A multi-level motion controller for low-cost Underwater Gliders

Author(s):  
Guilherme Aramizo Ribeiro ◽  
Anthony Pinar ◽  
Eric Wilkening ◽  
Saeedeh Ziaeefard ◽  
Nina Mahmoudian
2013 ◽  
Vol 534 ◽  
pp. 131-135
Author(s):  
You Yin ◽  
Rosalena Irma Alip ◽  
Yu Long Zhang ◽  
Ryota Kobayashi ◽  
Sumio Hosaka

Here, we report multi-level storage (MLS) in multi-layer (ML) and single-layer (SL) phase change memories (PCM). For the former ML-PCM device, the active medium with two layers of chalcogenide consists of a top 30 nm TiN/180 nm SbTeN/20 nm TiN/bottom 120 nm SbTeN stacked multi-layer. Three stable and distinct resistance states are demonstrated in both static and dynamic switching characteristics of the multi-layer devices. For the latter SL-PCM device, the active medium with only one layer of chalcogenide consists of a top 50 nm TiN/150 nm SbTeN. We demonstrate that the number of distinguishable resistance levels can readily reach 16 and even higher. These levels in this study result from the initial threshold switching and the subsequent current-controlled crystallization induced by Joule heating. Therefore, the latter memory allows the creation of many distinct levels, thus enabling the low-cost ultra-high-density non-volatile memory.


2011 ◽  
Vol 328-330 ◽  
pp. 810-813 ◽  
Author(s):  
Hai Yun Zhang ◽  
Yu Gang Zhao ◽  
Guo Yong Zhao ◽  
Yan Rong Li ◽  
Zhong Wen Sima

An open double coordinates computer numerical control (CNC) system was developed, which was based on PC and PMAC motion controller card. A miniature and teaching CNC lathe machine was developed with a simple structure, low cost, small volume and suitability for teaching. The CNC system had the advantages of 2-axis linkage, program editing, manual operation, inching operation, simulation processing operation, automatic operation and dynamic display of the tracing. The system was based on the Windows XP platform. Its interface was friendly and it was convenient to manipulate.


2011 ◽  
Vol 42 (12) ◽  
pp. 2082-2092 ◽  
Author(s):  
Javier Toral Vazquez ◽  
Bruno Castanié ◽  
Jean-Jacques Barrau ◽  
Nicolas Swiergiel

2012 ◽  
Vol 619 ◽  
pp. 51-55
Author(s):  
Heng Chen ◽  
Yan Bing Ni

This paper deals with a control method research and trajectory planning of parallel mechanisms. Control system scheme which is based on PC and motion controller has high openness, high degree of modularization and support for non-linear mapping relationship between operating space and joint space of parallel mechanisms with high flexibility and low cost. PC and NI motion controller and LabVIEW constituted hardware core and software platform of control system, respectively. Hardware technology of control system contained hardware selection, control circuit design and interface technology; software technology of control system developed application programs layer, core control layer and drive functions layer to realize core control functions of finding home, single-step or continuous movement and micro adjustment, which was based on hardware principle. Trajectory has been planned for a typical high speed parallel robot.


2014 ◽  
Vol 105 ◽  
pp. 51-53 ◽  
Author(s):  
Michael L. McCormick ◽  
Nikola Banishki ◽  
Sarah Powell ◽  
Amy Rumack ◽  
Jinnie M. Garrett

2021 ◽  
Vol 9 (3) ◽  
pp. 327
Author(s):  
Weicheng Sun ◽  
Wenchuan Zang ◽  
Chao Liu ◽  
Tingting Guo ◽  
Yunli Nie ◽  
...  

Underwater gliders are prevailing in oceanic observation nowadays for their flexible deployment and low cost. However, the limited onboard energy constrains their application, hence the motion pattern optimization and energy analysis are the key to maximizing the range of the glider while maintaining the acceptable navigation preciseness of the glider. In this work, a Multi-Objective Artificial Bee Colony (MOABC) algorithm is used to solve the constrained hybrid non-convex multi-objective optimization problem about range and accuracy of gliders in combination with specific glider dynamics models. The motion parameters Pareto front that balances the navigational index referring to range and preciseness are obtained, relevant gliding profile motion results are simulated simultaneously, and the results are compared with the conventional gliding patterns to examine the quality of the solution. Comparison shows that, with the utilization of the algorithm, glider voyage performance with respect to endurance and preciseness can be effectively improved.


10.2196/11925 ◽  
2019 ◽  
Vol 21 (5) ◽  
pp. e11925 ◽  
Author(s):  
Fernando Alvarez-Lopez ◽  
Marcelo Fabián Maina ◽  
Francesc Saigí-Rubió

Background The increasingly pervasive presence of technology in the operating room raises the need to study the interaction between the surgeon and computer system. A new generation of tools known as commercial off-the-shelf (COTS) devices enabling touchless gesture–based human-computer interaction is currently being explored as a solution in surgical environments. Objective The aim of this systematic literature review was to provide an account of the state of the art of COTS devices in the detection of manual gestures in surgery and to identify their use as a simulation tool for motor skills teaching in minimally invasive surgery (MIS). Methods For this systematic literature review, a search was conducted in PubMed, Excerpta Medica dataBASE, ScienceDirect, Espacenet, OpenGrey, and the Institute of Electrical and Electronics Engineers databases. Articles published between January 2000 and December 2017 on the use of COTS devices for gesture detection in surgical environments and in simulation for surgical skills learning in MIS were evaluated and selected. Results A total of 3180 studies were identified, 86 of which met the search selection criteria. Microsoft Kinect (Microsoft Corp) and the Leap Motion Controller (Leap Motion Inc) were the most widely used COTS devices. The most common intervention was image manipulation in surgical and interventional radiology environments, followed by interaction with virtual reality environments for educational or interventional purposes. The possibility of using this technology to develop portable low-cost simulators for skills learning in MIS was also examined. As most of the articles identified in this systematic review were proof-of-concept or prototype user testing and feasibility testing studies, we concluded that the field was still in the exploratory phase in areas requiring touchless manipulation within environments and settings that must adhere to asepsis and antisepsis protocols, such as angiography suites and operating rooms. Conclusions COTS devices applied to hand and instrument gesture–based interfaces in the field of simulation for skills learning and training in MIS could open up a promising field to achieve ubiquitous training and presurgical warm up.


2018 ◽  
Author(s):  
Alexander Williams

Typical buoyancy engine-based Underwater Gliders are highly-complex and cost-prohibitive, generally ranging in price-point from 50,000USD to 250,000USD. A low-cost, Open-Source Underwater Glider (OSUG) was thus developed as a low-cost data-collection and research tool. This glider, OSUG, is a sub-1000USD, 1.2m long, 12kg, and capable of 50-hours of continuous operation. Its efficiency, and use-case feasibility were evaluated. The buoyancy engine is constructed of medical grade syringes that pull in water from the environment to simplify the system and lower costs. Direction of locomotion is controlled by altering pitch and roll via changing the center-of-mass. The system was designed to be primarily three-dimensionally (3D) printed and fully-modular to limit cost and ensure reproducibility.


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