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

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Robot-Assisted 3D Medical Sonography 1

引用

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

作者： Petrovic, P. B. Lukic, N. Danilov, I. Univ Belgrade Fac Mech Engn Belgrade Serbia

ISBN: (纸本)9783319054315;9783319054308

This chapter presents the conceptual framework of humanoid robot application in the field of non-invasive medical diagnostics based on interactive ultrasound scanning and spatial visualisation of sonograms. Humanoid robots appear in this context as intelligent assistants which enable acquisition of 3D sonograms using the conventional ultrasound probe for 2D manual scanning through collaborative work with humans-slave mode, or through machine precision execution of the kinematic motion primitives-autonomous mode. In this way a qualitatively new technology can be created, opening the door for the development and application of new ultrasound examination techniques, which a sonographer cannot apply through conventional approaches based on free-hand 2D scanning. From the engineering aspect, the key technological step forward is the development of an anthropomorphic robotic humanoid which will enable safe and collaborative work (Co-X robotics) in a complex physical and cognitive sonog-rapher-robot-patient interaction.

关键词： Medical ultrasound 3D sonography Soft robotics Human-robot interaction

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Mathematical Modeling of Human Affective Behavior Aimed to Design Robot EI-Controller 1

引用

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

作者： Rodic, A. Addi, K. Inst Mihailo Pupin Belgrade Serbia Univ La Reunion PIMENT St Denis France

ISBN: (纸本)9783319054315;9783319054308

The chapter regards to building emotion-driven behavior and social development in robots based on theory of personality from personality psychology. More precisely, the chapter concerns with modeling attributes of human emotional intelligence with aim to develop robot EI-controller capable to manage and use emotions, mange relationship with others and increase the autonomy. Brief theoretical background of personality psychology, regarding categorization of human personality types and types of temperament are presented in the chapter, too. Besides, it will be analyzed how differences amongst personality traits determine human affective and social behavior in circumstances of different physical and social environmental conditions. Based on the theory from psychology, a generic model of human emotion-driven behavior as an element of emotional intelligence is proposed. Corresponding simulator is developed in the chapter, too. Designed EI-model is tested in simulation experiments. For this purpose, a "trigger'' (an emotion-causal event) is assumed. Different personality profiles, exterior and interior influencing factors are varied in simulation tests. Proposed model is validated by comparison of the simulation results and results obtained experimentally by using results of the tests of human examinees. The on-line psychological questionnaires available at the Internet were used as appropriate tests.

关键词： Affective computing Behavioral robotics Sociable robotics Artificial intelligence Emotional intelligence Emotion-driven behavior

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Obtaining the Maximal Singularity-Free Workspace of 6-UPS Parallel mechanisms via Convex Optimization

Obtaining the Maximal Singularity-Free Workspace of 6-UPS Pa...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Karimi, Amirhossein Masouleh, Mehdi Tale Cardou, Philippe Univ Laval Dept Mech Engn Quebec City PQ Canada Univ Tehran Fac New Sci & Technol Tehran Iran

ISBN: (纸本)9789400772144;9789400772137

This paper explores the maximal volume inscribed ellipsoid in the singularity free constant-orientation workspace of two classes of 6-UPS parallel mechanisms, namely, quadratic and quasi-quadratic Gough-Stewart platforms. It is of paramount importance to obtain the optimum singularity-free ellipsoid by taking into account the stroke of actuators. Convex optimization is applied as the fundamental optimization tool of this paper. For this purpose, a matrix modeling for the kinematic properties of Gough-Stewart platform is proposed. The main contribution of this paper consists in improving an existing method in a such a way that it leads to a global optimum rather than a suboptimal solution. The proposed algorithm could be regarded as one of the most reliable, in terms of obtaining the global extremum, and propitious approaches, in terms of computational time in comparison with other approaches proposed in the literature for obtaining the singularity-free workspace which make it suitable for real-time applications.

关键词： Parallel mechanisms Stewart Gough platform Singularity-free workspace Convex optimization

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A Sufficient Condition for Parameter Identifiability in Robotic Calibration

A Sufficient Condition for Parameter Identifiability in Robo...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Gayral, Thibault Daney, David INRIA Sophia Antipolis Sophia Antipolis France

ISBN: (纸本)9789400772144;9789400772137

Calibration aims at identifying the model parameters of a robot through experimental measures. In this paper, necessary mathematical conditions for calibration are developed, considering the desired accuracy, the sensor inaccuracy of the joint coordinates, and the measurement noise. They enable to define a physically meaningful stop criterion for the identification algorithm and a numerical bound for the observability index O-3, the minimum singular value of the observability matrix. With this bound, observability problems can be safely detected during calibration. Those conditions for calibration are illustrated through a simple example.

