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An MRI’s superior soft tissue contrast and ability to perform parametric scanning make it a powerful tool for use during medical procedures; from surgery to rehabilitation. However, the MRI’s strong static magnetic field, fast switching gradients and constrained space make accomplishing procedures within it difficult. Recent advances in the field of robotics have enabled the creation of devices capable of assisting medical practitioners in this environment. In this work, technologies to enable the use and control of robotic assistive devices for MRI interventions are presented. This includes a modular controller that is designed, built and used to control two surgical systems with minimal effect on image quality. Progressive improvements to an MRI conditional actuator including the construction of a first of a kind plastic piezoelectric resonant motor stator that improves the motor’s compatibility with the MRI is presented. Finally, control algorithms are evaluated for real-time functional MRI based control of a rehabilitation robot which includes the use of a robot for controlling brain activity of a subject in an online experiment.

This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and active compliance. This is accomplished through incorporating series elastic actuators in its arms and torso joints, improving the mechanical design to reduce backlash, and incorporating impedance controllers in the robot. The focus of this thesis is the development of the mechanical, sensor, and controller design for the uBot-7 platform. An impedance controller is developed and evaluated on a bench top prototype series elastic actuator.

This work describes a possibility to use a shape memory alloy as a non-traditional actuator in a particular mechatronic system. The practical part of this work is dedicated to the experimental property verification of the chosen shape memory alloy and also to the design and realization of the new type of electrically controlled gabled valve that uses a shape memory alloy as an actuator. This valve is designed as a replacement of the traditional solution and is also integrated into McKibbens pneumatic muscle endcap. There are also results of practical functional verification of the designed gabled valve solution listed here, and the limited condition for its manufacturing and use is stated here. In the theoretical part of this work, firstly, the shape memory alloy and non-linear systems hysteresis type are discussed. Secondly a new particular solution is designed, which is based on a non-linear computational element, defined by goniometric cosine function. Finally, the properties of the designed solution are verified through the simulations and with the use of experimentally gained datas.

Dizertační práce je obecně zaměřena na problematiku mikroskopie atomárních sil (AFM), a to jak vývoje částí těchto mikroskopů, tak i jejich obecnému využití v oblasti výzkumu povrchů, ultratenkých vrstev a nanostruktur. Na Ústavu fyzikálního inženýrství jsou vyvíjena zařízení umožňující aplikovat uvedenou mikroskopickou metodu. V těchto mikroskopech jsou využívány piezoelektrické motory pro zajištění pohybu vzorku a ladicích zrcátek v optickém detekčním systému. Práce se v části věnované vývoji AFM zabývá studiem parametrů řídicích pulzů za účelem optimalizace funkce těchto komponent. Měřením vlivu tvaru pulzů a opakovací frekvence byl jejich pohyb optimalizován z hlediska stability a rychlosti posuvu. V části věnované výzkumu povrchů byly experimentálně zkoumány morfologické změny ultratenkých vrstev zlata na povrchu oxidu křemičitého za zvýšených teplot. Bylo zjištěno, že vhodná povrchová modifikace způsobuje vznik preferenčních trhlin ve vrstvě zlata. Řízeným rozdělením polykrystalické vrstvy na oddělené oblasti je možné významně ovlivnit proces tvorby ostrůvků zlata vznikajících při žíhání. S využitím metod elektronové litografie je možná příprava uspořádaných polí zlatých ostrůvků o velikostech 50 – 400 nm. Dále bylo ukázáno, že zvýšením teploty žíhání na 1000 °C dochází k postupnému zanořování ostrůvků zlata do povrchu. Tento jev je pravděpodobně způsoben přesunem oxidu křemičitého z oblasti pod zlatým ostrůvkem do těsného okolí vzniklého kráteru, kde tvoří tzv. límec. V těchto studiích vedle metody AFM byla s výhodou používána rovněž elektronová mikroskopie (SEM).

