M. K. Habib, J. Paulo Davim

Interdisciplinary Mechatronics

Engineering Science and Research Development
Herausgeber: Habib, M K; Davim, J Paulo

• Gebundenes Buch

Produktbeschreibung

Mechatronics represents a unifying interdisciplinary andintelligent engineering science paradigm that features aninterdisciplinary knowledge area and interactions in terms of theways of work and thinking, practical experiences, and theoreticalknowledge. Mechatronics successfully fuses (but is not limited to)mechanics, electrical, electronics, informatics and intelligentsystems, intelligent control systems and advanced modeling,intelligent and autonomous robotic systems, optics, smartmaterials, actuators and biomedical and biomechanics, energy andsustainable development, systems engineering, artificialintelligence, intelligent computer control, computationalintelligence, precision engineering and virtual modeling into aunified framework that enhances the design of products andmanufacturing processes.
Interdisciplinary Mechatronics concerns mastering amultitude of disciplines, technologies, and their interaction,whereas the science of mechatronics concerns the invention anddevelopment of new theories, models, concepts and tools in responseto new needs evolving from interacting scientific disciplines. Thebook includes two sections, the first section includes chaptersintroducing research advances in mechatronics engineering, and thesecond section includes chapters that reflects the teachingapproaches (theoretical, projects, and laboratories) and curriculumdevelopment for under- and postgraduate studies. Mechatronicsengineering education focuses on producing engineers who can workin a high-technology environment, emphasize real-world hands-onexperience, and engage in challenging problems and complex taskswith initiative, innovation and enthusiasm.

Contents:

1. Interdisciplinary Mechatronics Engineering Science and theEvolution of Human Friendly and Adaptive Mechatronics, Maki K.Habib.
2. Micro-Nanomechatronics for Biological Cell Analysis andAssembly, Toshio Fukuda, Masahiro Nakajima, Masaru Takeuchi, TaoYue and Hirotaka Tajima.
3. Biologically Inspired CPG-Based Locomotion Control System of aBiped Robot Using Nonlinear Oscillators with Phase Resetting,Shinya Aoi.
4. Modeling a Human's Learning Processes toward ContinuousLearning Support System, Tomohiro Yamaguchi, Kouki Takemori andKeiki Takadama.
5. PWM Waveform Generation Using Pulse-Type Hardware NeuralNetworks, Ken Saito, Minami Takato, Yoshifumi Sekine and FumioUchikoba.
6. Parallel Wrists: Limb Types, Singularities and New Perspectives,Raffaele Di Gregorio.
7. A Robot-Assisted Rehabilitation System - RehabRoby, DuygunErol Barkana and Fatih Özkul.
8. MIMO Actuator Force Control of a Parallel Robot for AnkleRehabilitation, Andrew Mcdaid, Yun Ho Tsoi and Shengquan Xie.
9. Performance Evaluation of a Probe Climber for Maintaining WireRope, Akihisa Tabata, Emiko Hara and Yoshio Aoki.
10. Fundamentals on the Use of Shape Memory Alloys in SoftRobotics, Matteo Cianchetti.
11. Tuned Modified Transpose Jacobian Control of Robotic Systems,S. A. A. Moosavian and M. Karimi.
12. Derivative-Free Nonlinear Kalman Filtering for PMSG SensorlessControl, Gerasimos Rigatos, Pierluigi Siano and NikolaosZervos.
13. Construction and Control of Parallel Robots, Moharam HabibnejadKorayem, Soleiman Manteghi and Hami Tourajizadeh.
14. A Localization System for Mobile Robot Using Scanning Laser andUltrasonic Measurement, Kai Liu, Hongbo Li and Zengqi Sun.
15. Building of Open-Structure Wheel-Based Mobile Robotic Platform,Aleksandar Rodic and Ivan Stojkovic.
16. Design and Physical Implementation of Holonomous MobileRobot-Holbos, Jasmin Velagic, Admir Kaknjo, Faruk Dautovic,Muhidin Hujdur and Nedim Osmic.
17. Advanced Artificial Vision and Mobile Devices for NewApplications in Learning, Entertainment and Cultural HeritageDomains, Gian Luca Foresti, Niki Martinel, Christian Micheloni andMarco Vernier.
18. Application of Stereo Vision and ARM Processor for MotionControl, Moharam Ha

