bluuebunny/crossref_metadata_2025 huggingface dataset:
Tip Based Nano Manipulation Through Successive Directional Push
Authors: Zhao Wei , Xu Kangmin , Qian Xiaoping , Wang Rong
Published: March 2011

Nano manipulation refers to the process of transporting nanoscale components. It has found applications in nano device prototyping and biomolecular and cellular investigation. In this paper, we present an atomic force microscope (AFM) based approach for automated manipulation of nano particles to form designed patterns. The automated manipulation is based on a novel method, successive directional push. This method keeps pushing along a fixed forward direction until the particle reaches the baseline of the target position, and it then repeats the pushing process along the base line direction. This process is iterated until the particle reaches its target position. By examining the topography of several local parallel scan lines, this method can determine the lateral coordinate of the particle. The novelty of this method lies in the fact that further pushing along the same pushing direction can be conducted without precise information about the forward position. The successive directional push method has been successfully implemented into an AFM system. We demonstrate that complex designed patterns including over one hundred latex particles of 50 nm diameter can be fabricated with this method.
Analysis of Shell-Like Structures Using Structured Mesh
Authors: Kumar Ashok V. , Salem Periyasamy Prem Dheepak
Published: March 2011

Shell-like structures are modeled in traditional finite element method using shell elements. The geometry for such structures is modeled using surfaces that represent the mid-plane. A mesh consisting of planar or curved shell elements is then generated for the surface which can be challenging for complex surface geometries and the resultant mesh sometimes poorly approximates the geometry. In order to avoid the problems associated with mesh generation, several meshless methods and structured grid methods have been proposed in the past two decades. In this paper, a structured grid method called Implicit Boundary Finite Element Method (IBFEM) has been used for the analysis of shell-like structures. Three dimensional elements that use uniform B-spline approximation schemes for representing the solution are used to represent the displacement field. The surfaces representing shell passes through these elements and the equations of these surfaces are used to represent the geometry exactly. B-spline approximations can provide higher order solutions that have tangent and curvature continuity. Numerical examples are presented to demonstrate the performance of shell elements using IBFEM and B-spline approximation. The results are compared with traditional shell element solutions.
Cooperative Quasi-Static Planar Manipulation With Multiple Robots
Authors: Lindsey Quentin J. , Shomin Michael , Kumar Vijay
Published: March 2011

In this paper we address the modeling, control, and planning of planar manipulation tasks with multiple robots equipped with simple end-effectors. Each robot is able to influence the motion of an object either by exerting forces through the end-effector or by contact through a robot body. We develop a quasi-static model for the planar manipulation task that incorporates mathematical models of the object-ground contact, the object-robot contact and the compliant end-effector. This model allows us to predict object velocities for specified robot motions. We use this model to develop a simple motion planning algorithm for object manipulation that allows robots to select grasps, regrasp when necessary and manipulate an object along desired trajectories. Our experiments validate the mathematical models and demonstrate the feasibility of multirobot manipulation using the quasi-static model and the motion planning algorithm.
Multi-Objective Optimization Formulation to Make Creative Teams in Teamology
Authors: Arakawa Masao
Published: March 2011

Teamology is established by Prof. Wilde to make creative teams in project teams. As a first step, it needs questionnaires to characterize personality for each member who joins the projects. Assume in academic project based learning teams, a number of students join and we are going to make several teams. Each team should have the same potential if and only if we can make every team as that. In order to create these teams, we need to quantify students’ characters, and we need to formalize them to meet the guideline of Teamology. In this study, we are going to make multi-objective optimization formulation of Teamology, and show an example of team making by using a genetic optimization algorithms with data that was taken PBL course in Kagawa University.
Tracing Pareto-Optimal Frontiers in Topology Optimization
Authors: Suresh Krishnan
Published: March 2011

In multi-objective topology optimization, a design is defined to be “pareto-optimal” if no other design exists that is better with respect to one objective, and as good with respect to others. This unfortunately suggests that unless other ‘better’ designs are found, one cannot declare a particular topology to be pareto-optimal. In this paper, we first show that a topology can be guaranteed to be (locally) pareto-optimal if certain inherent properties associated with the topological sensitivity field are satisfied, i.e., no further comparison is necessary. This, in turn, leads to a deterministic, i.e., non-stochastic, method for directly tracing pareto-optimal frontiers using the classic fixed-point iteration scheme. The proposed method can generate the full set of pareto-optimal topologies in a single-run, and is therefore both efficient and predictable, as illustrated through numerical examples.
A Unified Model for Quasi-Zero-Stiffness Passive Vibration Isolators With Symmetric Nonlinearity
Authors: Ahn Hyeong-Joon
Published: March 2011

