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检索条件"丛书名=Mechanisms and Machine Science"

共 3269 条记录，以下是2941-2950 订阅

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Robust Dynamic Control of an Arm of a Humanoid Using Super Twisting Algorithm and Conformal Geometric Algebra

Robust Dynamic Control of an Arm of a Humanoid Using Super T...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Carbajal-Espinosa, O. Gonzalez-Jimenez, L. Loukianov, A. Bayro-Corrochano, E. CINVESTAV Dept Elect Engn & Comp Sci Unidad Guadalajara Mexico City DF Mexico ITESO Dept Elect Syst & Informat Tlaquepaque Mexico

ISBN: (纸本)9789400772144;9789400772137

The pose tracking problem for the 5 DOF (degrees of freedom) arm of a humanoid robot is studied. The kinematic and dynamic models of the manipulator are obtained using the conformal geometric algebra framework. Then, using the obtained models, the well known super-twisting algorithm, is used to design a controller in terms of the conformal geometric algebra for the pose tracking problem. Simulation shows the performance of the proposed controller with the conformal models for the tracking an object.

关键词： Kinematics modeling Dynamic modeling Super twisting algorithm Conformal geometric algebra Humanoid manipulator

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Service-Learning Projects Based on Dynamic Documentation in Engineering Colleges 1

Service-Learning Projects Based on Dynamic Documentation in ...

引用

1st International Symposium on the Education in Mechanism and machine science (ISEMMS)

作者： Garcia-Alonso, J. M. Soriano, E. Garcia-Vicario, I. Rubio, H. Salesianos Atocha Madrid Spain Univ Carlos III Madrid Madrid Spain

ISBN: (纸本)9783319018355;9783319018362

In recent years, engineering colleges have started to integrate service-learning projects into many of their required courses. In the literature, there are many important definitions for service-learning pedagogy, including reciprocity, reflection, coaching and community projects. This paper presents a service-learning pedagogy implementation program for educating engineering undergraduates to solve real-world problems. Three project models for mechanical engineering, ranging from a single semester to a full calendar year, form the basis for the analyses presented. Finding appropriate community partners and projects are critical for a successful experience for all involved parties. From the results of this analysis, it is possible to conclude that, through these projects, students acquired and applied the competencies in the defined curriculum.

关键词： Service-learning Dynamic documentation Community engagement Mechanical design

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Robotic Assistance for Senior People for Safe Mobility and Work Support 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Eck, Daniel Leutert, Florian Schilling, Klaus Univ Wurzburg Wurzburg Germany

ISBN: (纸本)9783319054315;9783319054308

Worldwide demographic trends of aging societies raise the demand for assistive technologies for senior people, including in particular robotic aids. Here, specifically the fields of robotic assistance for support of mobility and for workers in industrial assembly tasks are emphasized. In mobility assistance a vehicle provides navigation functionalities for route planning and for safe driving. In case of the industrial workplace, a manipulator cooperates with the worker to take the major load in lifting heavy objects, while the human provides the guidance in placing the objects. Performance tests have been performed with a user group of more than 100 seniors.

关键词： Aging technology Mobility scooter Manipulator-based assistance Human-robot-interaction Human-robot-cooperation

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Innovative Approaches Regarding Robots for Brachytherapy 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Pisla, D. Plitea, N. Galdau, B. Vaida, C. Gherman, B. Tech Univ Cluj Napoca Res Ctr Ind Robots Simulat & Testing Cluj Napoca Romania

ISBN: (纸本)9783319054315;9783319054308

This chapter presents an overview of the most important innovative approaches in Brachytherapy. Brachytherapy is an advanced cancer treatment technique, where radioactive seeds are delivered directly in the tumor without damaging the proximal healthy tissues. A medical protocol for the robotized brachytherapy procedure is described. Latest achievements in robotic assisted brachytherapy provided by several worldwide research centers are presented. Their critical analysis has shown that the already developed structures are built for specific organs and moreover almost all are targeting the prostate In order to overcome the limitations of current robotic systems for brachytherapy and to make possible an universal technique for cancer treatment on several organs of human body within brachytherapy, a new family of modular parallel robots is presented.

关键词： Brachytherapy Robotic assisted brachytherapy Parallel robot Kinematic analysis

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Application of Techniques Based on Reliability for the Improvement of the Teaching of mechanisms in Industrial Design 1

Application of Techniques Based on Reliability for the Impro...

引用

1st International Symposium on the Education in Mechanism and machine science (ISEMMS)

作者： Garcia Sanz-Calcedo, Justo Rodriguez Salgado, D. Cambero, I. Herrera, J. M. Univ Extremadura Design Engn Sch Badajoz Spain Univ Extremadura Sch Ind Engn Badajoz Spain

ISBN: (纸本)9783319018355;9783319018362

The aim of this study is to analyse the importance of promoting the teaching of reliability of mechanisms in teaching degree in industrial design. An assessment is made of the need for these features provided from the earliest stages of product design, as this allows for a higher quality and economy. The industrial design aims to create a manufacture, device, machine or useful system that is efficient, safe and practical. This is only possible if the correct definition of the functions and design specifications, where an important aspect is the reliability of the designed object, something that should be thoroughly detailed in the conceptual design stage. The experiment was carried out with students in the degree of Industrial Design and Product Development at the University of Extremadura (Spain).

