Interdisciplinary Mechatronics (eBook, PDF)

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

• Format: PDF

Produktbeschreibung

Mechatronics represents a unifying interdisciplinary and intelligent Engineering Science paradigm that features an interdisciplinary knowledge area and interactions in terms of ways of work and thinking, practical experiences, and theoretical knowledge. Mechatronics Engineering is about mastering a multitude of disciplines, technologies, and their interaction, whereas Mechatronics Science is about invention and development of new theories, models, concepts, and tools in response to new needs evolving from interacting scientific disciplines. Mechatronics thinkers will play a major role in closing the gap between different disciplines. Mechatronics Engineering Education focuses to produce engineers who can work in a high-technology environment, emphasize real-world hands-on experience, and engage challenging problems and complex tasks with initiative, innovation, and enthusiasm.

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Produktdetails

• Verlag: John Wiley & Sons
• Seitenzahl: 624
• Erscheinungstermin: 6. Mai 2013
• Englisch
• ISBN-13: 9781118577233
• Artikelnr.: 38401479

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