Various quasi-zero stiffness (QZS) passive vibration isolators were developed for protecting a system against vibration. This paper presents a unified model of QZS passive vibration isolators with symmetric nonlinearity. First, various types of QZS passive isolators are analyzed and the unified model for them is proposed. The unified model is found to be a Duffing equation with odd power polynomials. Dynamic behaviors of QZS passive isolators are analyzed using the unified model. Design methodology and implementation of a QZS passive isolator with symmetric nonlinearity are discussed.
A Graph Theory Based Method for Functional Decoupling of a Design With Complex Interaction Structure
Authors: Oh Hilario L. , Lee Taesik , Lipowski Raymond
Published: March 2011

The primary objective in design is to achieve the target value of the design’s functional requirement. In design with multiple functional requirements, one way a design fails is the inability to converge to the multiple target values in spite of iterative adjustment of the design parameters. This is symptom of a design that fails to perform in the presence of functional coupling. Functional coupling occurs when two or more functional requirements are affected by a common set of design parameters. It is particularly difficult to identify and break when it involves inter-relation loops created among large number of functional requirements, typical of a large complex system. This paper presents a structured method based on the graph theory to effectively identify and eliminate functional couplings in a design. Use of the graph theory in this context is natural by the fact that inter-relations among functional requirements and design parameters can be represented by a digraph. Each inter-relation corresponds to an arc of the digraph, and functional coupling is equivalent to a cycle in it. The proposed method consists of: 1) represent interactions among functional requirements and design parameters as a digraph, 2) construct the cycle matrix for the digraph, 3) identify those candidate sets of arcs that, if removed, will destroy all cycles in the digraph, and 4) examine engineering feasibility of the candidate solutions. Once target interactions, i.e. arcs, are determined, the design parameters responsible for those interactions are modified to implement the solution. To demonstrate the effectiveness of the proposed method, we apply it to a large complex system, the car door to body, involving 28 functional requirements and design parameters.
On Barriers to Reverse Engineering Mechanical Components
Authors: Curtis Shane K. , Mattson Christopher A. , Harston Stephen P.
Published: March 2011

Reverse engineering is a common design strategy in industry. It is a term that has come to encompass a large array of engineering and design activities in the literature; however, in its basic form, reverse engineering is simply the process of extracting information about a product from the product itself. Depending on its use, it may or may not be advantageous to utilize a reverse engineering strategy. As with any rational decision, reverse engineering is only favorable when the benefits from its use outweigh the investment. Therefore, a general understanding of the principles that increase the difficulty or investment required to reverse engineer mechanical products would be helpful for everyone affected by reverse engineering activities. In this paper, we articulate and explore these fundamental principles by reviewing several examples from the literature and from our own experience. We then use the principles as a basis for the development of a methodology to build barriers to reverse engineering into new products, and provide a simple example to illustrate its use.
Education on Human Centered Design Using Virtual Environment
Authors: Ogi Tetsuro , Tateyama Yoshisuke , Haruyama Shinichiro
Published: March 2011

Recently, the importance of human centered design is often pointed out in various manufacturing fields. However, it has not been practiced enough as a design method in the actual product design. In this study, conventional CAD system and virtual reality environment were connected and they were applied to the design education in the graduate school. In this framework, the user can perform kansei and emotional evaluation based on the sense of body in the virtual environment as well as analyze the shape and structure of the designed model using the CAD system. This framework was applied to the class of design education, and the effectiveness and the problem were evaluated through the task of designing chair. From the result, though the integration such as transmitting or sharing data between both tools was not realized enough, this system could effectively be used to evaluate the shape and the size of the designed model based on the sense of body, and the effectiveness for the education on human centered design was shown.
Trajectory Planning of Walking With Different Step Lengths of a Seven-Link Biped Robot
Authors: Fattah A. , Fakhari A.
Published: March 2011

Most of the essential parameters of the human walking can be captured with a seven-link planar biped robot. In this paper, dynamics modeling and trajectory planning of a seven-link planar biped robot walking on a level ground with a ditch or stairs are studied. The hip and foot trajectories are designed in Cartesian space using polynomial interpolation such that to vanish the impact effect of feet with ground. The key parameters of the hip joint trajectory in x-axis direction are obtained using boundaries of biped stable region during the walking to satisfy dynamic stability of robot. Then the highest position of the swing foot ankle joint in x and z-axis direction is optimized with two different fitness functions. Next, a novel method for trajectory planning of walking with different step lengths, uses for online trajectory planning, is proposed. Finally, the effectiveness of the proposed method is verified by simulation and experimental results.
Kinematic Families of Non-Fractionated Geared Kinematic Chains With up to Three-DOF Eight-Link Based on Mobility Degeneration
Authors: Shieh Win-Bin , Chen Dar-Zen , Liu Tzung-Shiun
Published: March 2011