关键词： Technology Earning Reliability Design Maintainability

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Moving From 'How to go There?' to 'Where to go?': Towards Increased Autonomy of Mobile Robots 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Amigoni, Francesco Basilico, Nicola Li, Alberto Quattrini Politecn Milan Milan Italy Univ Milan Milan Italy

ISBN: (纸本)9783319054315;9783319054308

Autonomous mobile robots have seen a widespread development in recent years, due to their possible applications (e.g., surveillance and search and rescue). Several techniques have been proposed for solving the path planning problem, in which a user specifies spatial targets and the robots autonomously decide how to go there. In contrast, the problem of where to go next, in which the targets themselves are autonomously decided by the robots, is largely unexplored and lacking an assessed theoretical basis. In this work, we make a step towards a framework for casting and addressing this problem. The framework includes the following dimensions: the amount of knowledge about the environment the robots have, the kind of that knowledge, the criteria used to evaluate the success of the decisions, the number of decision makers, and the possible adversarial nature of the settings. We focus on applications relative to exploration and patrolling.

关键词： Navigation strategies Autonomous mobile robots Exploration Patrolling

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Uniform and Efficient Exploration of State Space Using Kinodynamic Sampling-Based Planners

Uniform and Efficient Exploration of State Space Using Kinod...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Motwani, Rakhi Motwani, Mukesh Harris, Frederick C., Jr. Univ Nevada Reno NV 89557 USA

ISBN: (纸本)9789400772144;9789400772137

Sampling based algorithms such as RRTs have laid down the foundation for solving motion planning queries for systems with high number of degrees of freedom and complex constraints. However, lack of balanced state-space exploration of RRTs calls for further improvement of these algorithms. Factors such as drift, underactuation, system dynamics and constraints, and the lack of an energy/time based distance metric in state space can cause RRT propagation to be uneven. This paper focuses on improving the coverage of the RRT algorithm for physical systems that demonstrate a tendency to restrict the growth of RRT to certain regions of the state space. A localized principal component analysis based approach is proposed to learn the propagation bias of state-space points sampled on a grid during an offline learning phase. To compensate for this bias, expansion of the RRT in real-time is steered in the direction of the least principal component of the propagation of the state-space sample selected for expansion. The algorithm is tested on various systems with high degres of freedom and experimental results indicate improved and uniform state-space coverage.

关键词： Uniform state-space coverage Local-PCA based RRT

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Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation Modes 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Caro, Stephane Chablat, Damien Wenger, Philippe Kong, Xianwen Inst Rech Commun & Cybernet Nantes Nantes France Heriot Watt Univ Sch Engn & Phys Sci Edinburgh EH14 4AS Midlothian Scotland

ISBN: (纸本)9783319054315;9783319054308

Kinematic and dynamic performances of parallel manipulators are usually not homogeneous throughout their operational workspace. This problem is usually solved by introducing actuation redundancy, which involves force control algorithms. Another approach is the selection of the best actuation modes along a trajectory to be followed with regard to the kinetostatic, elastostatic and dynamic performances of the parallel manipulator. Accordingly, this chapter introduces a novel three degree-of-freedom planar parallel manipulator with variable actuation modes, named NAVARO. NAVARO stands for NAntes Variable Actuation RObot and has eight actuation modes. First, the prototype of the manipulator is presented. Then, its transmission systems are presented. Finally, the kinematic and dynamic models of the NAVARO are developed.

关键词： Kinematics

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The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes

The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Ch...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Husty, Manfred Schadlbauer, Josef Caro, Stephane Wenger, Philippe Inst Rech Commun & Cybernet Nantes Nantes France Univ Innsbruck Inst Basic Sci Engn Unit Geometry & CAD A-6020 Innsbruck Austria

ISBN: (纸本)9789400772144;9789400772137

Recently a complete kinematic description of the 3-RPS parallel manipulator was obtained using algebraic constraint equations. It turned out that the workspace decomposes into two components describing two kinematically different operation modes and that self-motions of this manipulator in both operation are possible. In this paper for the first time it is shown that this manipulator has the property of non singular assembly mode change.

关键词： 3-RPS-manipulator Singularities Assembly mode change

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Brain Incorporation of Artificial Limbs and Role of Haptic Feedback 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Sengul, A. Shokur, S. Bleuler, H. Ecole Polytech Fed Lausanne STI IMT Lausanne Switzerland Edmond & Lily Safra Int Inst Neurosci Natal Natal RN Brazil

ISBN: (纸本)9783319054315;9783319054308

We-as humans-can learn to use tools like hammers, tennis rackets, scalpels or robotic arms. Learning curves to become proficient in using the tools can be very different. Typical questions for learning use of a new tool are the level of complexity in manipulation, i.e. learning time and the ergonomy. We ask here these questions from a cognitive neuroscience perspective: How can we promote fast and natural embodiment of a tool? What are the neuronal mechanisms underlying quick and "natural'' incorporation of a tool into the sensory-motor system, with the purpose of gaining proficiency rapidly and efficiently? This approach could benefit practically e.g. design of surgical telemanipulators and at the same time advance knowledge about the sensori-motor control system and learning mechanisms, a topic of interest in neuroprosthetics. We review both behavioral and neurophysiological data and show the importance of a coherent haptic feedback for the emergence of embodiment. We will also present a test platform for studying the mechanisms of incorporation by using advanced haptic interfaces on the master-side and VR environments on the slave side of a telemanipulator aimed at endoscopic surgery.

关键词： Embodiment Tool incorporation Haptic interface Telemanipulation Force feedback

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