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检索条件"任意字段=2008 International Conference on Engineering of Reconfigurable Systems and Algorithms, ERSA 2008"

共 2738 条记录，以下是111-120 订阅

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Dynamic simulation of a reconfigurable spherical robot

Dynamic simulation of a reconfigurable spherical robot

引用

IEEE international conference on Robotics and Biomimetics

作者： Petch Jearanaisilawong Sathaporn Laksanacharoen Mechanical and Aerospace Engineering Department Faculty of Engineering King Mongkut's University of Technology North Bangkok Thailand

This paper describes the transformation process of a spherical robot into a configuration of two interconnected hemispheres with three omni-directional wheels. The spherical form of the robot facilitates ease of transport, storage and handling, whereas the wheeled configuration provides mobility and maneuverability. The transformation process is first analyzed in terms of an equation of motion, and its feasibility is validated using a dynamic simulation in ***. The dynamic simulation results show that the robot can be reconfigured in any configuration. The largest torque required for the transformation occurs during the release of the robot legs while the flat sides of the two hemispheres facing the ground.

关键词： Mobile robots Aerodynamics Orbital robotics Wheels Vehicle dynamics Aerospace engineering Shape Robot sensing systems Paper technology Equations

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New Method of Feature Reconstruction from engineering Drawings Based on Similarity Measure of Primitive Views

New Method of Feature Reconstruction from Engineering Drawin...

引用

international conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Jianping Liu Bangyan Ye Jianxi Peng Bo Wu School of Mechanical & Automotive Engineering South China University of Technology Guangdong China Foshan Polytechnic College Foshan Guangdong China

A new method of feature recognition based on similarity measure of primitive views is put forward to enhance efficiency of reconstruction of 3D solid mode of mechanical part from engineering drawing and expand its application in this paper, The details of this method include separating three views of single and combined primitive bodies by view loop searching; coding primitive view loops and calculating graphics similarity measure of two view loops; determining type of primitive body by projection rules and extract information of modeling feature of different primitive bodies. As a result, algorithms for feature recognition and 3D reconstruction are improved. Finally, an application module of 3D intelligent reconstruction system is established in AutoCAD 2008 environment with software tool of Object ARX 2008 and Visual C# 2.0, and the validity of feature recognition algorithms is verified by some examples.

关键词： engineering drawings Computer graphics Mechanical variables measurement Data mining Software algorithms Shape Solid modeling Application software Software tools Pattern matching

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Optimal camera placement considering mobile robot trajectory

Optimal camera placement considering mobile robot trajectory

引用

IEEE international conference on Robotics and Biomimetics

作者： Stefanos Nikolaidis Ryuichi Ueda Akinobu Hayashi Tamio Arai Department of Precision Engineering School of Engineering University of Tokyo Bunkyo Tokyo Japan

In the near future robots will be used in home environments to provide assistance for the elderly and challenged people. The arrangement of sensors influences greatly the quality of information provided to the robot. We, therefore, examine the problem of the optimal arrangement of vision sensors for the case of a robot following a pre-defined path. A methodology to evaluate the arrangement of sensors is proposed, focusing on the case of a home environment with ceiling cameras. Simulation results indicate that we can obtain sub-optimal and practical arrangement with the minimum number of sensors which satisfies the necessary condition.

关键词： Robot vision systems Cameras Mobile robots Robot sensing systems Orbital robotics Senior citizens Art Biomimetics Precision engineering Partitioning algorithms

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An innovative reconfigurable mobile robot with multi-maneuver modes

An innovative reconfigurable mobile robot with multi-maneuve...

引用

IEEE international conference on Robotics and Biomimetics

作者： He Xu Dawei Tan Zhenyu Zhang Yulin Ma Gaoliang Peng College of Mechanic & Electric Engineering Harbin Engineering of Technology Harbin China

A mobile robot prototype with independent propulsion and individual steering (4WD4WS)has been developed. The mission-oriented mobile robot has the adaptability of terrain, sensors and payload with the scope of 20 kilograms. Different prototypes with diversified wheelbase, wheel stance, clearance, stability margin and altitude of center of gravity can be achieved by reconfiguration. A wheel with high trafficability on sand terrain can be achieved by reconfiguration with bionic features. The hardware of control system of robot with PC104, network-based motor suite, the management module system (MCS) and the monitor software based on networks have laid foundation to the implement of the hierarchical parallel competitive control architecture, system integration for the mechatronic device in close space, the on-line distributed power management and the motion control.

关键词： Mobile robots Motion control Prototypes Wheels Control systems Energy management Power system management Propulsion Biosensors Payloads

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The Hot Topics of Mechanical Instrument Industry in China between 1999~2008 Based on Word Frequency Analysis

The Hot Topics of Mechanical Instrument Industry in China be...

引用

international conference on Wireless Networks and Information systems (WNIS)

作者： Jian Luo Min Shi Rui Wang College of Business Agricultural University Changsha Hunan China Information Institute Hunan Science and Technology Changsha China

Word frequency analysis is used to explore the hot topics. It has contributed to the decision-making for industry. This research focuses on exploring the hot topics of mechanical instrument industry by word frequency analysis. The study includes growth of keywords and keyword ranking. The results showed that finite element, troubleshooting, optimization, genetic algorithms are hot topics between 1999~2008. The findings in this study are that the word frequency analysis can help companies concerned about the hot topics in its industry.