Produktdetails

• ISTE
• Verlag: Wiley & Sons
• 1. Auflage
• Seitenzahl: 624
• Erscheinungstermin: 20. Mai 2013
• Englisch
• Abmessung: 234mm x 155mm x 38mm
• Gewicht: 657g
• ISBN-13: 9781848214187
• ISBN-10: 1848214189
• Artikelnr.: 36911754

Autorenporträt

Maki K. Habib is Professor of Robotics and Mechatronics in the School of Science and Engineering, at The American University in Cairo, Egypt. He has been regional editor (Africa/Middle East) for the International Journal of Mechatronics and Manufacturing Systems (IJMMS) since 2010. He is the recipient of academic awards and has published many articles and books. J. Paulo Davim is Aggregate Professor in the Department of Mechanical Engineering at the University of Aveiro, Portugal and is Head of MACTRIB (Machining and Tribology Research Group). His main research interests include manufacturing, materials and mechanical engineering.

Inhaltsangabe

Preface xvii Chapter 1. Interdisciplinary Mechatronics Engineering Science
and the Evolution of Human Friendly and Adaptive Mechatronics 1 Maki K.
HABIB 1.1. Introduction 2 1.2. Synergetic thinking, learning and innovation
in mechatronics design 9 1.3. Human adaptive and friendly mechatronics 11
1.4. Conclusions 14 1.5. Bibliography 15 Chapter 2. Micro-Nanomechatronics
for Biological Cell Analysis and Assembly 19 Toshio FUKUDA, Masahiro
NAKAJIMA, Masaru TAKEUCHI, Tao YUE and Hirotaka TAJIMA 2.1. Introduction of
micro-nanomechatronics on biomedical fields 19 2.2. Configuration of
micro-nanomechatronics 21 2.3. Micro-nanomechatronics for single cell
analysis 25 2.4. Semi-closed microchip for single cell analysis 28 2.5.
Biological cell assembly using photo-linkable resin based on the single
cell analysis techniques 30 2.6. Conclusion 33 2.7. Acknowledgments 34 2.8.
Bibliography 34 Chapter 3. Biologically Inspired CPG-Based Locomotion
Control System of a Biped Robot Using Nonlinear Oscillators with Phase
Resetting 37 Shinya AOI 3.1. Introduction 37 3.2. Locomotion control system
using nonlinear oscillators 38 3.3. Stability analysis using a simple biped
robot model 41 3.4. Experiment using biped robots 58 3.5. Conclusion 64
3.6. Acknowledgments 65 3.7. Bibliography 65 Chapter 4. Modeling a Human's
Learning Processes toward Continuous Learning Support System 69 Tomohiro
YAMAGUCHI, Kouki TAKEMORI and Keiki TAKADAMA 4.1. Introduction 70 4.2.
Designing the continuous learning by a maze model 76 4.3. The layout design
of mazes for the continuous learning task 82 4.3.1. Overview of the
continuous learning support system 82 4.3.2. The layout design of mazes on
the thinking level space 83 4.4. Experiment 85 4.5. Discussions 88 4.5.1.
The role of motivations to drive the continuous learning 88 4.6.
Conclusions 92 4.7. Acknowledgments 93 4.8. Bibliography 93 Chapter 5. PWM
Waveform Generation Using Pulse-Type Hardware Neural Networks 95 Ken SAITO,
Minami TAKATO, Yoshifumi SEKINE and Fumio UCHIKOBA 5.1. Introduction 96
5.2. PWM servo motor 97 5.3. Pulse-type hardware neuron model 99 5.4.
Pulse-type hardware neural networks 104 5.5. Measurements of constructed
discrete circuit 108 5.6. Conclusion 109 5.7. Acknowledgments 109 5.8.
Bibliography 110 Chapter 6. Parallel Wrists: Limb Types, Singularities and
New Perspectives 113 Raffaele DI GREGORIO 6.1. Limb architectures and
