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检索条件"任意字段=2013 6th IEEE Conference on Robotics, Automation and Mechatronics, RAM 2013"

共 28 条记录，以下是1-10 订阅

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Proceedings of the 2013 6th ieee conference on robotics, automation and mechatronics, ram 2013

Proceedings of the 2013 6th IEEE Conference on Robotics, Aut...

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2013 6th ieee conference on robotics, automation and mechatronics, ram 2013

ISBN: (纸本)9781479911998

the proceedings contain 42 papers. the topics discussed include: human velocity tracking and localization Using 3 IMU sensors;development of a human-like narrator robot system in expo;using vision and haptic sensing for human-humanoid joint actions;point-cloud multi-contact planning for humanoids: preliminary results;real-time imitation human upper-body movement with joint and self-collision constraints;a PSO-based approach to cooperative foraging multi-robots in unknown environments;dynamic maneuverability through voluntary morphosis in a four-legged robot;autonomous car in path following control under side wind effect by Laguerre function;gray-dynamic EKF for mobile robot SLAM in indoor environment;robot inclusive space challenge: a design initiative;automatic onboard and online modelling of modular and self-reconfigurable robots;active wheel - an autonomous modular robot;and an improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment.

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A PSO-based Approach to Cooperative Foraging Multi-robots in Unknown Environments

A PSO-based Approach to Cooperative Foraging Multi-robots in...

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6th ieee International conference on robotics, automation and mechatronics (ram)

作者： Cai, Yifan Yang, Simon X. Mittal, Gauri S. Univ Guelph Sch Engn Guelph ON N1G 2W1 Canada

ISBN: (纸本)9781479911998

Cooperative foraging tasks in unknown environments are fundamentally important in robotics, where the real-time path planning and proper task allocation strategies are desirable for multi-robot cooperation. In this paper, an improved potential field-based (IPPSO) approach is proposed for cooperative robots to accomplish the foraging tasks in unknown environments. the proposed cooperation strategy for a multi-robot system makes use of the potential field function as the fitness function of PSO. In the simulation studies, various scenarios are investigated. the effectiveness of the proposed approach is demonstrated by simulation studies.

关键词： Unknown environments foraging Path planning multi-robot systems potential field simulating robotics parametric subharmonic oscillator

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Performance Evaluation of a Network Flow Based Algorithm for Multi Robots Coordinated Motion Planning

Performance Evaluation of a Network Flow Based Algorithm for...

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6th ieee International conference on robotics, automation and mechatronics (ram)

作者： Mohamed, Nasr Elnagar, Ashraf Univ Sharjah Dept Comp Sci Sharjah U Arab Emirates

ISBN: (纸本)9781479911998

Multi-robots coordinated motion is gaining more attention in the robotics research community because of its significance to a variety of applications such as formation control, evacuation and object transformation. Even in situations where a single robot may accomplish the task required, the use of multiple robots offers the ability to parallelize problem solution and provide desirable features like time reduction and fault tolerance. In this paper, we study the performance of a network-flow based multi-robot path planning algorithm, [9]. the mapping of the multi robots path planning roadmap to network flow problems enables the application and use of combinatorial network flow algorithms. the recently proposed algorithm can be extended to solve other related path planning problems. We evaluate the performance of the algorithm in for deployment and evacuation scenarios. Simulation results confirm the effectiveness and potential of this algorithm.

关键词： network flow motion planning Performance Evaluation Robot algorithms Path planning Cooperating robots Fault tolerance Evacuation robotics

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Investigation into the Force Distribution Mechanism of a Soft Robot Gripper Modeled for Picking Complex Objects Using Embedded Shape Memory Alloy Actuators

Investigation into the Force Distribution Mechanism of a Sof...

