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检索条件"任意字段=25th International Conference on Methods and Models in Automation and Robotics"

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Design of an Adaptive Gait Trajectory Controller based on a Hybrid Two-Legged Robot Model 19

Design of an Adaptive Gait Trajectory Controller based on a ...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Malita, Victor Misgeld, Berno J. E. Leonhardt, Steffen Rhein Westfal TH Aachen Philips Chair Med Informat Technol D-52074 Aachen Germany

ISBN: (纸本)9781479950812

this paper presents a new algorithm for the automatic adaptation of planar motion for an exoskeleton device. the designed control algorithm aims at adapting the motion of the hemiparetic patient "wearing" the exoskeleton to the desired gait based on the patient's active torque. the patient-exoskeleton coupling is modeled as a stand-alone planar nonlinear hybrid two-legged robot model with point feet. the control algorithm consists of a feedback linearization method extended with an optimal controller that assures the tracking of the reference trajectories and disturbance rejection. this control structure is capsuled by an adaptive iterative learning control, which in every motion cycle adapts the reference joint-angle trajectories for the exoskeleton to follow in the next cycle. Motion captured data from healthy subjects was used as reference input in the closed-loop system, because these trajectories guarantee human-like behavior for the robot model with point feet. Simulation results of the iterative learning controller show promising results with respect to cyclic disturbances, as associated with hemiparetic spasticity.

关键词： adaptive control closed loop systems feedback iterative methods learning systems legged locomotion medical robotics optimal control trajectory control adaptive gait trajectory controller adaptive iterative learning control automatic adaptation closed-loop system cyclic disturbances disturbance rejection exoskeleton device feedback linearization method hemiparetic patient hemiparetic spasticity human-like behavior iterative learning controller optimal controller patient active torque patient-exoskeleton coupling planar motion planar nonlinear hybrid two-legged robot model point feet reference joint-angle trajectories reference trajectory tracking Equations Exoskeletons Legged locomotion Mathematical model Robot kinematics Trajectory Biped locomotion Closed loop systems trajectory optimal controllers Disturbance rejection Robot kinematics Iterative learning control medical robotics trajectory control learning systems shelling iterative methods Exoskeleton Device adaptive control Optimal control

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Secure handwriting using a robot arm for educational purpose 19

Secure handwriting using a robot arm for educational purpose

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2014 19th international conference on methods and models in automation and robotics, MMAR 2014

作者： Crainic, Marius-Florin Preitl, Stefan Şandru, Lucian Alexandru Dolga, Valer Dept. of Automation and Applied Informatics 'Politehnica' University of Timisoara Timisoara Romania Dept. of Mechatronics 'Politehnica' University of Timisoara Timisoara Romania

ISBN: (纸本)9781479950812

As the educational system is growing there is a lot of paperwork to do like completing different types of certificates, or traditional gradebook. the paper presents a different approach to facilitate and secure the writing of certificates or traditional gradebooks. this system uses a robot arm, RV-2AJ, which has a pen attached. the setups are easy to be made because they involve the reading of only three points for calibration which forms a right-angled triangle. After the calibration the robotic arm can write even if the writing surface is on an inclined plane, or the paper is rotated. this system is more secure than the one that uses the ink printer, because the movement of the robot arm to reproduce the font on the paper is unique. Another secure element is the embossing stamp. the embossing stamp is created by changing the pen with a needle. the needle creates small closed holes using a pattern in which the information used for writing is encrypted. © 2014 IEEE.

