cracking, foundation scour, and steel corrosion. Finally, the accuracy, resolution and measurement range of various sensors are discussed before this presentation is concluded
Design of a Hand Held Minimally Invasive Lung Tumour Localization Device
Lung cancer is the leading type of cancer that causes death. If diagnosed, the treatment of choice is surgical resection of the tumour. Traditionally, a surgeon feels for the presence of a tumour in open thoracic surgery. However, a minimally invasive approach is desired. A major problem presented by the minimally invasive approach is the localization of the tumour.
This project describes the design, analysis, and experimental validation of a novel minimally invasive instrument for lung tumour localization. The instrument end effector is a two degree of freedom lung tissue palpator. It allows for optimal tissue palpation to increase useful sensor feedback by ensuring sensor contact, and prevents tissue damage by uniformly distributing pressure on the tissue with an upper bound force. Finite element analysis was used extensively to guide the design process. The mechanism is actuated using high strength tungsten cables attached to controlled motors. Heat treatment experiments were undertaken with stainless steel alloy 440C for use in the design, achieving a device factor of safety of 4. This factor of safety is based on a 20 N force on the end effector — the approximate weight of a human lung.
The design was prototyped and validation experiments were carried out to assess its articulation and its load carrying capacity. Up to 10 N of force was applied to the prototype. Issues to resolve in the current design include cable extension effects and the existence of joint inflection.
The end effector was also designed to allow the inclusion of ultrasound, tactile, and kinaesthetic sensors. It is hypothesized that a plurality of sensors will increase the likelihood of positive tumour localization. These sensors, combined with the presented mechanical design, form the basis for research in robotics-assisted palpation. A proof of concept control system is presented for automated palpation
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