Hui Fong-fong. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 84-85). / Abstracts in English and Chinese. / Chapter 1 --- INTRODUCTION --- p.1 / Chapter 1.1 --- Objective --- p.1 / Chapter 1.2 --- Background --- p.1 / Chapter 1.3 --- Mechanism and History of SMA --- p.3 / Chapter 1.4 --- Organization of the thesis --- p.4 / Chapter 2 --- LITERATURY SURVEY --- p.6 / Chapter 2.1 --- Previous achievements in micro robot --- p.6 / Chapter 2.1.1 --- Micro-robot with mechanical devices --- p.6 / Chapter 2.1.2 --- Micro-robot with smart materials --- p.7 / Chapter 2.1.3 --- Micro-robot with micro actuators --- p.8 / Chapter 2.2 --- Previous work in improving the SMA wire response --- p.10 / Chapter 2.2.1 --- Fixed external cooling System --- p.10 / Chapter 2.2.2 --- Dynamic external cooling system --- p.12 / Chapter 2.2.3 --- Physical Conversion --- p.13 / Chapter 2.3 --- Summary of literature survey --- p.14 / Chapter 3 --- 3-DOF SMA MICRO ROBOT~AN APPLICATION FOR SMA ACTUATORS --- p.15 / Chapter 3.1 --- Robot conceptual design --- p.15 / Chapter 3.2 --- Structural analysis for the propulsion of robot --- p.17 / Chapter 3.3 --- Two-way shape memory effect --- p.18 / Chapter 3.4 --- Material Selection --- p.19 / Chapter 3.4.1 --- Nickel-Titanium Alloys --- p.19 / Chapter 3.4.2 --- Copper-based Alloys --- p.20 / Chapter 3.4.3 --- Comparison of Ni-Ti and Copper-based alloys --- p.20 / Chapter 3.5 --- Fabrication process of micro robot --- p.21 / Chapter 3.5.1 --- Setting the shape of Nitinol wires --- p.22 / Chapter 3.5.2 --- Modifying the spring length --- p.23 / Chapter 3.5.3 --- Training for two-way memory --- p.24 / Chapter 3.5.3.1 --- Over deformation in Martensitic condition --- p.25 / Chapter 3.5.3.2 --- Trained by repeating Cycling --- p.25 / Chapter 3.5.3.3 --- Trained by Pseudoelastic Cycling --- p.26 / Chapter 3.5.3.4 --- Training by Constrained Temperature Cycling of Deformed Martensite --- p.26 / Chapter 3.5.4 --- Fabrication of Body part --- p.26 / Chapter 3.6 --- Locomotion methods --- p.28 / Chapter 3.7 --- Bending control --- p.29 / Chapter 4 --- HEAT TRANSFER ENHANCEMENT BY INCREASING CONVECTIVE SURFACE AREA --- p.31 / Chapter 4.1 --- Heat transfer --- p.31 / Chapter 4.2 --- Simplified Heat Transfer Analysis --- p.32 / Chapter 4.2.1 --- Analysis of Theoretical Results --- p.36 / Chapter 4.3 --- Verifying the reliability --- p.38 / Chapter 4.4 --- Mathematical Model to Match Experimental Conditions --- p.39 / Chapter 4.4.1 --- Mathematical modification by considering the connector --- p.39 / Chapter 4.4.2 --- Matching by introducing the correction factor --- p.40 / Chapter 4.5 --- Experimental model and modification of parameters --- p.41 / Chapter 5 --- LASER-MICROMACHINING --- p.44 / Chapter 5.1 --- Laser micro-fabrication of micro grooves on SMA wires --- p.44 / Chapter 5.2 --- Background on Laser-micromachining --- p.45 / Chapter 5.3 --- Basic Mechanisms in Lasers --- p.46 / Chapter 5.4 --- System Description --- p.47 / Chapter 5.5 --- Laser characteristic and groove fabrication --- p.48 / Chapter 5.5.1 --- Focal Spot Size --- p.48 / Chapter 5.5.2 --- Beam-focusing conditions --- p.49 / Chapter 5.6 --- Grooves measurement --- p.54 / Chapter 5.6.1 --- WYKO measurement --- p.54 / Chapter 5.6.2 --- SEM estimation --- p.57 / Chapter 6 --- EXPERIMENTAL RESULTS --- p.58 / Chapter 6.1 --- Experimental Setup for Temperature Measurement --- p.58 / Chapter 6.2 --- Experimental and Theoretical Comparison --- p.59 / Chapter 6.2.1 --- Improved Performance of lasered SMA wires --- p.59 / Chapter 6.2.2 --- Comparison of Experimental and Theoretical Results --- p.60 / Chapter 6.3 --- Effect of Micro-grooves on SMA Force Output --- p.63 / Chapter 6.3.1 --- Force Measurement Setup --- p.64 / Chapter 7 --- OPTIMUM PARAMETERS FOR HEAT TRANSFER --- p.66 / Chapter 7.1 --- Assumptions --- p.66 / Chapter 7.2 --- Mathematical Formulation --- p.66 / Chapter 7.2.1 --- Width of groove --- p.67 / Chapter 7.2.2 --- Depth of groove --- p.70 / Chapter 7.2.3 --- Number of groove --- p.72 / Chapter 7.3 --- Experimental Validation --- p.75 / Chapter 7.3.1 --- Repetition time and the depth of groove --- p.75 / Chapter 7.3.2 --- Validating the depth effect --- p.77 / Chapter 8 --- CONCLUSION --- p.80 / Chapter 9 --- FUTURE WORK --- p.81 / Chapter A. --- APPENDIX --- p.82 / Chapter A. 1 --- Procedures for quick WYKO surface profile measurements --- p.82 / BIBLIOGRAPHY --- p.84

Tse, Kim Fung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2007. / Includes bibliographical references (leaves 103-109). / Abstracts in English and Chinese. / Abstract --- p.i / List of Figure --- p.iii / List of Table --- p.vi / Chapter Chapter 1 : --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Background information --- p.2 / Chapter 1.2.1 --- Similar researches on testbed construction --- p.2 / Chapter 1.2.2 --- Formation control theories --- p.2 / Chapter 1.2.3 --- Robot control architectures --- p.3 / Chapter 1.3 --- Basic design of our testbed --- p.4 / Chapter 1.4 --- The organization of this thesis --- p.6 / Chapter Chapter 2 : --- Literature Survey --- p.7 / Chapter 2.1 --- Similar researches on testbed construction --- p.7 / Chapter 2.2 --- Sensors for Distance Detection --- p.10 / Chapter 2.2.1 --- IR Sensor --- p.10 / Chapter 2.2.1 --- Ultrasonic Sensor --- p.11 / Chapter 2.3 --- Formation control theories --- p.11 / Chapter 2.3.1 --- Behavior-based approach --- p.11 / Chapter 2.3.2 --- Leader-follower approach --- p.13 / Chapter 2.3.3 --- Virtual Structure approach --- p.13 / Chapter 2.4 --- Robot control architectures --- p.14 / Chapter 2.4.1 --- Centralized robot controlling system --- p.14 / Chapter 2.4.2 --- Decentralized robot controlling system --- p.15 / Chapter 2.5 --- Summary --- p.16 / Chapter Chapter 3 : --- Wheeled Robot Design --- p.18 / Chapter 3.1 --- Layer Concept in Robot Construction --- p.19 / Chapter 3.1.1 --- Processing layer --- p.20 / Chapter 3.1.2 --- Sensing layer --- p.22 / Chapter 3.1.3 --- Actuating layer (Wheeled Robot) --- p.24 / Chapter 3.2 --- Control Station Setup --- p.27 / Chapter 3.3 --- Sensor performance --- p.31 / Chapter 3.3.1 --- Distance Detection --- p.31 / Chapter 3.3.2 --- Direction Detection --- p.34 / Chapter 3.4 --- "Experiments, results and discussions" --- p.42 / Chapter 3.4.1 --- Experiment 1 - Experiment on MICA performance --- p.42 / Chapter 3.4.2 --- Experiment 2 - Distance maintaining --- p.43 / Chapter 3.4.3 --- Experiment 3 - Robot tracking --- p.45 / Chapter 3.5 --- Summary --- p.47 / Chapter Chapter 4 : --- Levitated Robot Design --- p.49 / Chapter 4.1 --- Possible methods to lift the robots --- p.49 / Chapter 4.2 --- Air table for robot lifting --- p.50 / Chapter 4.2.1 --- Table with air pump --- p.51 / Chapter 4.2.2 --- Table with air compressor --- p.54 / Chapter 4.2.3 --- Comparisons and experiments on the designs --- p.56 / Chapter 4.3 --- New actuating layer for the levitated robot --- p.56 / Chapter 4.3.1 --- Possible actuators for robot to move on air table --- p.57 / Chapter 4.3.2 --- Actuator selection --- p.62 / Chapter 4.4 --- "Experiments, results and discussions" --- p.65 / Chapter 4.4.1 --- Experiment 1 - Testing the performance of actuators --- p.66 / Chapter 