关键词： Instruments Frequency Information analysis Manufacturing industries Mechanical engineering Machinery Databases Wireless networks Information systems Educational institutions

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Embedded intelligent capability of a modular robotic system

Embedded intelligent capability of a modular robotic system

引用

IEEE international conference on Robotics and Biomimetics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Control and Telematics Systems Laboratory Universidad Autonoma de Madrid Spain College of Information Engineering Zhejiang University of Technology Hangzhou China

The last few years have witnessed an increasing interest in modular reconfigurable robotics for education, inspired robotic research, and space applications. This paper presents the latest results of the cube-M modular project. Firstly, an overview of the research achievements in modular robot is given. Then the new modular robot cube-M with one degree of freedom, an improved version of the Y1 modular robot, is presented. After that, the discussion focuses on the realization of a distributed hardware and control. Each module has embedded intelligent capabilities with an independent onboard controller to enable the realization of completely modular design. In the end, a snake-like robot prototype is built to confirm the feasibility of our design principle.

关键词： Intelligent robots Orbital robotics Prototypes Pulse width modulation Educational robots Joining processes Mobile robots Leg Arm Legged locomotion

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Dynamics design and simulation for mobile robots navigation systems

Dynamics design and simulation for mobile robots navigation ...

引用

IEEE international conference on Robotics and Biomimetics

作者： Leonimer Flavio de Melo Silvia Galvao de Souza Cervantes Jose Alexandre de Franca Marcela Hitomi Koyama Department of Electric Engineering State University of Londrina Parana Brazil

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with differential transmission.

关键词： Mobile robots Navigation Kinematics Analytical models Control systems Hardware Virtual environment Control system synthesis Real time systems Condition monitoring

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Multi-objective linear optimization using fuzzy logic-based arithmetic and visual representations with forward and backward tracking

Multi-objective linear optimization using fuzzy logic-based ...

引用

IEEE international conference on Robotics and Biomimetics

作者： Hassen Taher Dorrah Walaa Ibrahim Mahmoud Gabr Automatic Control and Systems Engineering Group Department of Electric Power and Machines Engineering Faculty of Engineering Cairo University Giza Egypt

This paper presents a new formulation of multi-objective linear optimization using the fuzzy logic-based arithmetic (or visual) representations developed originally by Gabr and Dorrah. A modified dual simplex algorithm is proposed as part of the formulation implementation procedure operating in a fully fuzzy environment. Moreover, forward and backward tracking mechanisms are incorporated with the above formulation for fuzzy level management and control. Cognitive mapping is used to describe the interaction between various parameters of the optimization formulation. Applications of the proposed approach to the multi-objective linear optimization of three stand alone electric pump stations of different sizes (Small, Medium and Large) are provided. The implementation is carried out using spread-sheet representation with the suggested optimization algorithms programmed in Visual Basic Applications (VBA). The results demonstrate the high efficacy and applicability of the fuzzy logic-based arithmetic and visual representations for real life problems operating in a fully fuzzy environment.

关键词： Fuzzy logic Arithmetic Fuzzy systems Power engineering and energy systems engineering and theory Fuzzy control Automatic control Visual BASIC Robotics and automation Biomimetics

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A fixed-complexity smart candidate adding algorithm for soft-output MIMO detection

A fixed-complexity smart candidate adding algorithm for soft...

引用

作者： Milliner, David L. Zimmermann, Ernesto Barry, John R. Fettweis, Gerhard School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States RadioOpt D-01069 Dresden Germany Vodafone Chair Mobile Communications Systems Technische Universität Dresden D-01062 Dresden Germany

We present a soft-output multiple-input multiple-output (MIMO) detection algorithm that achieves near max-log optimal error rate performance with low- and fixed-computational complexity. The proposed smart ordering and candidate adding (SOCA) algorithm combines a smart-ordered QR decomposition with smart candidate adding and a parallel layer-by-layer search of the detection tree. In contrast to prior algorithms that use smart candidate adding, the proposed algorithm has fixed computational complexity, and it never visits a node more than once. Results indicate that the SOCA algorithm has an attractive performance-complexity profile for both fast and slow fading 4 × 4 and 8 × 8 MIMO channels with quadrature amplitude modulation (QAM) inputs. © 2009 IEEE.

关键词： Computational complexity

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Flexible fixturing system design based on a family of novel parallel robots

Flexible fixturing system design based on a family of novel ...

引用

IEEE international conference on Robotics and Biomimetics

作者： Hongjian Yu Bing Li Xiaojun Yang Hong Hu Department of Mechanical Engineering and Automation Shenzhen Graduate School Harbin Institute of Technology China

Flexibility of the assembly system is crucial to the rapidly changing market, for that a family of products fabrication need to be implemented on a single production line. This paper presents a novel flexible fixturing system for sheet metal part assembly, the system is composed of reconfigurable fixtures use parallel robots as programmable fixture elements so that they can be reprogrammed for different parts. According to the fixturing requirement a work of synthesis and derivation of parallel robot configuration is conducted based on screw theory and Lie group. And a novel class of parallel fixture robots composed of a family of RUPU kinematic chains (KCs) and their derived configurations, with 3Flexibility of the assembly system is crucial to the rapidly changing market, for that a family of products fabrication need to be implemented on a single production line. This paper presents a novel flexible fixturing system for sheet metal part assembly, the system is composed of reconfigurable fixtures use parallel robots as programmable fixture elements so that they can be reprogrammed for different parts. According to the fixturing requirement a work of synthesis and derivation of parallel robot configuration is conducted based on screw theory and Lie group. And a novel class of parallel fixture robots composed of a family of RUPU kinematic chains (KCs) and their derived configurations, with 3~6 Degrees-of-Freedom (DoF), are proposed. Finally an application with ldquo4-2-1rdquo fixturing scheme is exhibited, the kinematic and constraint features are modelled by screw theory, and a screw optimum layout scheme is presented.

关键词： Fixtures Parallel robots Fasteners Manipulators Clamps Robotics and automation Assembly systems Automobile manufacture Robotic assembly Kinematics

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