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6th ieee International conference on robotics, automation and mechatronics (ram)

作者： Obaji, Michael O. Zhang, Shiwu Univ Sci & Technol China Dept Precis Machinery & Instrumentat Hefei 230026 Peoples R China

ISBN: (纸本)9781479911998

the technical approach of embedded shape memory alloy actuators (ESMAA) is presented herein. three SMA springs are embedded in each silicone elastomer liquid at room temperature to form embedded SMA actuator rods used in designing a soft robot gripper. Just as human fingers make gestures to grab, so is the structure configured to perform humanoid gripping. thus, this paper introduces the mechanical characteristics of an actuated soft robot gripper displaying some level of changeable but stable gripping force as well as an investigation into the force distribution mechanism occurring between the actuator and the host medium. the structure has soft fingers with two- degrees-of-freedom (2-DOFs) each. It is light in weight and can be controlled with ease. Tests show that the structure can perform some considerable anthropopathic actions such as bending and gripping objects of complex shapes.

关键词： Anthropopathic Gripper SMA actuators mechatronics Force distribution Mechanism Humanoid

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Rollover Prevention with Predictive Control of Differential Braking and Rear Wheel Steering

Rollover Prevention with Predictive Control of Differential ...

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6th ieee International conference on robotics, automation and mechatronics (ram)

作者： Lee, Shihao Yakub, Fitri Kasahara, Misawa Mori, Yasuchika Tokyo Metropolitan Univ Div Human Mechatron Syst Fac Syst Design 6-6 Asahigaoka Hino Tokyo Japan Tokyo Metropolitan Coll Ind Technol Tokyo Japan

ISBN: (纸本)9781479911998

this paper contributes to increase knowledge about a Model Predietive Control (MPC) approach to untripped rollover prevention of heavy vehicles which make a panic lane change maneuver in order to avoid an obstacle in the path. Active differential braking control shows good effect on limit roll angle during an urgent situation. However, at the same time of avoiding rollover accidents, prohibiting the vehicle from the driver's intended and the vehicle's actual lane can also yield other accidents such as bumping into guard rails or cones. thus, it is necessary to track the driver's desired path as closely as possible while preventing the vehicle from rollover. Here, a new control method of switching the MPC controllers which uses differential braking with dead zone and active rear steer are proposed. Simultaneously, the trade-off between rollover prevention and path tracking is highlighted through simulation results. the effectiveness of using switching controllers designed for the trade-off solution is also confirmed through simulation results.

关键词： Predictive control vehicle Guardrails rollover accidents Drivers driver circuits Braking rear wheel Controllers Heavy vehicles Dead band

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A 6 DOF Robot Design and Simulated Energy Usage Comparison

A 6 DOF Robot Design and Simulated Energy Usage Comparison

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6th ieee robotics and mechatronics conference (RobMech)

作者： Shaik, Ahmed Bright, Glen Tlale, Nkgatho CSIR Pretoria South Africa Anglo American PLC Robot & Automat Pretoria South Africa Univ KwaZulu Natal Sch Mech Engn Dubna Russia

ISBN: (纸本)9781479915187

the aim of this project was to create a 6 degree of freedom (DOF) robotic manipulator that had a workspace to footprint ratio comparable to that of a serial robot but with a lower inertia, higher speed and improved energy efficiency. this paper briefly describes some parts of the design and then discusses the method used to obtain results for a simulated energy comparison against a serial robot.

关键词： Serial robot 6 DOF machine energy usage comparison

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Android Based Semi-Autonomous Collision Avoidance Robot

Android Based Semi-Autonomous Collision Avoidance Robot

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6th ieee robotics and mechatronics conference (RobMech)

作者： Stansfield, Nimai Bothma, B. Cent Univ Technol Dept Elect & Comp Syst Engn Bloemfontein South Africa

ISBN: (纸本)9781479915187

Modern Smartphones have become amazing devices which house processors that match processing speeds of a standard entry level computer. In this paper a model for using an Android T based Smartphone as the main computational device for a semi-autonomous robot is presented. A stripped down National Instrument (NI) LabVIEW robotics Starter Kit chassis together with a combination of an IOIO Board and a Android Smartphone serve as the hardware structure of the robot. the processes for designing a custom Android T Application, issues with hardware and the shortcomings of technologies used are also presented. Finally a robot which is controlled remotely with integrated obstacle detection and avoidance is achieved.