Atlases of admissible graphs of geared kinematic chains (GKCs) had been enumerated through the studies of topological synthesis for decades. However, these enumerated GKCs are mostly synthesized according to the prescribed numbers of DOFs and links. Investigation on the topological and kinematic relations among GKCs of various DOFs and links is few. Motivated by the fact that the topological structure and the number of DOFs of a GKC can be changed by engaging clutches or brakes to connect two or more coaxial links, this work is aimed to reveal how non-fractionated GKCs of higher-DOF are related to those of lower-DOF. The process of connecting coaxial links, leading to the degeneration of DOFs of a GKC is defined as the mobility degeneration of a GKC. It is shown that the mobility degeneration of GKCs depends both on the locations of coaxial links as well as on the configuration of the fractionated kinematic units (KUs) within the GKC. In this paper, characteristics and rules to obtain changed GKCs based on mobility degeneration is developed and degenerated isomorphism of GKCs is discussed. Kinematic families of GKCs with up to three-DOF and eight-link are classified. It is shown that GKCs of different DOFs can be associated to form several kinematic families, indicating that these GKCs of various DOFs are not as independent as previously considered.
An Upper Limb Exoskeleton for Pinpointed Muscular Exercises With Overextension Injury Prevention
Authors: Wu Tzong-Ming , Wang Shu-Yi , Chen Dar-Zen
Published: March 2011

Over-automated equipments and modern city life style lead to the diminishing opportunities for muscle using; however, the comfortable life is not always good for human health, and appropriate muscle training can not only enhance muscular strength and endurance but improve the health and fitness. Different kinds of ideas have been proposed for muscle training by exercise machines, which control direction of resistance for safety sake but isolate specific muscle groups to be trained. Compared with machines, free-weight exercise is a whole-body training in which human limbs can be moved on different planes to train more muscle groups. In this study, an upper limb exoskeleton design is proposed for free-weight exercise to strengthen the principal muscles of upper limb and shoulder. The upper limb exoskeleton is constituted of 3-DOF shoulder joint and 1-DOF elbow joint. The joint torques of shoulder and elbow joint of the exoskeleton match the objective joint torques from a model of free-weight exercise. The principal muscles of human arm and shoulder are training by dumbbell lateral raise, dumbbell frontal raise, dumbbell curl motion, and overhead triceps extension motion. With the arrangement of small-inertia springs, the exoskeleton is capable of preventing the muscle from injuries caused by the huge inertia change. The evaluation of the model was conducted by using isokinetic dynamometer to measure shoulder abduction-adduction, shoulder flexion-extension, and elbow flexion-extension for the male and female adults, and the results matched with the data obtained from the derived model.
The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances
Authors: Binaud Nicolas , Cardou Philippe , Caro Ste´phane , Wenger Philippe
Published: March 2011

The paper deals with the kinematic sensitivity of robotic manipulators to joint clearances. First, an error prediction model applicable to both serial and parallel manipulators is developed. A clearance model associated with axisymmetrical joints, which are widely used in robotic manipulators, is also proposed. Then, two nonconvex quadratically constrained quadratic programs (QCQPs) are formulated in order to find the maximum reference-point position error and the maximum orientation error of the moving-platform for given joint clearances. Finally, the contributions of the paper are highlighted by means of two illustrative examples.
Forming Creative Teams: An Experimental Approach
Authors: Sosa Manuel E. , Marle Franck
Published: March 2011

One of the most difficult challenges when managing innovation is to identify the individuals within the organization that need to work closely with each other to maximize the generation of creative ideas. This paper introduces a structured approach to guide managers on their decisions to form a temporary team (or task force) from which creative solutions would be demanded. Our general approach exploits the notion of creative interactions, which recognizes that people trigger the generation of creative ideas when interacting with each other for task-related matters. The basic premise in this paper is that the occurrence of creative interactions in the past predicts the occurrence of creative interactions in future design efforts. We designed an experiment in which participants enrolled in an Executive MBA program rated the easiness to generate creative ideas after interacting with each of their classmates during the first modules of the program. Then, participants were randomly assigned into teams to complete a product design exercise. After the exercise, each participant assessed the easiness to generate creative ideas while interacting with other team members during the design exercise. The results suggest that creative interactions are predicted by a combination of both past creative interactions and class’ assessment of the ability of a colleague to trigger creative ideas on others. Implications for developing a structured approach to form creative teams are discussed.
Development of a Pneumatic Cylinders-Driven Arm Wrestling Robot System Worn on the Human Upper Limb
Authors: Yamada Takashi , Watanabe Tomio
Published: March 2011