关键词： Conditions for calibration Observability Least-squares

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Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming

Certified Calibration of a Cable-Driven Robot Using Interval...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Sandretto, Julien Alexandre Dit Trombettoni, Gilles Daney, David Chabert, Gilles Coprin INRIA Valbonne France Univ Montpellier 2 LIRMM Montpellier France Ecole Mines Nantes LINA Nantes France

ISBN: (纸本)9789400772144;9789400772137

In this paper, an interval based approach is proposed to rigorously identify the model parameters of a parallel cable-driven robot. The studied manipulator follows a parallel architecture having 8 cables to control the 6 DOFs of its mobile platform. This robot is complex to model, mainly due to the cable behavior. To simplify it, some hypotheses on cable properties (no mass and no elasticity) are done. An interval approach can take into account the maximal error between this model and the real one. This allows us to work with a simplified although guaranteed interval model. In addition, a specific interval operator makes it possible to manage outliers. A complete experiment validates our method for robot parameter certified identification and leads to interesting observations.

关键词： Cable-driven robots Calibration Interval analysis

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Historical Accounts on the Figure of Engineers and Academic Mission for their Formation 1

Historical Accounts on the Figure of Engineers and Academic ...

引用

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

作者： Ceccarelli, Marco Bragastini, Roberto Univ Cassino & South Latium Lab Robot & Mechatron Cassino Italy

ISBN: (纸本)9783319018355;9783319018362

The mission of academic formation of mechanical engineers is strongly connected with role of their profession in the society. This has evolved from practitioner on field to a science teaching through a slow evolution. This paper is an attempt to outline the main aspects of historical developments as well as current critical issues in recognizing a significant role to mechanical engineering and its academic formation. In particular, the paper presents an historical evolution of the understanding of engineers figure and consequently it outlines the mission issues in a modern academic formation.

关键词： Engineers

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Force Training for Position/Force Control of Massage Robots 1

引用

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

作者： Golovin, V. Arkhipov, M. Zhuravlev, V. Moscow State Ind Univ Moskovsky Russia

ISBN: (纸本)9783319054315;9783319054308

In the chapter the force training mode for position/force control is considered. This problem is especially actual for medical robotic interacting with soft tissues during massage. The force training mode is necessary to control the deformation of human soft tissues, which have a number of features. It is proposed to extend the concept of the usual teaching geometric point with force information. This requires a sensor that measures the forces of interaction of the robot with the soft tissues. Such an approach for position/force control provides reproduction of path and forces imitating skilled physician. The psychophysiological efficiency is provided by biotechnical control circuit.

关键词： Force training Position/force control Medical robot Soft tissues Massage

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Contributions on the Modeling and Simulation of the Human Knee Joint with Applications to the Robotic Structures 1

引用

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

作者： Tarnita, D. Catana, M. Tarnita, D. N. Univ Craiova Craiova Romania Univ Med & Pharm Craiova Romania

ISBN: (纸本)9783319054315;9783319054308

The main objective of this chapter is to develop a three-dimensional solid finite element model of the healthy knee joint to predict stresses in its individual components and to study the effects of the frontal plane tibio-femoral angle on the stress distribution in the knee cartilages and menisci. It was developed the geometric models of the joint which shows different tilt in varus and valgus with 5 degrees, the joint being affected by osteoarthritis in the medial and lateral compartment. For geometric modeling of the human knee joint was used the embedded applications: Design Modeler, SpaceClaim under Ansys Workbench 14.5 software package. For each model a non-linear analysis was performed. The non-linearities are due to the presence of the contact elements modeled between components surfaces. The applied force was equal with 800 N. Finally the results obtained for normal knee and for OA knee joint are compared.

关键词： 3D model Finite element analysis Osteoarthritis Varus Valgus

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Three Types of Parallel 6R Linkages

Three Types of Parallel 6R Linkages

引用

6th International Workshop on Computational Kinematics (CK)

作者： Li, Zijia Schicho, Josef Austrian Acad Sci RICAM Johann Radon Inst Computat & Appl Math A-4040 Linz Austria

ISBN: (纸本)9789400772144;9789400772137

In this paper, we consider a special kind of overconstrained 6R closed linkages which we call parallel 6R linkages. These are linkages with the property that they have three pairs of parallel joint-axes. We prove that there are three types of parallel 6R linkage. The first type is new, the other two also appear in a recent classification of linkages with angle equalities. We give constructions for each of the three types.

关键词： Dual quaternions Overconstrained 6R linkages Translation property Angle-symmetric 6R linkages

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Toward a Curriculum in Mechatronics: Two Experiences in Italy and Spain 1

Toward a Curriculum in Mechatronics: Two Experiences in Ital...

引用

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

作者： Bonsignorio, F. Bruzzone, L. Fanghella, P. Univ Carlos III Madrid Madrid Spain Univ Genoa DIME Genoa Italy

ISBN: (纸本)9783319018355;9783319018362

The paper carries out the comparative analysis of two bachelor programs focused on mechatronic and system engineering in two Universities in Italy and Spain. Two levels of analysis are considered: at program level, the respective structures are analyzed and compared, also taking into account the academic origin of each program;then a similar specific course for each program is discussed and different teaching and student evaluation methods compared. Final considerations and conclusions complete the analysis.

关键词： Mechatronics Mechanical engineering System engineering and automation Bachelor

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