关键词： Android Mobile robotics IOIO AGV robotics Smartphone

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robotics Competitions as Motivator for Project Oriented Learning in mechatronics

Robotics Competitions as Motivator for Project Oriented Lear...

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6th ieee robotics and mechatronics conference (RobMech)

作者： Butala, Peter Vrabic, Rok Skulj, Gasper Oosthuizen, Gert Adriaan Univ Ljubljana Dept Control & Mfg Syst Ljubljana Slovenia Univ Johannesburg Dept Mech Engn Sci Johannesburg South Africa

ISBN: (纸本)9781479915187

A project-based approach to educate mechatronics at the University of Ljubljana is presented. It combines the classical curriculum composed of various engineering subjects with project-based work. the emphasis is on 'learning-by-doing' with concrete projects. Doing this student teams design systems and manufacture mechatronic prototypes. Recently, one of the project offerings has been related to the Eurobot competition. Eurobot is an international amateur robotics contest open to teams of young people. Annually, a new specification gets published in September for the contest to be held in June the following year. the Eurobot specifications and its timing fit well into the mechatronics curriculum and the contest represents a real challenge as motivator for students. the two case studies presented include design, development and rapid prototyping. Experiences from the Eurobot competitions encouraged the authors to introduce a robotic competition in the Summer School on mechatronics. It turned out to be a successful way to encourage students to study mechatronics. the approach is also considered to be implemented in South Africa. this can help raise technological awareness and hopefully create a do-it-yourself culture among the youth.

关键词： project-based learning teamwork autonomous mobile robot EUROBOT contest technological awarness

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Teaching and Programming with Ch for Tertiary-Level mechatronics Engineering Education

Teaching and Programming with Ch for Tertiary-Level Mechatro...

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6th ieee robotics and mechatronics conference (RobMech)

作者： Stopforth, Riaan Univ KwaZulu Natal Durban South Africa

ISBN: (纸本)9781479915187

Programming in the C language has become critical at the tertiary engineering education and research level. It is used vastly in industry, either at the programming level, or as the underlining instructions being executed. Ch, which is primarily based on the C language, integrates the powerful functions and utilities of other programming languages which could be executed at a command prompt level. Documentation to solve engineering and scientific problems, which are related to the Ch language, are available that allow students and researchers to understand the concept of logical processing. Students and researchers are able to visualize the results of algorithms they are developing, by means of graphs and the monitoring of variable values. Toolkit packages allow for Ch to be used to improve research simulations. Details of how Ch is used at a tertiary education and research level, within a third world country, are explained with the observed ways people have benefited.

关键词： programming tertiary education

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Application of Ensemble Learning Approach in Function Approximation for Dimensional Synthesis of a 6 DOF parallel manipulator

Application of Ensemble Learning Approach in Function Approx...

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6th ieee robotics and mechatronics conference (RobMech)

作者： Modungwa, Dithoto Tlale, Nkgatho Twala, Bheki CSIR Pretoria South Africa Anglo American Johannesburg South Africa Univ Johannesburg Dept Elect & Elect Sci Engn Johannesburg South Africa

ISBN: (纸本)9781479915187

Presented in this paper is an investigation of the use of ensemble methods in machine learning for developing function approximation models of the analytical objective function, to be applied to an optimization search process of a 6 DOF parallel manipulator. the process of optimization of these mechanisms can be cumbersome, as it often involves complex objective functions and diverse design parameters. the use of ensemble methods in machine learning methods combination is demonstrated and evaluated against the individual or base methods using dataset from a parallel robotic manipulator. Experiments are carried out to determine whether an ensemble performs better than the base methods.

关键词： ensemble methods in machine learning optimization parallel manipulators

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