In this study, we develop a prototype pneumatic cylinders-driven arm wrestling robot system called AssistRobot that is worn on the human upper limb. AssistRobot, with two pneumatic cylinders and a force sensor, can control the force sense to the operator’s shoulder and elbow. Further, we simultaneously measure the human upper limb motion and the physiological index of skin surface electromyograms with circulation dynamics in response to forced actions by using the links mechanism of the AssistRobot system. The effectiveness of the system for the analysis of human upper limb motion characteristics is demonstrated.
Evolution of User Driven Innovation
Authors: Medyna Galina , Saarelainen Tanja , Gaur Sachin , Kohonen Oskar , Tenhunen Juhani , Wang Le
Published: March 2011

The source and driver of user driven innovation is a profound understanding of customer needs. Three main approaches to user driven innovation exist: a traditional sequential approach, a lead user approach and customer co-creation. The overall trend is toward increasing user participation throughout the innovation process. Today the leading companies successfully engage users into creative processes of their innovation activities starting in the early stages. In the energy sector user driven innovation methodologies appear promising, in particular as a mean to improve energy efficiency and save energy. This paper focuses on the evolution of user driven innovation. We present an ontology of user driven innovation. It is followed by a state-of-the-art analysis of traditional and new approaches. Finally we try to predict whether a user driven innovation approach could aid the energy sector in overcoming challenges related to global warming and oil shortage.
Parametric Analysis of Irradiance Distribution in Proximity Printing of Micro Circular and Annulus Apertures
Authors: Tsai Jhy-Cherng , Sie Guei-Si , Fan Jhy-Wei
Published: March 2011

Proximity printing is one of the lithography processes used in fabricating micro-scale components and systems to transfer mask pattern to the substrate. This paper investigates pattern distortion in the proximity printing process of circular arrays and annulus arrays in micro scale by dimensionless parameters. The effect is analyzed based on the Huygens-Fresnel diffraction theorem. The irradiance distribution exposed on the photoresist at different ξx, the dimensionless parameter representing the ratio of the gap between the mask and the photoresist to the radius of the circular aperture, are investigated. Two dimensional (2D) and 3D irradiance distributions on the projected photoresist for single-aperture, dual-aperture and multi-aperture masks are analyzed and simulated. It showed that diffraction effect, which causes interactions among apertures, increases as ξx decreases. This results in the distortion of the projected pattern in proximity printing. The boundaries between the exposed and shared areas are blurred when ξx increases. The effect of annulus patterns is further investigated by introducing another parameter ξx, the ratio between the radii of the inner and the outer circles. It is found that peaks appear at the center that is supposed no exposure. It also found that the intensity of exposition moves to the outer area when ξx increases. Experiments to verify the simulated distortion is also conducted using a He-Ne laser. The results showed consistency with the simulation and verified that near-field diffraction is the major factor for the pattern distortion as the diffraction becomes stronger when ξx decreases.
Comparison of Planar Parallel Manipulator Architectures Based on a Multi-Objective Design Optimization Approach
Authors: Chablat Damien , Caro Ste´phane , Ur-Rehman Raza , Wenger Philippe
Published: March 2011

This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular workspace size, i.e., the objective functions. The optimization problem is subject to constraints on the manipulator dexterity and stiffness. For a given external wrench, the displacements of the moving platform have to be smaller than given values throughout the obtained maximum regular dexterous workspace. The contributions of the paper are highlighted with the study of 3-PRR, 3-RPR and 3-RRR planar parallel manipulator architectures, which are compared by means of their Pareto frontiers obtained with a genetic algorithm.
Dynamic Disassembly Planning for Remanufacturing of Multiple Types of Products
Authors: Kang Changmuk , Hong Yoo S.
Published: March 2011

With the increased need for remanufacturing of end-of-life products, achieving economic efficiency in remanufacturing is urgently needed. The purpose of this study was to devise a cost-minimization plan for disassembly and remanufacturing of end-of-life products returned by consumers. A returned end-of-life product is disassembled into remanufacturable parts, which are supposed to be used for new products after being remanufactured. Each end-of-life product is disassembled into parts at variable levels as needed, taking into account not only disassembly but also manufacturing, remanufacturing, and holding inventory of remanufacturable parts. This study proposes a linear programming model for derivation of the optimal disassembly plan for each returned product, under deterministically known demand and return flows. For the purposes of an illustrative example, the proposed model was applied to the formulation of an optimal disassembly and remanufacturing plan of ‘Fuser Assembly’ of laser printers. The solution reveals that variable-level disassembly of products saves a significant remanufacturing cost compared with full disassembly.
A Statistical Tolerance Analysis Method for Feature in Non-Normal Distribution
Authors: Kuo Chang-Hsin , Tsai Jhy-Cherng
Published: March 2011