mobility analysis 113 6.2. Singularities and performance indices 124 6.3.
New perspectives 139 6.4. Bibliography 142 Chapter 7. A Robot-Assisted
Rehabilitation System - RehabRoby 145 Duygun EROL BARKANA and Fatih ÖZKUL
7.1. Introduction 145 7.2. Background 146 7.3. Control architecture 149
7.4. RehabRoby 150 7.5. Controllers of RehabRoby 155 7.6. Concluding
remarks 158 7.7. Acknowledgments 159 7.8. Bibliography 159 Chapter 8. MIMO
Actuator Force Control of a Parallel Robot for Ankle Rehabilitation 163
Andrew MCDAID, Yun HO TSOI and Shengquan XIE 8.1. Introduction 163 8.2.
Ankle rehabilitation robot 167 8.2.1. Design requirements 168 8.3. Actuator
force control 176 8.4. Experimental results 198 8.5. Concluding remarks 204
8.6. Bibliography 205 Chapter 9. Performance Evaluation of a Probe Climber
for Maintaining Wire Rope 209 Akihisa TABATA, Emiko HARA and Yoshio AOKI
9.1. Introduction 209 9.2. Optimize friction drive conditions using a
prototype probe climber 210 9.3. Impact of different surface friction
materials for friction pulley made on elevation performance 213 9.4. Damage
detection test of elevator wire rope 216 9.5. Damage detection through
signal processing 218 9.6. Integrity evaluation of wire rope through MFL
strength 219 9.7. Damage detection of wire rope using neural networks 224
9.8. Conclusion 224 9.9. Bibliography 225 Chapter 10. Fundamentals on the
Use of Shape Memory Alloys in Soft Robotics 227 Matteo CIANCHETTI 10.1.
Introduction 228 10.2. Shape memory effect and superelastic effect 230
10.3. SMA thermomechanical behavior 231 10.4. SMA constitutive models 234
10.5. Hints on SMA thermomechanical testing 235 10.6. Design principles 237
10.7. Fabrication methods 243 10.8. Activation methods and control design
244 10.9. Applications in Soft Robotics 248 10.10. Conclusions 251 10.11.
Bibliography 252 Chapter 11. Tuned Modified Transpose Jacobian Control of
Robotic Systems 255 S. A. A. MOOSAVIAN and M. KARIMI 11.1. Introduction 256
11.2. TMTJ control law 257 11.3. Obtained results and discussions 265
11.3.1. Fixed base manipulator 265 11.3.2. Mobile base manipulator 269
11.4. Conclusions 272 11.5. Bibliography 273 Chapter 12. Derivative-Free
Nonlinear Kalman Filtering for PMSG Sensorless Control 277 Gerasimos
RIGATOS, Pierluigi SIANO and Nikolaos ZERVOS 12.1. Introduction 277 12.2.
Dynamic model of the permanent magnet synchronous generator 279 12.3. Lie
algebra-based design of nonlinear state estimators 282 12.4. Differential
flatness for nonlinear dynamical systems 288 12.5. Differential flatness of
the PMSG 293 12.6. Robust state estimation-based control of the PMSG 296
12.7. Estimation of PMSG disturbance input with Kalman filtering 298 12.8.
Simulation experiments 302 12.9. Conclusions 307 12.10. Bibliography 308
Chapter 13. Construction and Control of Parallel Robots 313 Moharam
HABIBNEJAD KORAYEM, Soleiman MANTEGHI and Hami TOURAJIZADEH 13.1.
Introduction 313 13.2. A parallel robot mechanism 315 13.3. Actuators 324
13.4. Sensors 328 13.5. Data transfer protocol 342 13.6. Graphical user
interface (GUI) 347 13.7. Result and verifications 357 13.8. Conclusion 362
13.9. Bibliography 364 Chapter 14. A Localization System for Mobile Robot
Using Scanning Laser and Ultrasonic Measurement 369 Kai LIU, Hongbo LI and
Zengqi SUN 14.1. Introduction 369 14.2. System configuration 371 14.3.