关键词： Calibration

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Estimating the time-varying parameters of SDE models by maximum principle 19

Estimating the time-varying parameters of SDE models by maxi...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Filatova, Darya V. Orlowski, Andrzej Dicoussar, Vasilii Jan Kochanowski Univ Kielce PL-25029 Kielce Poland RAS Dorodnicyn Comp Ctr Moscow 119991 Russia

ISBN: (纸本)9781479950812

We present a parameter estimation method of stochastic differential equations with time-varying coefficients, where data can be observed at discrete points of time. Our objective is to develop the uniform mathematical technique to solve the parameter estimation problem for stochastic differential equations with both ordinary and fractional Brownian motions. this estimation principle is based on the replacement of a stochastic differential equation by a system of ordinary differential equations, which present the moment functions, and on the application of the Pontryagin's maximum principle to find the optimal estimates of the time-varying coefficients of the initial equation. the key point is the constraints structural selection, which leads to major modifications of algorithms of analytical and numerical solutions. this estimation method is applied to study the North Atlantic herring population dynamics.

关键词： differential equations maximum principle parameter estimation stochastic processes time-varying systems North Atlantic herring population dynamics Pontryagin maximum principle SDE models constraints structural selection estimation principle fractional Brownian motion moment functions ordinary Brownian motion ordinary differential equations stochastic differential equations time-varying coefficients time-varying parameters Differential equations Equations Estimation Optimal control Parameter estimation Sociology Stochastic processes maximum principle Parameter estimation time varying parameters Markov chain Brownian motion Differential equations stochastic differential equation Ordinary differential equation time-varying systems Sociology Stochastic Processes time-varying coefficient Differentiation Optimal control

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the Mathematical Model of the Human Arm as a Switched Linear System 19

The Mathematical Model of The Human Arm as a Switched Linear...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Babiarz, Artur Czornik, Adam Klamka, Jerzy Niezabitowski, Michal Zawiski, Radoslaw Silesian Tech Univ Inst Automat Control 16 Akad St PL-44101 Gliwice Poland

ISBN: (纸本)9781479950812

the article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. the moment of shape change depends on the two-state coordinates: the angular displacement q(1) and q(2). Based on the analysis of the arm movement, a mathematical model has been proposed. the design process was made on the basis of switched systems theory. In the first step, we present the transition from the general equation of the two-link arm dynamics to the state equation for stationary linear models. In the second step, a mathematical model has been shown as a switched linear system. the article also shows that the switching rule depends on the two components of the state vector. A switching method was presented in the schematic drawings.

关键词： biomechanics linear systems system theory vectors angular displacement arm modelling arm movement design process human arm mathematical model rectangular prism rotational link schematic drawings state equation state vector stationary linear models switched linear system switched systems theory two-link arm dynamics Equations Joints Mathematical model Muscles Robots Switches Vectors Mathematical Model Linear system Schematic diagrams Rectangular prism equations of state arm movement design process angular variation Systems theory Switches Robot Joints Joints Biomechanics muscles

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A novel concept for realistic simulation of industrial pick and place applications 45

A novel concept for realistic simulation of industrial pick ...

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Joint conference of ISR 2014 - 45th international Symposium on robotics and Robotik 2014 - 8th German conference on robotics, ISR/ROBOTIK 2014

作者： Stumm, Sven Pintar, Daniel Kuhlenkötter, Bernd TU Dortmund University Dortmund Germany ABB Automation GmbH Friedberg Germany

ISBN: (纸本)9783800736010

Current automated production requires a high amount of production flexibility. In order to achieve a more efficient use of the available resources and a faster time to production, digital commissioning is used;this allows efficient planning of production environments before a real implementation. At present the design and planning of robot-aided production environments, leaves a lot to be desired. Focussing on Pick & Place applications, a very common task in production environments, we present simulation approaches that allow realistic representation of product flow and the arising dynamic changes within product flow. the following paper proposes a direct integration of Pick & Place planning into a robot simulation software as well as methods for the exchange of simulation models between software solutions. We will present two approaches for Pick & Place simulation along with future possibilities to combine both methods. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Machine design

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Passivity preserving multipoint model order reduction using reflective exploration 11

Passivity preserving multipoint model order reduction using ...