The tolerance analysis of an assembly is an important issue for mechanical design. Among many tolerance analysis methods, the conventional statistical tolerance analysis method is the most popular one. However, the conventional statistical tolerance analysis method is based on the normal distribution. It fails to predict the resultant tolerance of an assembly with features in non-normal distributions. In this paper, the distributions of features are transferred into statistical moments first. Then, the tolerance stack-up can be handled based on these moments. Finally, the computed resultant moments can be mapped back to probability distribution to find the resultant tolerance specification of the assembly. Two examples are used to demonstrate the proposed method. Compared to the resultants by Monte Carlo simulation with 1,000,000 samples, the predicted resultant tolerance specifications by this method are only −0.868% and 0.799% differences. The predicted resultant tolerances of this method are fast and accurate.
A Method to Improve Efficiency in Welding Simulations for Simulation Driven Design
Authors: Pahkamaa Andreas , Karlsson Lennart , Pavasson Jonas , Karlberg Magnus , Na¨sstro¨m Mats , Goldak John
Published: March 2011

Welding is one of the most commonly used methods of joining metal pieces. In product development it is often desirable to predict residual stresses and distortions to verify that e.g., alignment tolerances, strength demands, fatigue requirements, stress corrosion cracking, etc. are fulfilled. The objective of this paper is to derive a strategy to improve the efficiency of welding simulations aiming at a (future) simulation-driven design methodology. In this paper, a weld bead deposition technique called block dumping has been applied to improve the efficiency. The proposed strategy is divided into seven steps, where the first four steps are verified by two welding simulation cases (a benchmark problem for a single weld bead-on-plate specimen and a T-welded structure). This study shows that by use of the block dumping technique, the computation time can be reduced by as much as 93% compared to moving heat source, still with acceptable accuracy of the model.
The Kinematics of A-Pair Jointed Serial Linkages
Authors: Robinson James D. , Hayes M. John D.
Published: March 2011

A new kinematic pair called an algebraic screw pair, or A-pair, is introduced that utilizes the self-motions inherent to a specific configuration of Griffis-Duffy platform. Using the A-pair as a joint in a hybrid parallel-serial kinematic chain results in a sinusoidal coupling of rotation and translation between adjacent links. This motion affects both the direct and inverse kinematics of such chains. Presented in this paper are the direct kinematics of chains using A-pairs and an algorithm for the inverse kinematics of a 4A-pair chain.
Potential Limitations of Verbal Protocols in Design Experiments
Authors: Chiu I. , Shu L. H.
Published: March 2011

Contradictory results of a recent design stimulation and creativity experiment prompted us to re-examine our chosen methodological approach, namely the use of verbal protocols. We used verbal protocols to study design cognition associated with stimulus use. Our results showed that use of stimuli did not increase concept creativity, contradicting much of the design literature. After eliminating other possible errors, we re-examined the experimental methodology to identify potential design-specific limitations associated with verbal protocols. Many researchers have used verbal protocol experiments, also known as talk-out-loud experiments, to study cognitive processes, as there are few other methods to study internal cognition. While verbal protocols are a widely debated method, research has been done to validate them, and precautions can be taken to mitigate associated risks. Based on reviewing the literature and our own experiences, we have developed design-specific guidelines for the use of verbal protocols. We also outline future work required to explore and understand the suitability of verbal protocols for design studies. Despite potential limitations, verbal protocols remain a valuable and practical tool for studying design cognition and therefore should not be discarded.
Computation of the Usage Contexts Coverage of a Jigsaw With CSP Techniques
Authors: Yannou Bernard , Wang Jiliang , Yvars Pierre-Alain
Published: March 2011

In the context of the Usage Context Based Design (UCBD) of a product-service, a taxonomy of variables is suggested to setup the link between the design parameters of a product-service and the part of a set of expected usages that may be covered. This paper implements a physics-based model to provide a performance prediction for each usage context that also depends on the user skill. The physics describing the behavior and consequently the performances of a jigsaw are established. Simulating numerically the usage coverage is non trivial for two reasons: the presence of circular references in physical relations and the need to efficiently propagate value sets or domains instead of accurate values. For these two reasons, we modeled the usage coverage issue as a Constraint Satisfaction Problem and we result in the expected service performances and a value of a covered usage indicator.
The Design of an Intelligent Socially Assistive Robot for Person-Centered Cognitive Interventions
Authors: Chan Jeanie , Nejat Goldie
Published: March 2011