Implementation 373 14.4. Experimental results 377 14.5. Conclusion 382
14.6. Acknowledgments 383 14.7. Bibliography 383 Chapter 15. Building of
Open-Structure Wheel-Based Mobile Robotic Platform 385 Aleksandar RODIÆ and
Ivan STOJKOVIÆ 15.1. Introduction 385 15.2. State of the art 386 15.3.
Configuring of the experimental system 389 15.4. Modeling and simulation of
the system 394 15.5. Motion planning and control 403 15.6. Simulation and
experimental testing 409 15.7. Concluding remarks 416 15.8. Acknowledgments
417 15.9. Bibliography 417 15.10. Appendix 421 Chapter 16. Design and
Physical Implementation of Holonomous Mobile Robot - Holbos 423 Jasmin
VELAGIC, Admir KAKNJO, Faruk DAUTOVIC, Muhidin HUJDUR and Nedim OSMIC 16.1.
Introduction 423 16.2. Locomotion of holonomous mobile robot 424 16.3.
Mechanical design 430 16.4. Electrical design 431 16.5. Results 444 16.6.
Conclusion 447 16.7. Bibliography 448 Chapter 17. Advanced Artificial
Vision and Mobile Devices for New Applications in Learning, Entertainment
and Cultural Heritage Domains 451 Gian Luca FORESTI, Niki MARTINEL,
Christian MICHELONI and MARCO VERNIER 17.1. Introduction 451 17.2. Chapter
contributions 455 17.3. Mobile devices for education purposes 456 17.4.
Image processing supports HCI in museum application 461 17.5. Back to the
Future: a 3D image gallery 471 17.6. Conclusions and future works 477 17.7.
Bibliography 477 Chapter 18. Application of Stereo Vision and ARM Processor
for Motion Control 483 Moharam HABIBNEJAD KORAYEM, Michal IRANI and Saeed
RAFEE NEKOO 18.1. Introduction 483 18.2. Stereo vision 486 18.3.
Triangulation 487 18.4. End-effector orientation 490 18.5. Experimental
setup and results 492 18.6. Summary 497 18.7. Bibliography 498 Chapter 19.
Mechatronics as Science and Engineering - or Both 501 Balan PILLAI and Vesa
SALMINEN 19.1. Introduction 501 19.2. Theories and methods of design,
planning and manufacturing 504 19.3. Complexity versus complicatedness 506
19.4. Benefits of fast product developments 513 19.5. Nature of product
development process 516 19.6. Planning the timetable of a product design
project 518 19.7. Designing the product concept 520 19.8. Enhancing
conceptual design 520 19.9. Interaction between the parts of the machine
523 19.10. Effect of the strength of interaction between product parts and
development speed 524 19.11. Definition of product and service 527 19.12.
The case studies 529 19.13. Networking systems and learning mechanism 531
19.14. Model-based methodology: an implemented case 536 19.15. Conclusions
540 19.16. Bibliography 541 Chapter 20. A Mechatronic Platform for Robotic
Educational Activities 543 Ioannis KOSTAVELIS, Evangelos BOUKAS, Lazaros
NALPANTIDIS and Antonios GASTERATOS 20.1. Introduction 543 20.2. System
overview 545 20.3. Educational activities 554 20.4. Experiences from
educational activities 561 20.5. Conclusions 565 20.6. Acknowledgments 565
20.7. Bibliography 566 Chapter 21. The Importance of Practical Activities
in the Formation of Mechatronic Engineers 569 João Carlos M. CARVALHO and
Vera Lúcia D.S. FRANCO 21.1. Introduction 569 21.2. Curricular and
extracurricular practical activities 575 21.3. Undergraduate course of
Mechatronics Engineering at the Federal University of Uberlândia/Brazil 580
21.4. Discussions 588 21.5. Conclusions 590 21.6. Bibliography 591 List of
Authors 593 Index 599