4.4.2 --- Experiment 2 - Movement determination --- p.70 / Chapter 4.4.3 --- Experiment 3 - Maintaining position on air table --- p.74 / Chapter 4.5 --- Summary --- p.75 / Chapter Chapter 5 : --- Improvement of Position Detection --- p.77 / Chapter 5.1 --- Direction detection --- p.78 / Chapter 5.1.1 --- One reading approach --- p.79 / Chapter 5.1.2 --- Three readings approach --- p.79 / Chapter 5.1.3 --- Effective readings approach --- p.80 / Chapter 5.1.4 --- Imaginary sensor approach --- p.80 / Chapter 5.2 --- Distance Detection --- p.87 / Chapter 5.3 --- Experimental Results --- p.89 / Chapter 5.4 --- Summary --- p.92 / Chapter Chapter 6 : --- Conclusions and Future work --- p.93 / Appendix --- p.97 / Reference --- p.103

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No description available.

D.Ing. / The grasping strategy for a three dimensional object by a robotic gripper requires a geometrical reasoning and analysis of the physical gripper design, control and operation. The work addresses the problem of data acquisition and processing required for an object recognition and its application in the selection of grasping strategy for a given gripper. The system described in the thesis integrates the analyses of image data, object geometry and grasping operation in a systematic way. It is hierarchically constructed in several levels of analyses and processes including object recognition, grasping feature representation and classification, matching strategy for objects and the gripper and grasping description and operation. Object shape features are taken for recognition based on the image data collected through an infrared sensor. With a face relation graph proposed, an object model is built for describing the object geometrical properties and extracting its grasping features. A coding system based on group technology concepts is proposed for object classification. It describes object features relative to grasping operation. Gripping models are established and incorporated with the coding system for analysis of object gripping features. By means of the gripping models and the coding system, objects to be grasped are classified and grouped into specific families according to their similarities in gripping. The information transformation between the object and the gripper is made through a matrix representation. An object matrix describes the selection of gripping faces and object geometry for gripping , while a gripper matrix describes the fingers selection and its configuration in correspondence with the object to be grasped. The matching of the matrices is established through a knowledge-based reasoning approach. The grasping operation is controlled by a computer in terms of the commands generated by the gripper matrix through a gripper code. The design of the generic gripper for this application is described.

The computed-torque algorithm is a popular model-based robot trajectory control scheme. Adding an adaptive mechanism to this scheme can improve the error tracking capabilities of the robot controller. This thesis describes the algorithms necessary to develop a computer simulation for the PUMA 560 robot arm. Several robot controllers are outlined with an emphasis on the computed-torque scheme. The PUMA simulation is used to analyze the error tracking capabilities of an adaptive computed-torque controller. Consideration is given to parameter mismatch, unmodeled friction, unknown loading, and path excitation. This thesis shows that even with inaccurate load knowledge the adaptive algorithm enhances the tracking capabilities of the controller.

