91Sumate Naetiladdanon92Teeranoot CHANTHASOPEEPHAN93Supachai VONGBUNYONGThree-Phase Resonant Inverter for High-Power Induction Heating Applications (Project 2016)Compliant Mechanism Design for Flexible Manipulator in Robotic System (Project 2016)Development of Platform for Tele-operated Robotic System for In-Vitro Fertilization (Project 2016)66Recently, induction heating systems are widely used in the industry and household. For the high power applications, the uniform electromagnetic field distribution requires a high performance resonant inverter. This research aims to design and develop a three-phase resonant inverter with power control scheme using an automatic variable-frequency symmetrical voltage-cancellation (AVFSVC) control technique for the high-power induction heating applications. The phase locked loop (PLL) control scheme will also be applied to the inverter for zero voltage switching (ZVS) operation in order to improve the system efficiency.A manipulator with multiple degrees of freedom such as a hyper-redundant manipulator is generally applied in many applications ranging from medicine to space exploration. Most importantly, the multiple degrees of freedom of the manipulators allow the user to access areas where a rigid body has difficulty accessing. Kinematics analysis of the manipulator is required for the user to control and manage the workspace under such a constrained area. Through this paper, we designed a compliant mechanism to create such a hyper-redundant manipulator with multiple degrees of freedom. The designed manipulator consists of three modules with a total of 18 degrees of freedom. Each module has zero joints but instead has flexure which provides 6 degrees of freedom of possible motions including twisting. The finite element analysis was used for analyzing the structure of the manipulator and for identifying maximum stress. End effector position was determined based on a kinematic analysis of a rigid body and was compared to the actual position. However, with a compliant structure, the deformation of the compliant structure is nonlinear. Therefore, there was an error while comparing the computed position with the actual position. There are also drawbacks of the compliant mechanism for repetitive motion which causes fatigue failure.In-Vitro Fertilization (IVF) is a clinical treatment for improving fertility with a procedure that injects a sperm into an oocyte. It is one of the technique used in Assisted Reproductive Technology (ART). For the best result, the process of Intracytoplasmic Sperm Injection (ICSI) needs to be conducted by skillful embryologists through micro-manipulators in a controlled environment, i.e. hypoxic chamber, since the success rate is not only affected by cells’ internal properties but also external factors, e.g. penetration force and ambient conditions. However, manual operation of micromanipulators is poor in the chamber resulting low quality outcome. This research aims to develop a tele-operated robotic platform with visual feedback. Therefore, the manipulators can be controlled more effectively. It is expected to be a platform for further study and research on fully automatic IVF resulting in high success rate in the future.
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