Recently, there has been a growing body of research that supports the effectiveness of using non-pharmacological cognitive and social training interventions to reduce the decline of or improve brain functioning in individuals suffering from cognitive impairments. However, implementing and sustaining such interventions on a long-term basis is difficult as they require considerable resources and people, and can be very time-consuming for healthcare staff. The objectives of our research are to validate the effectiveness of these training interventions and make them more accessible to healthcare professionals through the aid of robotic assistants. Our work focuses on designing a human-like socially assistive robot, Brian 2.0, with abilities to recognize and identify human affective intent to determine its own appropriate emotion-based behavior while engaging in natural and believable social interactions with people. In this paper, we present the design of a novel human-robot interaction (HRI) control architecture for Brian 2.0 that allows the robot to provide social and cognitive stimulation in person-centered cognitive interventions. Namely, the novel control architecture is designed to allow a robot to act as a social motivator by encouraging, congratulating and assisting a person during the course of a cognitively stimulating activity. Preliminary experiments validate the robot’s ability to provide assistive interactions during a HRI-based person-directed activity.
Universal Product Family Design Valuation in an Uncertain Market Environment
Authors: Moon Seung Ki , McAdams Daniel A.
Published: March 2011

Strategic adaptability is essential in capitalizing on future investment opportunities and responding properly to market trends in an uncertain environment. Customized products or services are an important source of revenue for many companies, particularly those working with in a mass customization environment where customer satisfaction is of paramount important. In this paper, we extend methods from mass customization and product family design to create specific methods for universal product family design. The objective of this research is to propose a valuation financial model to facilitate universal design strategies that will maximize the expected profit under uncertain constrains. Real options analysis is applied to estimate the valuation of options related to introducing new modules as a platform in a universal product family. We use customers’ preferences based on performance utilities for universal design to reflect demand and demographic trends. To demonstrate implementation of the proposed model, we use a case study involving a family of light-duty trucks. We perform sensitivity analysis to investigate the behavior of the estimated option value against chaining system parameters.
Computational Support for System Architecting
Authors: Komoto Hitoshi , Tomiyama Tetsuo
Published: March 2011

System architecting is a process to iteratively refine technical specifications assigned to subsystems. System architecting results in compositions of systems (system architecture) as well as system models that are verified and validated in succeeding design stages. To decrease potential design faults and unnecessary design iterations, such system models can be used during system architecting in advance to quickly compute the feasibility of design concepts regarding special and behavioral specifications. This paper proposes a computational tool for system architecting. The tool uses the Function-Behavior-State (FBS) modeling to define symbolic specifications, and geometric and process-interval modeling to define parameter-level specifications. An interval-based logic evaluates the consistency of specifications described with symbols and parameters. This paper demonstrates the tool through system architecting of a generic photocopier.
Parametric Excitation of Flexural Vibrations of Micro Beams by Fringing Electrostatic Fields
Authors: Krylov Slava , Molinazzi Nicola , Shmilovich Tsvi , Pomerantz Uri , Lulinsky Stella
Published: March 2011

We report on an approach for efficient excitation of large amplitude flexural out-of-plane vibrations of micro beams and present results of theoretical and experimental feasibility study of the suggested principle. An actuating electrode is located symmetrically at the two sides of the beam and is fabricated from the same layer of the wafer. The electrostatic force is engendered by the asymmetry of the fringing fields in the deformed state and acts in the direction opposite to the deflection therefore increasing the effective stiffness of the system. The time-varying voltage applied to the electrode results in the modulation of this electrostatic stiffness and consequently in the parametric excitation of the structure. The device may exhibit large vibrational amplitudes not limited by the pull-in instability common in close-gap actuators. In contrast to previously reported devices excited by the fringing fields, the force considered here is of distributed character. The reduced order model was built using the Galerkin decomposition with linear modes as base functions and the resulting system of nonlinear differential equations was solved numerically. The electrostatic forces were approximated by means of fitting the results of three-dimensional numerical solution for the electric fields. The devices fabricated from a silicon on insulator (SOI) substrate using deep reactive ion etching (DRIE) based process were operated in ambient air conditions and the responses were registered by means of Laser Doppler Vibrometry. The experimental resonant curves were consistent with those predicted by the model. Theoretical and preliminary experimental results illustrated the feasibility of the suggested approach.
Singular Loss of Stability Due to Hysteretic Capillary Forces in Atomic Force Microscopy
Authors: Katzenbach Michael , Dankowicz Harry
Published: March 2011

This paper considers discontinuity-induced bifurcations due to the onset and termination of hysteretic, capillary tip-sample interaction forces in a single-mechanical-mode model of intermittent-contact atomic-force microscopy. The theoretical analysis generalizes earlier results for a piecewise-linear hybrid dynamical system to establish the singular termination of branches of steady-state oscillations of the AFM cantilever at critical equilibrium separations corresponding to the grazing contact of the cantilever tip with a fluid layer deposited on the sample. It is shown that this termination is preceded by rapid changes in linearized stability characteristics with one characteristic multiplier going to plus or minus infinity in the deterministic model. The paper describes the application of a discontinuity-mapping technique that allows for unfolding the system response in the vicinity of the grazing condition and the critical equilibrium separation. Numerical simulations and results of parameter continuation are shown to closely agree with the predictions of the theoretical analysis.
Employing Assur Tensegrity Structures Methods for Simulating a Caterpillar Locomotion
Authors: Orki Omer , Shai Offer , Tehori Itay , Slavutin Michael , Ben-Hanan Uri
Published: March 2011

