Use of myoelectric signals to command mobile entertainment robot by disabled children: Design and control architecture

Severely disabled children have little chance of environmental and social exploration and discovery. This lack of interaction and independency may lead to an idea that they are unable to do anything by themselves. In an attempt to help children in this situation, educational robotics can offer and aid, once it can provide them a certain degree of independency in the exploration of environment. The system developed in this work allows the child to transmit the commands to a robot through myoelectric and movement sensors. The sensors are placed on the child's body so they can obtain information from the body inclination and muscle contraction, thus allowing commanding, through a wireless communication, the mobile entertainment robot to carry out tasks such as play with objects and draw. In this paper, the details of the robot design and control architecture are presented and discussed. With this system, disabled children get a better cognitive development and social interaction, balancing in a certain way, the negative effects of their disabilities. © 2012 IEEE.

Mobile Robot navigation modelling, control and applications

This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modelling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

Application of a model updating technique for health condition monitoring and damage detection of flexible structures

This paper discusses the application of a damage detection methodology to monitor the location and extent of partial structural damage. The methodology combines, in an iterative way, the model updating technique based on frequency response functions (FRF) with monitoring data aiming at identifying the damage area of the structure. After the updating procedure reaches a good correlation between the models, it compares the parameters of the damage structure with those of the undamaged one to find the deteriorated area. The influence of the FEM mesh size on the evaluation of the extent of the damage has also been discussed. The methodology is applied using real experimental data from a spatial frame structure.

Planejamento de experimentos em blocos aplicado às propriedades mecânicas de arames de aço para molas

The purpose of this article is to demonstrate an application of the design of block experiments via analysis and multiple linear regression in the investigation of a steel thermal treatment process with multiple responses. The study aimed to design statistical models to predict the mechanical properties in SAE 9254 draw steel wires, with diameters of 2.00 mm and 6.50 mm, after quench hardening and tempering. For this purpose, process input variables (wire diameter, processing speed, tempering temperature and polymer concentration) were investigated regarding their influence on the material tensile strength, yield point and hardness. The results revealed that the mechanical properties of the steel wire are significantly influenced by the selected variables, and analysis of variance (ANOVA) was employed to validate the design of the statistical models. Multiple linear regression allowed for an appropriate representation of the process, and graphical analysis was found to be very useful in displaying the behavior of the multiple responses.

TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Optical and mechanical design of an ophthalmic instrument: Slit lamp

This work has as objective to develop an interesting research line in the Optical Instrumentation area, that is to associate the Optical Design to the Ophthalmology area. The purpose of it is handling the optical design techniques to design a widely used ophthalmologic instrument called slit lamp. The optical and mechanical design of the slit lamp prototype was carefully projected in order to improve the best quality image, the comfort of the patient and the user, the simplicity of handling, the facility of production the availability of optical and mechanical components in the national market and the low cost of production. The main goal of this work was to realize a project using totally national technology, cheapening the cost and forming the optimum image required for the slit lamp optical system.

Control Design Applied to a Micro Electro Mechanical System: MEMS Comb drive

This paper presents the linear optimal control technique for reducing the chaotic movement of the micro-electro-mechanical Comb Drive system to a small periodic orbit. We analyze the non-linear dynamics in a micro-electro-mechanical Comb Drive and demonstrated that this model has a chaotic behavior. Chaos control problems consist of attempts to stabilize a chaotic system to an equilibrium point, a periodic orbit, or more general, about a given reference trajectory. This technique is applied in analyzes the nonlinear dynamics in an MEMS Comb drive. The simulation results show the identification by linear optimal control is very effective.

A reducing of a chaotic movement to a periodic orbit, of a micro-electro-mechanical system, by using an optimal linear control design

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Design of a state observer using decay rate LMI constraints for fault detection in mechanical systems

Nowadays, one of the most important concerns for many companies is to maintain the operation of their systems without sudden equipment break down. Because of this, new techniques for fault detection and location in mechanical systems subject to dynamic loads have been developed. This paper studies of the influence of the decay rate in the design of state observers using LMI for fault detection in mechanical systems. This influence is analyzed by the performance index proposed by Huh and Stein for the condition of a state observer. An example is presented to illustrate the methodology discussed.