by Kwok-wai Au. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 55-58). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgments --- p.iii / Contents --- p.iv / List of Figures --- p.vi / List of Tables --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Previous work --- p.5 / Chapter 1.3 --- Thesis overview --- p.7 / Chapter 2 --- Dynamics of the Single Wheel Robot --- p.10 / Chapter 2.1 --- Dynamic model of a rolling disk --- p.10 / Chapter 2.1.1 --- Kinematic constraints --- p.11 / Chapter 2.1.2 --- Equations of motion --- p.13 / Chapter 2.1.3 --- Characteristics of the rolling disk --- p.15 / Chapter 2.2 --- Dynamic model of the single wheel robot --- p.18 / Chapter 2.2.1 --- Coordinate frames and generalized coordinates --- p.19 / Chapter 2.2.2 --- Equations of motion --- p.21 / Chapter 2.2.3 --- Model simplification --- p.24 / Chapter 2.3 --- Dynamic properties of the single wheel robot --- p.27 / Chapter 3 --- Stabilization of the Single Wheel Robot --- p.30 / Chapter 3.1 --- Linearized model --- p.30 / Chapter 3.2 --- Controllability and non-minimum phase characteristics --- p.33 / Chapter 3.3 --- Linear state feedback --- p.33 / Chapter 3.4 --- Simulation Study --- p.35 / Chapter 4 --- Path Following of the Single Wheel Robot --- p.37 / Chapter 4.1 --- Path following for nonholonomic systems --- p.37 / Chapter 4.2 --- Definition of path following --- p.39 / Chapter 4.3 --- New configuration --- p.39 / Chapter 4.4 --- Line following --- p.41 / Chapter 4.4.1 --- Velocity control law --- p.42 / Chapter 4.4.2 --- Convergence for the velocity control law --- p.43 / Chapter 4.4.3 --- Torque control law --- p.45 / Chapter 4.5 --- Simulation study --- p.47 / Chapter 4.5.1 --- Effect of the initial heading angle --- p.47 / Chapter 4.5.2 --- Effect of the rolling speed --- p.49 / Chapter 4.5.3 --- Follow a desired line --- p.50 / Chapter 4.5.4 --- Effect of the smoothness parameter --- p.50 / Chapter 5 --- Conclusion --- p.52 / Chapter 5.1 --- Contributions --- p.52 / Chapter 5.2 --- Future work --- p.53 / Bibliography --- p.55

by Wai-Kuen Yu. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 83-87). / Abstracts in English and Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Robot Concept --- p.1 / Chapter 1.2 --- Motivations --- p.3 / Chapter 1.3 --- Related Work --- p.5 / Chapter 1.4 --- Overview --- p.6 / Chapter 2 --- Single Wheel Robot --- p.8 / Chapter 2.1 --- Mathematical Model --- p.8 / Chapter 2.1.1 --- Coordinate Frame --- p.9 / Chapter 2.1.2 --- Equations of Motion --- p.10 / Chapter 2.1.3 --- Model Simplification --- p.12 / Chapter 2.2 --- Hardware Descriptions --- p.13 / Chapter 2.2.1 --- Actuators --- p.14 / Chapter 2.2.2 --- Sensors --- p.14 / Chapter 2.2.3 --- Communication Subsystem --- p.15 / Chapter 2.2.4 --- Computer Subsystem --- p.16 / Chapter 2.3 --- Software Descriptions --- p.16 / Chapter 2.3.1 --- Operating System --- p.17 / Chapter 2.3.2 --- Software Architecture --- p.18 / Chapter 3 --- Human-based Control --- p.21 / Chapter 3.1 --- Why Human-based Control --- p.21 / Chapter 3.2 --- Modeling Human Control Strategy --- p.22 / Chapter 3.2.1 --- Human Control Strategy --- p.22 / Chapter 3.2.2 --- Neural Network for Modeling --- p.23 / Chapter 3.2.3 --- Learning Procedure --- p.24 / Chapter 3.3 --- Task Descriptions --- p.28 / Chapter 3.4 --- Modeling HCS in Controlling the Robot --- p.29 / Chapter 3.4.1 --- Model Input and Output --- p.30 / Chapter 3.4.2 --- Human-based Controller --- p.31 / Chapter 3.5 --- Result and Discussion --- p.31 / Chapter 4 --- Input Selection --- p.38 / Chapter 4.1 --- Why Input Selection --- p.38 / Chapter 4.2 --- Model Validation --- p.39 / Chapter 4.2.1 --- Why Model Validation --- p.39 / Chapter 4.2.2 --- Root Mean Square Error Measure --- p.40 / Chapter 4.3 --- Experimental Setup --- p.40 / Chapter 4.4 --- Model-based