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New Trends in Medical and Service Robotics: Mesrob 2021

為了解決Pneumatic system的問題，作者 這樣論述：

Chapter 1: Serious Games Strategies with Cable-Driven Robots for Rehabilitation Tasks.- Chapter 2: A Cable-Robot System for Promoting Healthy Postural Stability and Lower-Limb Biomechanics in Gait Rehabilitation.- Chapter 3: Designing a Robotized System for Rehabilitation Taking Into Account Anth

ropological Data of Patients.- Chapter 4: Design Optimization and Dynamic Control of a 3-d.o.f. Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation.- Chapter 5: Novel design of the ParReEx-elbow parallel robot for the rehabilitation of brachial monoparesis.- Chapter 6: Development of a

New Knee Endoprosthesis and Finite Element Analysis of Contact Stresses.- Chapter 7: Observer based sliding mode control for a knee exoskeleton.- Chapter 8: Design and motion simulation of a new exoskeleton leg mechanism.- Chapter 9: Use of Pneumatic Artificial Muscles in a Passive Upper Body Exoske

leton.- Chapter 10: Laser-induced breakdown spectroscopy combined with artificial neural network for pre- carbonization detection in laserosteotomy.- Chapter 11: Development and Evaluation of a Force-Sensitive Flexure-Based Microgripper Concept.- Chapter 12: Universal Mechanical Interface for Surgic

al Telemanipulation using Conventional Instruments.- Chapter 13: Volume Rendering-based Patient Registration for Extended Reality.

Pneumatic system進入發燒排行的影片

以自製手套收集患者數據進行分析並應用機器學習訓練正常動作執行

為了解決Pneumatic system的問題，作者林郁凱 這樣論述：

人們的手指佔據生活的很大一個部分，在生活當中許多動作都需要手指的介入才可以達成。但是在許多產業，尤其是工業當中，許多人都因為機器操作不慎或臨時的機器故障造成手指受到一定程度的傷害，甚至進而需要開刀，本研究目的為透過自製的Arduino數據收集手套，進行正常人與患者之資料收集，並透由分析與機器學習的方式，知悉患者目前手部靈活度狀況與改善情形，可以更適時且數據化的調整患者的復健模式，以達到最佳的復健效果。本研究運用綜觀、時序以及變異係數的分析方式解決不同數據收集手套間由於感測器的個體差異，產生數值差異進而導致無法分析的困境，除此之外，本研究還將類分子神經網路的轉換函數加入了訓練機制，使得各個類別

能夠以學習的方式找到最佳解，改善類分子神經網路需要不斷嘗試轉換函數之缺點，使其泛化能力更佳，得以更輕易地運用在各個領域之上。

Automotive Power Systems

為了解決Pneumatic system的問題，作者Neacșu, Dorin O. 這樣論述：

Vehicles are intrinsically linked to our lives. This book covers all technical details of the vehicle electrification process, with focus on power electronics. The main challenge in vehicle electrification consists of replacing the engine-based mechanical, pneumatic, or hydraulic ancillary energy

sources with electrical energy processed through an electromagnetic device. The book illustrates this evolutionary process with numerous series-production examples for either of body or chassis systems, from old milestones to futuristic luxury vehicles. Electrification of ancillaries and electric p

ropulsion eventually meet into an all-electric vehicle and both processes rely heavily on power electronics. Power electronics deals with electronic processing of electrical energy. This makes it a support technology for the automotive industry. All the automotive visions for the next decade (2020-2

030) are built on top of power electronics and the automotive power electronics industry is expected at 15% compound annual growth rate, the highest among all automotive technologies. Hence, automotive power electronics industry is very appealing for recent and future graduates. The book structure f

ollows the architecture of the electrical power system for a conventional engine-based vehicle, with a last chapter dedicated to an introduction onto electric propulsion. The first part of the book describes automotive technologies for generation and distribution of electrical power, as well as its

usage within body systems, chassis systems, or lighting. The second part explores deeper into the specifics of each component of the vehicle electric power system. Since cars have been on the streets for over 100 years, each chapter starts with a list of historical achievements. Recognizing the engi

neering effort span over more than a century ennobles the R&D efforts of the new millennium. Focus on history of electricity in vehicle applications is another attractive treat of the book.The book fills a gap between books targeting practical education and works sharing advanced academic vision

, offering students and academics a quick tour of the basic tools and long-standing infrastructure, and offering practicing engineers an introduction on newly introduced power electronics-based technologies. It is therefore recommended as a must-have book for students and early graduates in automoti

ve power electronics activities.

三軸向壓電平台之積分型非奇異終端順滑模態控制

為了解決Pneumatic system的問題，作者李承翰 這樣論述：

近年來商業產品逐漸邁向精密化和小型化設計，因此對於裝置定位和運動控制的要求也逐漸升高，此外定位平台的結構也越來越複雜，從單軸演變多軸驅動，本研究透過結構設計和控制法提高了現有三軸壓電定位平台的驅動性能，此壓電定位平台由XY微米定位平台和Z軸進給刀座組成，平台有撓性結構可實現低干涉、高速度、高精度等優點。首先對改良後平台進行有限元素法分析，透過分析可初步知道平台的應力、應變、干涉等數值，再透過這些數值選擇適當的平台尺寸大小。然後對改良後三軸向壓電平台進行特性實驗，實驗包含步階響應、斜坡實驗等，這些實驗皆以50V為驅動電壓，透過實驗後得知平台之X軸位移為6.4μm、Y軸為5.51μm、Z

軸為3.42μm，解決了原有壓電平台位移不均和位移距離不夠的問題，對平台輸入進行系統鑑別來獲得此平台轉移函數，透過轉移函數來建立平台之數學模型以進行控制方法模擬。控制方法選用則使用積分型非奇異終端順滑模態控制，此控制法能在有限時間內進行收斂並達到消除抖振的效果，但此控制法的誤差在1.7秒時才從-0.002μm慢慢收斂至零，為解決收斂慢問題，因此對控制法加上干擾觀測器，最大的追蹤誤差為0.07nm也能在短時間內進行收斂。最後使用積分型非奇異終端順滑模態控制法，驗證加入干擾觀測器有更良好追蹤效果，實驗的追蹤軌跡分別從單軸正弦波追蹤到雙軸的圓形追蹤到最後的螺旋軌跡追蹤。在使用帶有干擾觀測器的積分型非

奇異終端順滑模態控制對正弦波形單軸的控制性能中，X、Y、Z軸的追蹤誤差分別為0.157μm、0.097μm、0.275μm，透過實驗驗證加入干擾觀測器的控制方法能有效提高三軸壓電平台定位精度。