Applied Mechanics and Materials Vols. 300-301

Abstract: For the deformation problem of electrostatically actuated clamped-clamped micro-beams, pull-in behaviors of the micro-beams have been analyzed by using Rayleigh-Ritz method. Approximate analytical expressions for pull-in voltage and normalized pull-in displacement of the micro-beam have been obtained. When the pull-in occurs, the pull-in voltage and normalized pull-in displacement of the micro-beam at the mid-span position are 38.6V and 0.398, respectively. The results show that the approximate analytical solution possesses high accuracy.

Abstract: Three-dimensional visual scanning is an advanced non-contact measurement approach that can obtain a complete surface model of object. But, in the method, the local raster point cloud sets calculated must be registered to a whole. To reduce fluctuating errors and increase efficiency, we propose a new method that scanner can be moved around object guided by pre-planning trajectory of the robot. First, considering the structural parameters of the robot, the Inverse Kinematics Problem of each joint rotating function is derived, and the moving trajectory is simulated. Then, the relationship between the distances of controlled motion and data gotten by scanner is analyzed, a transform matrix which registered the local point cloud sets is deduced, the raster data can be normalized to the world coordinate by it. The experimental results show that error of registration is less than 0.09mm. The method is suited to measuring different targets in robot workspace. It can improve the efficiency and flexibility of visual measurement system.

Abstract: The paper presents digital closed loop fiber-optic current sensor (FOCT)’s optical path which combines integrated optical modulator and polarization beam splitter as optimum combination, as well as numerical analysis on insertion loss of traditional optical path scheme which consists of straight waveguide and optical path proposed by ABB. It shows that loss causes equivalent noise current which will affect the sensitivity of photo detector. The calculation and experiment confirm that loss of optical path is an important factor for FOCT’s sensitivity, and optical path composed of integrated optical phase modulator with Y-Branch profile and polarization beam splitter can effectively reduce the insertion loss and improve sensitivity of the system.

Abstract: Pneumatic power source has become increasingly delicate and effective in the application of tiny mechanical devices in the past few years. Advanced eyeball expression contributes much more impressions than any other facial organ on the robot skull. This paper is dedicated to self-handcraft an incentive, inexpensive, and animated eyeball mechanism on the spherical space instead of Cartesian space. The proposed biomimic eyeball module will be developed by the series-connected, pneumatically driven AI-servo actuators on the viewpoint of topology. In this paper, emotional simulations and the experiments with the data acquisition are also examined and successfully justified the advantages of the proposed innovation.

Abstract: Robotics especially on polishing process has not been exploited successfully in manufacturing, despite tremendous research efforts and potential needs in industries. There is still much concern on how robots are used in industries and stumbling blocks in the deployment of technology. In this study, the techniques to alleviate difficulties in using robots and deploying advanced technologies in the real manufacturing environment will be developed. However, the mirror polishing process still depends on human expert, compared to CNC and CAD/CAM technology. On top of that, undesirable working condition exists due to dust and noise. Next, it is quite difficult to find skilled technicians where existing industrial robot (normally with repetitive accuracy of 0.1mm) not suitable for mirror polishing task requirement (10nm). This study addresses idea to develop and automate the polishing process by using robots. It applies specifically on flat steel surfaces and the image of the workpiece is captured by vision sensor. The image captured is extracted to develop ANFIS (Adaptive Neuro Fuzzy Inference System) to determine the roughness so that correct polishing parameter will be applied on the surface of the workpiece when polishing is done. ANFIS is well suited to the management of uncertainty, is introduced to address the uncertainty problem associated with surface roughness.

Abstract: The paper proposes an adaptive fusion algorithm using competitiveness sensors for fire detection module, and uses computer simulation results to select the optimal weight values for each optic-sensor. Then we design the fire detection module using the tuned weight values of optic-sensors. The competitiveness flame sensor type is ultra-violet sensor (R2868). The controller of the module is HOLTEK microchip, and acquires the detection signals from the optic-sensors through I/O pins, and transmits the detection signals of all sensors to the computer via wire series interface. The adaptive fusion algorithm can tunes weight values according to decision output of the fusion center. The fusion algorithms of the fusion center use Bayesian estimated method to decide the fire event to be true or not. We set the improved weight values in the module for each optic-sensor. From the simulation and experimental implementation results, it demonstrates that the proposed algorithms can compute the adequate weight values.

Abstract: The project quality evaluation is a significant part of highway electrical and mechanical engineering detection. This paper analyses the evaluation methods of existing engineering quality from the application practice aspects, and then puts forward optimization methods of various evaluation units, finally discusses improvement of scoring scheme.

Abstract: This paper presents a new dual-arms robot called LineClimber, an inspection robot for transmission lines. This robot has a kind of new-type serial-parallel combination driven joint that combine parallel flexible-wire driven mode. The work mechanism of this robot is analyzed. Based on the procedure of crossing obstacles, five elemental work modes are planned. It provides new ideas for simplifying the design of robot control system.

Abstract: A kind of temperature and humidity monitoring system for Marine working platform is introduced; the Processor of ARM Cortex-M3 as the core work components for the system is used, and the hardware and software architecture of the monitoring system is designed. The system has three component units: Temperature and Humidity monitoring unit, Minimum system unit and Control unit, design of the hardware and software is instructed in detail from these three parts of the system. It is proved by practice that the system can effectively achieve the acquisition of multi-point temperature and humidity monitoring and data management, and the normal work and operation of the instrument in the working platform at sea are ensured.

Abstract: This paper presents a novel trajectory planning for a multilink rigid-flexible manipulator. An original trajectory is given according to the site condition and requirement of motion, and desired trajectory is determined by using an optimization. To satisfy the requirement of motion with restrictions, the desired trajectory cannot significantly deviate from the original trajectory. Consequently, the lower distortion in trajectory planning should be considered in optimization algorithm. Two different formulations of trajectory are introduced in two optimization algorithms to compare the distortion degree. Finally, the calculation samples are addressed by using specific site conditions and requirements of motion to verify the validity of proposal.