The effect of thermal cycles on the mechanical properties of fiber-metal laminates

The effect of thermal-shock cycles on the mechanical properties of fiber-metal laminates (FMLs) has been evaluated. FML plates were composed by two AA2024 Al sheets (1.6 mm thick) and one composite ply formed by two layers of unidirectional glass fiber epoxy prepreg and two layers of epoxy adhesive tape of glass fiber reinforced epoxy adhesive. The set was manufactured by hand layup and typical vacuum bag technique. The curing cycle was in autoclave at 125 +/- 5 degrees C for 90 min and an autoclave pressure of 400 kPa. FML coupons taken from the manufactured plate were submitted to temperature variations between -50 and +80 degrees C, with a fast transition between these temperatures. Tensile and interlaminar shear strength were evaluated on samples after 1000 and 2000 cycles, and compared to nonexposed samples. 2000 Cycles corresponds to typical C Check interval for commercial aircraft maintenance programs. It was observed that the thermal-shock cycles did not result in significant microstructural changes on the FML, particularly on the composite ply. Similarly, no appreciable effect on the mechanical properties of FML was observed by the thermal-shock cycles. (c) 2012 Elsevier Ltd. All rights reserved.

Electrodeposition of copper on titanium wires: Taguchi experimental design approach

Electrodeposition of thin copper layer was carried out on titanium wires in acidic sulphate bath. The influence of titanium surface preparation, cathodic current density, copper sulphate and sulphuric acid concentrations, electrical charge density and stirring of the solution on the adhesion of the electrodeposits was studied using the Taguchi statistical method. A L(16) orthogonal array with the six factors of control at two levels each and three interactions was employed. The analysis of variance of the mean adhesion response and signal-to-noise ratio showed the great influence of cathodic current density on adhesion. on the contrary, the other factors as well as the three investigated interactions revealed low or no significant effect. From this study optimized electrolysis conditions were defined. The copper electrocoating improved the electrical conductivity of the titanium wire. This shows that copper electrocoated titanium wires could be employed for both electrical purpose and mechanical reinforcement in superconducting magnets. (C) 2008 Elsevier B.V. All rights reserved.

A DOE based approach for the design of RBF artificial neural networks applied to prediction of surface roughness in AISI 52100 hardened Steel turning

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Analysis of Semi-solid Processing for Metal Matrix Composite Synthesis Using Factorial Design

The main goal in this work is to conduct a quantitative analysis of the mechanical stir casting process for obtaining particulate metal matrix composites. A combined route of stirring at semi-solid state followed by stirring at liquid state is proposed. A fractional factorial design was developed to investigate the influence and interactions of factors as: time, rotation, initial fraction and particle size, on the incorporated fraction. The best incorporations were obtained with all factors at high levels, as well as that very long stirring periods have no strong influence being particle size and rotation the most important factors on the incorporated fraction. Particle wetting occurs during stirring at semisolid state, highlighting the importance of the interactions between particles and the alloy globularized phase. The role of the alloying element Mg as a wettability-promoting agent is discussed. The shear forces resulting from the stirring system is emphasized and understood as the effect of rotation itself added to the propeller blade geometry.

Less Conservative Control Design for Linear Systems with Polytopic Uncertainties via State-Derivative Feedback

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Design of a control system using linear matrix inequalities for the active vibration control of a plate

The study of algorithms for active vibration control in smart structures is an area of interest, mainly due to the demand for better performance of mechanical systems, such as aircraft and aerospace structures. Smart structures, formed using actuators and sensors, can improve the dynamic performance with the application of several kinds of controllers. This article describes the application of a technique based on linear matrix inequalities (LMI) to design an active control system. The positioning of the actuators, the design of a robust state feedback controller and the design of an observer are all achieved using LMI. The following are considered in the controller design: limited actuator input, bounded output (energy) and robustness to parametric uncertainties. Active vibration control of a flat plate is chosen as an application example. The model is identified using experimental data by an eigensystem realization algorithm (ERA) and the placement of the two piezoelectric actuators and single sensor is determined using a finite element model (FEM) and an optimization procedure. A robust controller for active damping is designed using an LMI framework, and a reduced model with observation and control spillover effects is implemented using a computer. The simulation results demonstrate the efficacy of the approach, and show that the control system increases the damping in some of the modes.