Method --- p.41 / Chapter 4.4.1 --- Problem Definition --- p.41 / Chapter 4.4.2 --- Input Representation --- p.43 / Chapter 4.4.3 --- Sensitivity Analysis --- p.44 / Chapter 4.4.4 --- Experimental Result --- p.47 / Chapter 4.5 --- Model-free Method --- p.51 / Chapter 4.5.1 --- Problems Definition --- p.51 / Chapter 4.5.2 --- Factor Analysis --- p.54 / Chapter 4.5.3 --- Experimental Result --- p.63 / Chapter 4.6 --- Model-based Method versus Model-free Method --- p.66 / Chapter 5 --- Conclusion and Future Work --- p.71 / Chapter 5.1 --- Contributions --- p.71 / Chapter 5.2 --- Future Work --- p.72 / Chapter Appendix A --- Dynamic Model of the Robot --- p.74 / Chapter A.1 --- Kinematic Constraints: Holonomic and Nonholonomic --- p.74 / Chapter A.1.1 --- Coordinate Frame --- p.74 / Chapter A.2 --- Robot Dynamics --- p.76 / Chapter A.2.1 --- Single Wheel --- p.77 / Chapter A.2.2 --- Internal Mechanism and Spinning Flywheel --- p.77 / Chapter A.2.3 --- Lagrangians of the System --- p.78 / Chapter Appendix B --- Similarity Measure --- p.80 / Bibliography --- p.82

by Loi-Wah Sun. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 77-81). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgments --- p.iii / Contents --- p.v / List of Figures --- p.vii / List of Tables --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.1.1 --- Literature review --- p.2 / Chapter 1.1.2 --- Gyroscopic precession --- p.5 / Chapter 1.2 --- Thesis overview --- p.7 / Chapter 2 --- Dynamics of the robot on ground --- p.9 / Chapter 2.1 --- System model re-derivation --- p.10 / Chapter 2.1.1 --- Linearized model --- p.15 / Chapter 2.2 --- A state feedback control --- p.16 / Chapter 2.3 --- Dynamic characteristics of the system --- p.18 / Chapter 2.4 --- Simulation study --- p.19 / Chapter 2.4.1 --- The self-stabilizing dynamics effect of the single wheel robot --- p.21 / Chapter 2.4.2 --- The Tilting effect of flywheel on the robot --- p.23 / Chapter 2.5 --- Dynamic parameters analysis --- p.25 / Chapter 2.5.1 --- Swinging pendulum --- p.25 / Chapter 2.5.2 --- Analysis of radius ratios --- p.27 / Chapter 2.5.3 --- Analysis of mass ratios --- p.30 / Chapter 3 --- Dynamics of the robot on incline --- p.33 / Chapter 3.1 --- Modeling of rolling disk on incline --- p.33 / Chapter 3.1.1 --- Disk rolls up on an inclined plane --- p.37 / Chapter 3.2 --- Modeling of single wheel robot on incline --- p.39 / Chapter 3.2.1 --- Kinematic constraints --- p.40 / Chapter 3.2.2 --- Equations of motion --- p.41 / Chapter 3.2.3 --- Model simplification --- p.43 / Chapter 3.2.4 --- Linearized model --- p.46 / Chapter 4 --- Control of the robot on incline --- p.47 / Chapter 4.1 --- A state feedback control --- p.47 / Chapter 4.1.1 --- Simulation study --- p.49 / Chapter 4.2 --- Backstepping-based control --- p.51 / Chapter 4.2.1 --- Simulation study --- p.53 / Chapter 4.2.2 --- The effect of the spinning rate of flywheel --- p.56 / Chapter 4.2.3 --- Simulation study --- p.58 / Chapter 4.2.4 --- Roll up case --- p.58 / Chapter 4.2.5 --- Roll down case --- p.58 / Chapter 5 --- Motion planning --- p.61 / Chapter 5.1 --- Performance index --- p.61 / Chapter 5.2 --- Condition of rolling up --- p.62 / Chapter 5.3 --- Motion planning of rolling Up --- p.65 / Chapter 5.3.1 --- Method I : Orientation change --- p.65 / Chapter 5.3.2 --- Method II : Change the initial velocities --- p.69 / Chapter 5.4 --- Wheel rolls Down --- p.70 / Chapter 5.4.1 --- Terminal velocity of rolling body down --- p.73 / Chapter 6 --- Summary --- p.75 / Chapter 6.1 --- Contributions --- p.75 / Chapter 6.2 --- Future Works --- p.76 / Bibliography --- p.78

by Dong Sun. / Thesis (Ph.D.)--Chinese University of Hong Kong, 1997. / Includes bibliographical references (p. 116-121). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Mode of access: World Wide Web.