The paper presents an ongoing project aiming to build a robot, composed of Assur tensegrity structures, that mimics the caterpillar locomotion. Caterpillars are soft bodied animals capable of making complex movements with an astonishing fault-tolerance. In this model, a caterpillar segment is represented as a 2D tensegrity triad, consists of two cables and a linear actuator which are connected between two bars. The unique engineering properties of Assur tensegrity structures which were mathematically proved only this year, together with the suggested control algorithm share several analogies with the biological caterpillar. It provides each triad with an adjustable structural softness. Therefore, the proposed robot has a fault-tolerance and can adjust itself to the terrain roughness. This algorithm also reduces the control demands of the non-linear model of the triad by enabling simple motion control for the linear actuator and one of the cables, while the other cable is force controlled.
Wireless Bluetooth Remote Control of a Multi-Fingered Metamorphic Hand—Metahand
Authors: Laimon Hamzah N. , Dai Jian S.
Published: March 2011

The multi-fingered metamorphic hand discussed in this paper is a robotic hand that allows complex and accurate kinematic and dynamic movement of all its elements. The novelty lies in the metamorphic palm that increases dexterity of the hand to grasp complex shapes. Although the hand is actuated through a wired control real-time system, a need for a better, modular and user friendly control interface is required, especially when all hand elements are expected to move simultaneously and grasp various objects. This paper introduces a control interface based on wireless Bluetooth remote connection. Whereby, wireless control is implemented by means of a game controller known as the “Wii-remote”, and a supplement of that controller known as the “Nunchuck”, with emphasis on controlling the novel metamorphic palm by mimicking the movement of the human hand whilst holding the Wii-remote controller. The paper will also highlight distinctive features of the controller along with suggested developments and sensor feedback improvements.
Using the Nintendo Wii Remote in an Engineering Context: Presentation of a Specific Implementation and Applications
Authors: Back Christopher , Olewnik Andrew , Redding Richard
Published: March 2011

Integration of the Nintendo Wii Remote (Wiimote) with computers has been an innovation for open community developers as a video game device and beyond. The same qualities which have made the device popular among this community (i.e. cost, accessibility and open development) make it a powerful inexpensive interface device which can be used in virtual environments to support engineering analysis and design activities. Interface devices in engineering currently include data gloves, tactile input devices and high precision tracking systems which typically require significant financial investment. The Wiimote can be utilized to duplicate, at reduced, but in most cases acceptable standards, the combined capabilities of these traditional devices but at much lower cost. This paper presents background on the ongoing innovations of the open community of developers using the Wiimote and provides a knowledge base of the technology that can be applied to support various aspects of engineering. In addition various development approaches are discussed to provide potential developers with direction in their own Wiimote programming. As part of the method presentation, the implementation of the Wiimote at the New York State Center for Engineering Design and Industrial Innovation (NYSCEDII) is presented in terms of necessary hardware and software utilized to support interactive environments. The paper concludes with a presentation of current applications including the use of the Wiimote as a wireless input device for large system design exploration, a tracking system for head movement in dynamic simulations, visualization of consumer product interaction and tracking of an interactive Wii-glove. The applications represent initial development of what is expected to become a valuable tool for research and education in engineering.
Four Parameter Inverse Characterization of Fractal Surfaces
Authors: Michopoulos John G. , Iliopoulos Athanasios
Published: March 2011

Motivated by the need to determine the mechanical, electrical and thermal properties of contact surfaces between deformable materials that conduct electricity and heat, we are presenting here a method for characterizing certain topological characteristics of rough surfaces. The inverse identification of a set of parameters associated with the parametric representation of any rough surface based on profilometric data is described in contrast with the standard one parameter approaches. The description of the surface topography parametrization is first given in terms of a function that enables the generation of synthetic data. Objective functions are created based on both the profilometric evaluations of the parametric representation of the surface as well as its power spectrum. A statistical Monte Carlo based optimization method is implemented for determining the characteristic parameters needed for further analysis that leads to the determination of other physical properties of the surface. Numerical application of the method validates the efficiency and the accuracy of the proposed approach.
Redefining User Perception: A Method for Fully Capturing the User Perspective of a Product Concept
Authors: Helminen Pia , Ha¨ma¨la¨inen Matti M. , Ma¨kinen Samuli
Published: March 2011