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11th international conference on Informatics in Control, automation and robotics, ICINCO 2014

作者： Samuel, Elizabeth Rita Knockaert, Luc Dhaene, Tom Ghent University IMinds Gaston Crommenlaan 8 Bus 201 GentB-9050 Belgium

ISBN: (纸本)9789897580390

Reduced state-space models obtained by model order reduction methods must be accurate over the whole frequency range of interest and must also preserve passivity. In this paper, we propose multipoint reduction technique using reflective exploration for adaptively choosing the expansion points. the projection matrices obtained from the expansion points are merged to form the overall projection matrix. In order to obtain a more compact model the projection matrix is truncated based on its singular values. Finally, the reduced order model is obtained, while ensuring that the passivity of the reduced system is preserved during the reduction process.

关键词： State space methods

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Phase Field Regularized Level Set Approach in Topology Optimization of Variational Inequalities 19

Phase Field Regularized Level Set Approach in Topology Optim...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Myslinski, Andrzej Koniarski, Konrad Syst Res Inst PL-01447 Warsaw Poland

ISBN: (纸本)9781479950812

the combined level set and phase field rather than classical level set approach is used in the paper to analyze and solve numerically the topology optimization problem for system governed by the variational inequalities. Classical level set method allows to evolve a given sharp interface but is not capable to generate holes unless the topological derivative is used. the phase field method indicates the position of the interface in a blurry way but is flexible in the hole generation. In the paper two-phase topology optimization problem is formulated in terms of the modified level set function regularized using Cahn-Hilliard based inter-facial energy term rather than the standard perimeter term. the derivative of the cost functional with respect to the level set function is calculated. Modified reaction-diffusion equation updating the level set function is derived. the necessary optimality condition for this optimization problem is formulated. the finite element and finite difference methods are used to solve the state and adjoint systems numerically. Numerical examples are provided and discussed.

关键词： design engineering finite difference methods finite element analysis optimisation variational techniques Cahn-Hilliard method finite difference method finite element method interfacial energy level set approach phase field approach reaction-diffusion equation two-phase topology optimization problem variational inequalities Equations Level set Mathematical model Optimization Shape Stress Topology Level set Finite difference methods phase field Finite element method design engineering Calculus of variation Topology optimization Surface energy phase field method topology Mathematical Model reaction-diffusion equations Stress (mechanics)

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LPV embedding of nonlinear compartmental systems with endogenous control 19

LPV embedding of nonlinear compartmental systems with endoge...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Casagrande, Daniele Krajewski, Wieslaw Viaro, Umberto Univ Udine Dept Elect Management & Mech Engn I-33100 Udine Italy Polish Acad Sci Syst Res Inst PL-01447 Warsaw Poland

ISBN: (纸本)9781479950812

Compartmental models are widely used in in many fields of science including pharmacokinetics, epidemiology, bioengineering, complexity theory, and even economics and the social sciences. the reason of such a success lies in their ability to describe the way materials or energies are transmitted among the compartments. Often, it is assumed that these exchanges depend linearly on the compartments. However, when a compartment exerts an inhibitory or stimulative action on the exchange rate between two other compartments, the related mass transfer is usually a nonlinear function of both the source and controlling compartment. this paper shows how, in many cases, the resulting nonlinear compartmental model can be embedded into a linear parameter varying (LPV) model, which allows us to exploit some recent results on LPV control. In particular, it is possible to design controllers that ensure stability under arbitrary parameter variations as well as point-wise optimal performance.

