RESUMO
Indoor navigation robots, which have been developed using a robot operating system, typically use a direct current motor as a motion actuator. Their control algorithm is generally complex and requires the cooperation of sensors such as wheel encoders to correct errors. For this study, an autonomous navigation robot platform named Owlbot was designed, which is equipped with a stepping motor as a mobile actuator. In addition, a stepping motor control algorithm was developed using polynomial equations, which can effectively convert speed instructions to generate control signals for accurately operating the motor. Using 2D LiDAR and an inertial measurement unit as the primary sensors, simultaneous localization, mapping, and autonomous navigation are realised based on the particle filtering mapping algorithm. The experimental results show that Owlbot can effectively map the unknown environment and realise autonomous navigation through the proposed control algorithm, with a maximum movement error being smaller than 0.015 m.
RESUMO
This work presents a novel integrated device that combines a hybrid stepping motor (HSM) and a planetary gear train (PGT) reducer as a compact structural assembly. In this study, a systematic design process was developed to efficiently implement the integrated device. By applying the gear profile on the rotor and the stator, a 9:1 two stages PGT reducer is integrated with a standard 42 type 2-pole stepping motor. The quadratic interpolation method was applied to derive the optimal design of the geometric configurations of the HSM. The electromagnetic characteristics and output performance of the integrated device, including flux linkage, back-emf constant, holding torque, and output torque, were analysed. Finally, the output performance between an existing design and the novel integrated design were compared. The two designs had similar output and holding torque, but the torque ripple was approximately 44.7% lower in the integrated device from 30% to 16.6%. In addition, the axial space arrangement was reduced by 5.2% from 67.7mm to 64.1 5mm, and the torque density was improved by 4.4%.
Assuntos
TorqueRESUMO
A nano-stepping motor can translate or rotate when its piezoelectric element pair is electrically driven in-phase or anti-phase. It offers millimeter-level stroke, sub-micron-level stepping size, and sub-nanometer-level scanning resolution. This article proposes a visual servo system to control the nano-stepping motor, since its stepping size is not consistent due to changing contact friction, using a custom built microscopic instrument and image recognition software. Three kinds of trajectories-straight lines, circles, and pentagrams-are performed successfully. The smallest straightness and roundness ever tested are 0.291 µm and 2.380 µm. Experimental results show that the proposed controller can effectively compensate for the error and precisely navigate the rotor along a desired trajectory.
RESUMO
Within the last three decades Scanning Probe Microscopy has been developed to a powerful tool for measuring surfaces and their properties on an atomic scale such that users can be found nowadays not only in academia but also in industry. This development is still pushed further by researchers, who continuously exploit new possibilities of this technique, as well as companies that focus mainly on the usability. However, although imaging has become significantly easier, the time required for a safe approach (without unwanted tip-sample contact) can be very time consuming, especially if the microscope is not equipped or suited for the observation of the tip-sample distance with an additional optical microscope. Here we show that the measurement of the absolute tip-sample capacitance provides an ideal solution for a fast and reliable pre-approach. The absolute tip-sample capacitance shows a generic behavior as a function of the distance, even though we measured it on several completely different setups. Insight into this behavior is gained via an analytical and computational analysis, from which two additional advantages arise: the capacitance measurement can be applied for observing, analyzing, and fine-tuning of the approach motor, as well as for the determination of the (effective) tip radius. The latter provides important information about the sharpness of the measured tip and can be used not only to characterize new (freshly etched) tips but also for the determination of the degradation after a tip-sample contact/crash.
RESUMO
This paper introduces some information of the infusion tele-control system based on LonWorks, including its system function, operation principle, software and hardware designs. With high reliability, low cost and convenient operation, this system has a bright future in the market and its application.
RESUMO
This paper introduces some information of the multi-function hydraulic pressure diagnostic and therapeutic instrument, which is applied to the diagnoses and treatments of oviduct, matrix, urethra, bladder and bile duct, including its system function, operation principle, software and hardware designs. Being reliable, cheap, convenient and multipurpose, the instrument has a bright future in the market.