When developing new products, it is crucial to consider user needs. The designer is not the user, and thus understanding what users truly need can be difficult. A key for understanding is to comprehend, how the users fundamentally perceive a product. Designer’s and user’s perceptions of a product differ, and with this in mind, we developed and tested a method for capturing user’s and designer’s perspectives of an existing product or service concept. As we tested this Participatory 3D modeling method, we discovered that the user perception of a product concept is not only the opposite of the one of the designer but in fact also much wider. Instead of concentrating on the product itself, the users ended up modeling a coherent whole — their overall experience relating to the product concept.
Visual Analysis of User Accommodation
Authors: Garneau Christopher J. , Parkinson Matthew B.
Published: March 2011

This study presents a novel, quantitative tool for design decision-making for products designed for human variability. Accommodation, which describes the ability of a user to interact with a device or environment in a preferred way, is a key product performance metric. Methods that offer a better understanding of accommodation of broad user populations would allow for the design of products that are more cost-effective, safer, and/or lead to greater levels of customer satisfaction. Target user populations are often characterized by measures of anthropometry, or body dimensions. A methodology is proposed that uses a visual analysis method for understanding and exploring accommodation across the variability in anthropometry of a target user population. This is achieved by assessing binary accommodation of individuals using a “virtual fit” method and examining trends in binary accommodation across the range of anthropometric variability, referred to as the “anthropometry space”. Various factors influencing accommodation, such as user preference independent of anthropometry and the quality of a design, are also discussed and are an important contribution of the work. Two demonstration studies are presented that illustrate the methodology and provide opportunity for discussion of its impact. The first study investigates the simple univariate problem of dimensionally optimizing the seat height and range of adjustability of an exercise cycle. The second study investigates the more complex problem of optimally configuring the driver package of a commercial truck.
Impact of Energy Measurements in Machining Operations
Authors: Lanz Minna , Mani Mahesh , Leong Swee , Lyons Kevin , Ranta Ari , Ikkala Kimmo , Bengtsson Nils
Published: March 2011

Over the past years, institutions in general are increasingly interested and involved in sustainability and social responsibility. In addition, social and political pressures have led to the creation of new regulations and policies that support new business opportunities around global sustainability. Considering sustainable manufacturing, a number of indicators have been proposed and currently being researched. The aim of this paper is to explore and discuss the impact of energy measurements as an indicator for sustainable manufacturing. The main question to be asked is, can energy measurement be used for optimization the machining level process. Based on energy monitoring during two Computer Numerical Control (CNC) machining case studies, the significance of energy cost based on different CNC machining strategies and parameter settings is examined and discussed. The preliminary results from the energy measurements on the case studies indicate that potential cost savings in energy will be minimal in CNC operations. Based on the case studies, the potential energy savings in monetary value do not necessarily justify a company’s investment in implementing real time energy tracking technologies; however the results were limited in scope with regards measuring energy as an indicator for evaluating other performance outcomes.
Design of Lambda-Quadriglide: A New 4-DOF Parallel Kinematics Mechanism for Scho¨nflies Motion
Authors: Ancuta Andreea , Company Olivier , Pierrot Franc¸ois
Published: March 2011

This paper describes a new parallel kinematics mechanism for Scho¨nflies motion: the Lambda-Quadriglide. The structure of Lambda-Quadriglide provides four degrees of freedom (DOF) with three translations and one rotation around a horizontal axis. Four linear actuators with the same direction are used, which allows the workspace to be particularly long in this direction. The special feature of this mechanism is the lambda-configuration, based on two kinematic chains acting directly on the traveling plate, and two other kinematic chains acting on the first ones. This configuration allows a large rotational angular range for the mobile platform. The design concept of Lambda-Quadriglide is introduced and kinematics models are derived. Optimization of the mechanism parameters and the workspace of the optimized mechanism are also presented. This architecture allows a physical implementation with no collision problems between the arms. Finally, the Lambda-Quadriglide prototype is presented, together with experimentation results.
Closed-Loop Transmission Routings for Cartesian SCARA-Type Manipulators
Authors: Laliberte´ Thierry , Gosselin Cle´ment , Gao Dalong
Published: March 2011

SCARA-type manipulators are widely used in industry. SCARA motions can be produced by serial SCARA arms or by Cartesian rail-mounted mechanisms, such as in overhead cranes. This paper focusses on the latter mechanisms which are referred to here as Cartesian SCARA-type manipulators. When such mechanisms are actuated, the motors are generally moving, which increases the inertia of the system. In this paper, several closed-loop cable/belt routings are proposed in order to allow the actuation of Cartesian SCARA-type manipulators from four actuators fixed to the ground. Then, the kinematic analysis of these routings is performed, which reveals that decoupled actuation is possible and leads to great advantages regarding the power needed. Finally, preferred routings are selected and an example of application is given.