Distributed control of industrial robot systems using Petri net based multitask processing
In this paper, the methods of the modeling of the discrete event robotic manufacturing systems using Petri nets are considered, and a methodology of decomposition and coordination is presented for hierarchical and distributed control, where the cooperation of each controller is implemented so that the behavior of the overall system is the same as the centralized control system and the task specification is completely satisfied. First, a task specification is defined as a Petri net model at the conceptual level, and then transformed to the detailed Petri net representation of the subtasks. Finally, the overall Petri net is decomposed and the constituent subnets are assigned to local Petri net based controllers. The controllers are coordinated so that the decomposed transitions fire at the same time by the coordinator. System coordination algorithm through communication between the coordinator and the controllers, is presented. By the proposed method, modeling, simulation and control of large and complex manufacturing systems can be performed consistently using Petri nets.
Experimental study on reactive switch by using piezoelectric devices
The keyboard switch is an important for today's advanced systems. This paper proposes a new type of emulated reactive keyboard switch by using piezoelectric devices. The proposed reactive switch consists of two elements of piezoelectric devices that sensed and actuated by DSP micro controller. We investigate how each reaction force of switches effects to the touch feeling via sensory test. According to results of feeling test, we develop an actual reactive switch for demonstrating reaction force. Validity of proposed reactive switch is verified by actual experimental tests.
In Vivo Comparison of Synthetic Macroporous Filamentous and Sponge-like Skin Substitute Matrices Reveals Morphometric Features of the Foreign Body Reaction According to 3D Biomaterial Designs
Synthetic macroporous biomaterials are widely used in the field of skin tissue engineering to mimic membrane functions of the native dermis. Biomaterial designs can be subclassified with respect to their shape in fibrous designs, namely fibers, meshes or fleeces, respectively, and porous designs, such as sponges and foams. However, synthetic matrices often have limitations regarding unfavorable foreign body responses (FBRs). Severe FBRs can result in unfavorable disintegration and rejection of an implant, whereas mild FBRs can lead to an acceptable integration of a biomaterial. In this context, comparative in vivo studies of different three-dimensional (3D) matrix designs are rare. Especially, the differences regarding FBRs between synthetically derived filamentous fleeces and sponge-like constructs are unknown. In the present study, the FBRs on two 3D matrix designs were explored after 25 days of subcutaneous implantation in a porcine model. Cellular reactions were quantified histopathologically to investigate in which way the FBR is influenced by the biomaterial architecture. Our results show that FBR metrics (polymorph-nucleated cells and fibrotic reactions) were significantly affected according to the matrix designs. Our findings contribute to a better understanding of the 3D matrix tissue interactions and can be useful for future developments of synthetically derived skin substitute biomaterials.