Advanced Materials Research Vols. 945-949

Abstract: In this paper we introduce the concept of an agile electronic pest control intelligent device for commercial usage and we have evaluated its performance in comparison with other existing similar technologies. The frequency and intensities are changed with respect to the target pest however human behavior has been found to be inert with their exposure. The unit has been tested in lab conditions as well as field testing done have given encouraging results. The device can be a standalone unit and hence work for small scale viz. kitchen garden on the other hand multiple devices acting in coordination with each other give the desired output on a larger scale. Lastly, we chose a tricopter over the wider used quadcopter for greater yaw and agility. The work was funded by IEEE under AiyeHum – 2012 and the prototype was successfully built and tested. The system response effectiveness was found to 86.5% up to a distance of 15 meters.

Abstract: The design synthesis of MEMS device is an inverse problem of the MEMS analysis. The performance analysis equations are transformed to the performance design equations according to the predetermined performance. The Direct Solution Algorithm derived by the Newton iterative method is used to solve the nonlinear performance design equations, and then the MEMS device will possess predetermined properties. The serpentine spring was synthesized with this method. The computational efficiency and accuracy is greatly improved by comparison with the foreign natural simulation optimization algorithms of the genetic algorithms. The genetic algorithms needs tens of thousands of times analyses, the relative error of the calculation is 1%, but this method only needs dozens of analyses and the relative error of the calculation is 0.01%.

Abstract: A size optimization is performed to a weight-balanced haptic device. Firstly design requirements for mechanical parts of haptic devices are summarized. After analyzing factors influencing force-reflecting accuracy, a basic idea is got that the device should be weight-balanced and should have minimum apparent mass while keeping certain stiffness. Then a simplified model is got for the prototype and apparent mass and stiffness is analyzed and expressed in terms of variables based on the simplified model. With link cross section set to be circular tubes, an optimization is done to find link diameters and wall thicknesses with lowest apparent mass and given stiffness. At last the optimization result is analyzed and the model is proved to be reasonable.

Abstract: Take typical parallel mechanism 3PTT as research subject, its inverse kinematic analysis solution was gotten. Dynamic model of the mechanism was established by Newton-Euler method, and the force and torque equations were derived. Dynamic simulation of 3PTT parallel mechanism was done by using ADAMS software, and simulation results have verified the correctness of the theoretical conclusions.

Abstract: As for the new designed small-caliber well rescue system for the fallen person in deep well, we made a detailed description about the rescue mechanism, which was composed of framework, anchorage set, stretching arm and clasp arm, and illustrated the function of each mechanical component. Moreover, we deduced the forward kinematics matrices of the clasp arm and the stretching arm, and analyzed and provided the parameters of each degree of freedom. Meanwhile, the experimental prototype of the rescue system was designed and the imitated rescue experiment for a doll was fulfilled. The experimental results show that the rescue system is feasible in small caliber deep well rescue.

Abstract: This paper addresses an adaptive modified square-root cubature Kalman filter for the navigation of autonomous underwater vehicles (AUVs). The standard square-root cubature Kalman filter (SCKF) implements the CKF using square-root filtering to reduce computational errors. It can be modified due to the nonlinear system with a linear measurement function. The modification leads to a decrease computational complexity. Sage-Husa noise statistics estimator is combined with the Modified SCKF to estimate the unknown and changing system process noise variance. The experimental results show that compared with the MSCKF and the EKF algorithm, the adaptive MSCKF show the best accuracy for a real system with unknown process noise variance.

Abstract: Four-Legged walking robot is mechanically modeled by copying mammals, which have 13 links and 12 joints. But mechanical models are more on technical rather than on biological concepts, which yield unstable locomotion with low speed. Advanced biological locomotive phenomena and their structural characteristics are applied to the mechanical model and simulated for the one cycle. Torques at joints are calculated and finally converted to total consumed energy. Variables, specifying structure and locomotion, are applied to the simulation as a time function, and the optimal variables which minimize energy expenditure are derived which can be directly applied to the Quadruped locomotion.

Abstract: After coal mine flooding accident, the complexity mine environment caused rescue difficult, the paper proposed using robotic fish in the accident to do the detection. The basic configuration of the robotic fish was designed based on the fish propulsion mechanism, and the transmission mechanism was especially designed. Then, the mechanism kinematic analysis, and the mechanism motion curves were simulated using MATLAB, and a detail analysis of the transmission process of caudal fin system and the check of the motor torque were accomplished.

Abstract: This paper presents a novel wearable robotic hand exoskeleton named ReHand-II for post-stroke rehabilitation. To ensure the consistency of rotation between exoskeleton joints and index finger joints and to realize reasonable range of movement, the kinematics models of left index finger and the exoskeleton are established. And design variables,constraints and objective function are determined. The size synthesis optimization design is realized. Ultimately the size value of each component parameter is determined. The hand exoskeleton is developed according to the results of the optimization. Finally, ReHand-II shows better bio-imitability and Wearable adaptability by wear experiment results.

Abstract: A new structure of 6-RSPS simulator platform which can be rotated infinitely is presented. The solution of direct kinematics problem of parallel structure is the fundamental problem. For the solution of this problem, according to the links vector diagram, the relationship of the position and orientation of the platform between the length of links and the rotate angle of the under-hinge is derived. BP network is applied, then using the previous data obtained by inverse kinematics as the training data and testing data of BP network, the direct kinematics solution is obtained. Simulation results verified that the solution of direct kinematics applied the BP network can be meet the requirements completely and the error percentages are within the acceptable range.