关键词： control system synthesis linear systems mass transfer nonlinear control systems LPV control LPV embedding bioengineering complexity theory controller design economics endogenous control epidemiology exchange rate inhibitory action linear parameter varying model nonlinear compartmental model nonlinear compartmental systems nonlinear function pharmacokinetics point-wise optimal performance social sciences stimulative action Biological system modeling Control systems Equations Materials Mathematical model Stability analysis Transfer functions MASS TRANSFER Complexity theory Biological system modeling nonlinear functions Social Sciences control system synthesis Nonlinear control systems Compartmental models TRANSFER FUNCTIONS control systems controller design Linear system Stability analysis economics Biological techniques

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Facial Expressions Modeling for Interactive Virtual Environments 19

Facial Expressions Modeling for Interactive Virtual Environm...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Kocon, Maja West Pomeranian Univ Technol Dept Control & Measurement Szczecin Poland

ISBN: (纸本)9781479950812

Nowadays, in Human-Machine Interaction systems, the communication between user and the machine (robot, computer, etc.) may be performed using a graphical representation of human often called avatar. Such graphical form needs a realistic human motion synthesis mechanisms which are becoming more and more popular in the virtual environments. therefore the paper is focussed on the problem of facial motion modeling for interactive virtual humans using events-based interaction rules. First, the most frequent emotional states and two types of personalities have been selected. For both personalities the transitions of the emotional states have been performed based on the motion probabilities. then, for animation process a set of the facial expression subtypes has been introduced. In such case it is possible to get a quite natural reactions of the avatar for various emotional states. Also, the transition probabilities have been defined for sub-states. Having obtained transition probabilities, a temporal duration of emotional state have been calculated. Finally, the architecture of the system for interaction between user and avatar based on facial animation modeling has been proposed.

关键词： avatars computer animation face recognition human computer interaction interactive systems probability solid modelling animation process avatar emotional states events-based interaction rules facial animation modeling facial expressions modeling facial motion modeling graphical representation human motion synthesis mechanism human-machine interaction system interactive virtual environments interactive virtual humans motion probability temporal duration transition probability Animation Avatars Hidden Markov models Mood Probability Robots avatars Emotional States TRANSITION PROBABILITIES Virtual environments entity modeling Animation interactive systems computer animation computer human interaction Hidden Markov models Robot Facial Expression Facial Recognition Graphic methods Personality

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Robot Mapping with Range camera, CCD Cameras and thermal Imagers 19

Robot Mapping with Range camera, CCD Cameras and Thermal Ima...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Burian, Frantisek Kocmanova, Petra Zalud, Ludek Brno Univ Technol CEITEC CS-61090 Brno Czech Republic LTR Sro Brno Czech Republic

ISBN: (纸本)9781479950812

this paper describes a multispectral data fusion system for real-time telepresence and digital mapping applicable in reconnaissance robotics. the system was developed by our team for CASSANDRA, a robotic group comprising several robots with different features controllable from a single operator station. Special emphasis is put on cooperative mapping and problems arising from the fact that each robot has distinct sensors and computing capabilities;at the same time, however, it is important to stress that all the robots can supply valuable data to the global map. the system is currently able to process distance data, color data, and thermal information, but it is also prepared for extension such that other parts of the electromagnetic spectrum (e.g., the near infrared region) or mission-specific (e.g., radiation) data can be easily added to the map. the fusion quality and map features were studied both theoretically and via field experiments. the data acquisition is performed using a sensor head placed on an Orpheus-X3 robot;both the head and the robot were developed by our working group. the head contains five matrix sensors: a pair of CCD cameras, a pair of thermal imagers, and one TOF camera.

关键词： CCD image sensors image colour analysis image fusion multi-robot systems path planning robot vision CASSANDRA robotic group CCD camera Orpheus-X3 robot charge-coupled device camera color data processing cooperative mapping digital mapping applicable distance data processing electromagnetic spectrum multispectral data fusion system range camera real-time telepresence reconnaissance robotics robot mapping thermal imagers thermal information processing Calibration Cameras Charge coupled devices Robot vision systems Charge Coupled Device camera Electromagnetic spectrum robot vision system Robot CCD image sensors Cameras thermal imager Charge coupled devices multi-robot systems image colour analysis robot vision image fusion Path planning imaging instrument MAPPING(MAthEMATICAL)

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