简介：Thispaperpresentsthedesignandprototypeofasmallquadrupedrobotwhosewalkingmotionisrealizedbytwopie-zocompositeactuators.Inthedesign,biomimeticideasareemployedtoobtaintheagilityofmotionsandsustainabilityofaheavyload.Thedesignoftherobotlegsisinspiredbythelegconfigurationofinsects,twojoints(hipandknee)ofthelegenabletwobasicmotions,liftingandstepping.Therobotframeisdesignedtohaveasloperelativetothehorizontalplane,whichmakestherobotmoveforward.Inaddition,theboundinglocomotionofquadrupedanimalsisimplementedintherobot.Experimentsshowthattherobotcancarryanadditionalloadofabout100gandrunwithafairlyhighvelocity.Thequadrupedprototypecanbeanimportantsteptowardsthegoalofbuildinganautonomousmobilerobotactuatedbypiezocompositeactuators.

简介：ThispaperpresentsourexperienceindevelopingandimplementingInternetteleroboticssystem.InternetteleroboticssystemreferstoarobotsystemcontrolledandmonitoredremotelythroughtheInternet.Arobotmanipulatorwithfivedegreesoffreedom,calledMentor,isemployed.Client-serverarchitectureischosenasaplatformforourInternetteleroboticssystem.Threegenerationsofteleroboticssystemshaveevolvedinthisresearch.ThefirstgenerationwasbasedonCGIandtwotieredarchitectures,whereaclientpresentsaGraphicalUserInterfacetotheuser,andutilizestheuser'sdataentryandactionstoperformrequeststorobotserverrunningonadifferentmachine.ThesecondgenerationwasdevelopedusingJava.WealsoemployJava3Dforcreatingandmanipulating3Dgeometryofmanipulatorlinks,andforconstructingthestructuresusedinrenderingthatgeometry,resultingin3Drobotmovementsimulationpresentedtotheusers(clients)throughtheirwebbrowser.RecentdevelopmentinourInternetteleroboticsincludesobjectrecognitionthroughimagecapturedbyacamera,whichposeschallengingproblem,givingtheundeterministiclatencyoftheInternet.ThethirdgenerationiscenteredaroundtheuseofCORBAfordevelopmentplatformofdistributedinternetteleroboticssystem,aimedatdistributingtaskofteleroboticssystem.

简介：TheapplicationsofbionicmethodologydevelopedbytheLaboratoryofDesignandMaterialSelectionasbasisinthecreationofjunctionelementsweredemonstrated.TheseelementsfavortheapplicationofEcodesigninreferencetotheeffec-tivenessofproductdismountaimingthereductionofambientimpactinallitsphasesofuse.Thecreation,thedevelopmentandtheconfectionofnewjunctionelementsweredescribed,andcasestudiesofnewproductsdevelopedspecificallywiththispurposewerepresented.

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简介：ThispaperpresentsanewPulseWidthModulation(PWM)controllerforUnmannedAerialVehicle(UAV)precisionsprayerforagricultureusingaTL494fixed-frequencypulsewidthmodulatortogetherwithadataacquisitionboardanddevelopedsoftware.AnUAVcanberemotelycontrolledorflownautonomouslybypre-programmedflightplans.ThePWMcontrollerwasimplementedthroughtheguidancesystemontheUAVwithcontrolcommandssentbetweentheUAVhelicopterandthegroundcontrolstationviaawirelesstelemetrysystem.ThePWMcontrollerwastestedandvalidatedusingLabVIEW8.2.Severalanalyseswereperformedinalaboratorytotestdifferentcontrolsignals.TheresultsshowthatthePWMcontrollerhaspromiseasahigherprecisiontechniqueforsprayapplications,whichwillimproveefficiencyofpesticideapplication,especiallyincropproductionareas.

简介：Manyanimalsandplantshavehighpotentialtoserveasconceptgeneratorsfordevelopingbiomimeticmaterialsandstructures.Wepresentsomeideasbasedonstructuralandfunctionalpropertiesofplantsandanimalsthatledtothedevelopmentoftwotypesofbiomimeticcableentrysystems.Thosesystemshavebeenrealizedontheleveloffunctionaldemonstrators.

简介：Thispaperpresentsthedesign,fabrication,andexperimentalcharacterizationofaperistalticmicropump.ThemicropumpiscomposedoftwolayersfabricatedfromPolydimethylsiloxane(PDMS)material.Thefirstlayerhasarectangularchannelandtwovalveseals.Threerectangularminilightweightpiezo-compositeactuatorsareintegratedinthesecondlayer,andusedasactuationparts.Twolayersarebonded,andcoveredbytwoPolymethylMethacrylate(PMMA)plates,whichhelpincreasethestiffnessofthemicropump.Amaximumflowrateof900μL·min-1andamaximumbackpressureof1.8kPaarerecordedwhenwaterisusedaspumpliquid.Wemeasuredthepowerconsumptionofthemicropump.Themicropumpisfoundtobeaprom-isingcandidateforbio-medicalapplicationduetoitsbio-compatibility,portability,bidirectionality,andsimpleeffectivedesign.

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简介：Inthispaperwedevelopanelasto-dynamicmodelofthehumanarmforuseinneuro-muscularcontrolanddynamicinteractionstudies.Themotivationforthisworkistopresentacasefordevelopingandusingnon-quasistaticmodelsofhumanmusculo-skeletalbiomechanics.Themodelisbasedonhybridparametermultiplebodysystem(HPMBS)variationalprojectionprinciples.Inthispaper,wepresentanoverviewoftheHPMBSvariationalprincipleappliedtothefullelasto-dynamicmodelofthearm.Thegeneralityofthemodelallowsonetoincorporatemuscleeffectsaseitherloadstransmittedthroughthetendonatpointsoforiginandinsertionorasaneffectivetorqueatajoint.Thoughthetechniqueissuitablefordetailedboneandjointmodeling,wepresentinthisinitialeffortonlysimplegeometrywiththebonesdiscretizedasRayleighbeamswithelongation,whileallowingforlargedeflections.Simulationsdemonstratetheviabilityofthemcthodforuseinthecompanionpaperandinfuturestudies.

简介：Theheadmounteddisplay(HMD)iswidelyusedinvirtualrealitytechnology.IncommonHMD,however,thebinoculardisparityissettoanequalfixedvalueintheentirerangeofview.SuchHMDsystemshaveseveralshortcomingswhenusedforwideviews.Inthisstudy,inordertorealizeanaturalstereosensationofHMDwithwideview,wemeasurethecharacteristicsofbinocularstereoperceptionandbinocularlightperception.Resultsshowthatboththestereoacuityandlightsensitivitydecreaseastheretina'seccentricityincreasesfromfoveatoperiphery.However,thedecreaseofthestereoacuityismorerapidthanthatofthelightsensitivity.Theseresultssuggestthatthebinoculardisparityattheperipheralfieldshouldbesmall,otherwisedoubleimageswouldbeobservedinsteadofastereoview.Basedontheresultswedeveloparelativebinocularstereoacuitymodelwhichcanbeapplied{orthedesignofHMDsystemswithwideview.