Les actionneurs multi-axes sont de plus en plus prisés par les concepteurs de systèmes de nanopositionnement car ils permettent une réduction de l'espace occupé et de l'énergie consommée, une dextérité plus grande et une modularité avec peu de contraintes pour les applications. Certains de ces actionneurs et systèmes multi-axes sont cependant caractérisés par des oscillations mal-amorties qui compromettent de manière drastique leurs performances générales. Cette thèse concerne l'exploitation des techniques de commande en boucle-ouverte input-shaping classiquement utilisées pour amortir de manière sans capteurs les oscillations dans les systèmes mono-axes et les étendent pour qu'ils soient utilisables pour les systèmes multi-axes. Les résultats proposés dans la thèse qui sont des techniques input-shaping multivariables sont ensuite appliquées sur des actionneurs piézoélectriques classiquement dédiés pour les applications de nanopositionnement. / Multi-axes actuators are becoming more and more tempting to nanopositioning system designers as they enable them to save space, reduce energy consumption, increase dexterity and offer more modularity and freedom with fewer constraints to their applications. Some of these multi-axes actuators and systems exhibit however badly damped vibrations which strongly compromise their global performances. This thesis work exploits the advantages of the well-known feedforward input shaping techniques usually used to damp vibrations in monovariable (SISO) systems to present a new multivariable (MIMO) input shaping technique that can be used to damp vibrations in multi-axes systems. The approach that was used in this study is to extend a previous work that was done on multiple-input single-output (MISO) systems and generalize it for MIMO systems. The study demonstrates also the application of this newly developed technique on different piezoelectric actuators commonly used in nanopositioning systems.

An MRI’s superior soft tissue contrast and ability to perform parametric scanning make it a powerful tool for use during medical procedures; from surgery to rehabilitation. However, the MRI’s strong static magnetic field, fast switching gradients and constrained space make accomplishing procedures within it difficult. Recent advances in the field of robotics have enabled the creation of devices capable of assisting medical practitioners in this environment. In this work, technologies to enable the use and control of robotic assistive devices for MRI interventions are presented. This includes a modular controller that is designed, built and used to control two surgical systems with minimal effect on image quality. Progressive improvements to an MRI conditional actuator including the construction of a first of a kind plastic piezoelectric resonant motor stator that improves the motor’s compatibility with the MRI is presented. Finally, control algorithms are evaluated for real-time functional MRI based control of a rehabilitation robot which includes the use of a robot for controlling brain activity of a subject in an online experiment.

When cold rolling thin steel strips with high tensile strength, reversible cluster mills are used. The customer’s demands are high on the products flatness, which is controlled by the different flatness actuators that the mill is equipped with. The objective of this thesis was to find an optimal CVC shape on the shifting inner second intermediate roll in the 20-high cluster mill KV96 at Sandvik Materials Technology in Sandviken. The project consisted of a theoretical calculation of the roll shape that can give the desired change of the strips flatness and practical development and testing of these rolls in the mill. The results showed that the flatness of the strips can be altered with up to 30 I-units at the edges and 20 I-units in the center with the use of an inner second intermediate roll of the CVC type as this study has concluded. In this work, three CVC shapes was developed using the calculation software Cluster. The rolls was then ground and verified in the mill. / Vid kallvalsning av tunna band med hög hållfasthet används reversibla mångvalsarsverk. Kundkraven är höga på produkternas planhet, vilken styrs av de planhetsställdon verket är utrustat med. Målsättningen med detta examensarbete var att finna en optimal CVC-form på den förskjutningsbara inre mellanvalsen i 20-valsarsverket KV96 vid Sandvik Materials Technology AB i Sandviken. Projektet har bestått av att teoretiskt beräkna den valsform som kan ge den önskade förändringen i planhetsmätarbilden samt att praktiskt ta fram och prova dessa valsar i verket. Resultaten visar att man kan påverka planheten på banden med upp till 30 I-enheter i kanten och 20 I-enheter i mitten med användandet av en inre mellanvals av CVC-typ som denna studie kommit fram till. I det här arbetet utvecklades, med hjälp av beräkningsprogrammet Cluster, tre CVC-valsgeometrier som sedan slipades fram och verifierades i valsverket.

No description available.

京都大学 / 0048 / 新制・課程博士 / 博士(工学) / 甲第18585号 / 工博第3946号 / 新制||工||1606(附属図書館) / 31485 / 京都大学大学院工学研究科機械理工学専攻 / (主査)教授 西脇 眞二, 教授 田畑 修, 教授 松原 厚 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM