There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications

An efficient ghost-cell immersed boundary method (GCIBM) for simulating turbulent flows in complex geometries is presented. A boundary condition is enforced through a ghost cell method. The reconstruction procedure allows systematic development of numerical schemes for treating the immersed boundary while preserving the overall second-order accuracy of the base solver. Both Dirichlet and Neumann boundary conditions can be treated. The current ghost cell treatment is both suitable for staggered and non-staggered Cartesian grids. The accuracy of the current method is validated using flow past a circular cylinder and large eddy simulation of turbulent flow over a wavy surface. Numerical results are compared with experimental data and boundary-fitted grid results. The method is further extended to an existing ocean model (MITGCM) to simulate geophysical flow over a three-dimensional bump. The method is easily implemented as evidenced by our use of several existing codes.

A Ghost-Cell Immersed Boundary Method for Flow in Complex Geometry

The Stewart platform manipulator: a review

We describe the fluidFM, an atomic force microscope (AFM) based on hollow cantilevers for local liquid dispensing and stimulation of single living cells under physiological conditions. A nanofluidic channel in the cantilever allows soluble molecules to be dispensed through a submicrometer aperture in the AFM tip. The sensitive AFM force feedback allows controlled approach of the tip to a sample for extremely local modification of surfaces in liquid environments. It also allows reliable discrimination between gentle contact with a cell membrane or its perforation. Using these two procedures, dyes have been introduced into individual living cells and even selected subcellular structures of these cells. The universality and versatility of the fluidFM will stimulate original experiments at the submicrometer scale not only in biology but also in physics, chemistry, and material science.

FluidFM: Combining Atomic Force Microscopy and Nanofluidics in a Universal Liquid Delivery System for Single Cell Applications and Beyond

This paper has proposed a 3-DOF spherical actuator consisting of a ball-shaped rotor with a full circle of permanent- magnet (PM) poles and a spherical-shell-like stator with two layers of circumferential air-core coils. One key feature of this design is the parametrization of PM and coil poles. Based on the torque model of the PM spherical actuator, the relationship between poles' parameters and torque output can be demonstrated. As a result, the actuator design aiming at achieving maximum torque output can be carried out from the relationships. Another advantage of this spherical actuator is its singularity-free workspace, which is verified with the actuator torque model and condition numbers.

Design and Analysis of a Permanent Magnet Spherical Actuator

In this paper, we report the development of a prototype micromanipulation system for automatic batch microinjection of zebrafish embryos. Such automatic batch processing is made possible by (i) the development of a machine vision algorithm to identify the number of embryos in a batch and to locate the centerline of each embryo, (ii) the integration of a piezoresistive micro-force sensor with a micropipette to measure the penetration force of the embryo in real time and (iii) the synthesis of a position control with dynamic force feedback by exploiting the characteristics of the force profile associated with the microinjection process. The effectiveness of this prototype micromanipulation system has been demonstrated in an experiment. The experimental results demonstrate that the technique of position control with dynamic penetration-force feedback is practicable for automatic batch microinjection applications.

https://iopscience.iop.org/article/10.1088/0960-1317/17/2/018/pdf

A micromanipulation system with dynamic force-feedback for automatic batch microinjection

Precision positioning machines are required to run with higher speed and higher accuracy. The high running speed can cause strong excitations on the machine structure, which results in severe structure vibration and long settling time. This paper presents a low-vibration motion profile generation method to reduce the residual vibration. The acceleration profile is designed by using a level-shifted sinusoidal waveform to have an s-shape in order to control its change rate. Simulation and experimental studies showed that in comparison with conventional trapezoidal profile and s-curve profile, the residual vibration by using the proposed motion profile can be reduced significantly.

Motion Profile Design to Reduce Residual Vibration of High-Speed Positioning Stages

This paper presents the self-calibration of a novel biologically inspired 7 DOF cable-driven robotic arm. Similar to the human arm, the proposed robotic arm consists of three sequentially connected modules, i.e., a 3 DOF shoulder module, a 1 DOF elbow module, and a 3 DOF wrist module. Due to factors like manufacturing defects, assembly misalignments, compliance, and wear of connecting mechanisms, errors in the geometric model parameters always exist. Hence, the identification of such errors is critical for path planning and motion control tasks. Self-calibration models of the various modules in the robotic arm are formulated based on the differential change in the cable end-point distances. Due to the linear nature of these self-calibration models, an iterative least-squares algorithm is employed to identify the errors in the geometric model parameters. The calibration does not require any external pose measurement devices, because it utilizes the cable length data obtained from the redundant actuation scheme of the cable-driven arm. Computer simulations and experimental studies were carried out on both the 3 DOF and 1 DOF modules, to verify the robustness and effectiveness of the proposed self-calibration algorithm. From the experimental studies, errors in the geometric model parameters were precisely recovered after a minimum number of pose measurements.

Self-Calibration of a Biologically Inspired 7 DOF Cable-Driven Robotic Arm

A solution-in-nature approach has been adopted in the design of a 7-DOF humanoid robotic arm. Similar to a human arm, the proposed robotic arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. To mimic the driving scheme of the human arm, all of the three arm modules are driven by cables which are functionally equivalent to human muscles (can pull but cannot push). Such a robotic arm has the advantages of light weight, high dexterity, and large reachable workspace. Hence, it can be an ideal versatile arm for various service robots to perform human-like operations. Two critical design analysis issues, i.e., displacement analysis and cable-tension analysis are addressed in more details. The closed form solution is derived for the forward displacement analysis, while the inverse displacement solution is obtained through an optimization technique. An effective cable-tension analysis algorithm is proposed in light of the analysis method for force-closure grasps.

Kinematic design of a 7-DOF cable-driven humanoid arm: a solution-in-nature approach

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