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Modelling and simulation of a reconfigurable wheelchair with a sit-to-stand facility for a disabled child

Modelling and simulation of a reconfigurable wheelchair with...

引用

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

作者： Khaled M Goher Sultan Qaboos University Muscat OM

this paper discusses the modelling and simulation of a reconfigurable wheelchair with a sit-to-stand facility for a disabled 25kg child. the prototype is designed in SolidWorks® and simulated in MATLAB® to get the suitable forces that have to be provided by the motors to activate the system. three different techniques will be used in modelling the wheelchair. SolidWorks® software package will be used in the initial stage in order to get an estimation of the necessary motor power. A second model of the system will be built using SimMechanics Matlab toolbox®. In order to check the results obtained from both approaches; SolidWorks and SimMechanics, the model built designed by SolidWorks is embedded in SimMechanics where the system has been simulated for the third time. In all the three simulation stages; the system is considered to do a complete cycle of motion; sit-to-stand and a stand-to-sit. the system performance has been detected based on an open loop scenario where no control is implemented as this stage. Further analysis of the system has been done considering the energy consumption in two different modes; sit-to-stand mode and a forward straight line motion for a prescribed distance.

关键词： Mathematical model Solid modeling Wheelchairs Torque Robots Senior citizens Numerical models

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A Generic Framework for Behavior Recognition of Complex Activities in robotics

A Generic Framework for Behavior Recognition of Complex Acti...

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international conference on Tools for Artificial Intelligence (ICTAI)

作者： Kai Haeussermann Oliver Zweigle Paul Levi Universitat Stuttgart Stuttgart Baden-WÃ¼rttemberg DE Department of Image Understanding University of Stuttgart Stuttgart Germany

Considering the current state in service-robotics, an expert is still necessary to add new tasks and execution behaviors by textual and error-prone programming. Under the consideration that humans typically execute same activities almost identical (or at least similar) and further combine simple behaviors to more complex activities, we follow the constitutive assumption that all complex behaviors are composed of a limited set of atomic behaviors. this work introduces a generic framework for spatial-temporal analysis and classification of arbitrary atomic behaviors. therefore, we propose the combination of Self-Organizing Maps (SOM) and Probabilistic Graphical models (PGM) in order to exploit the advantages of both concepts. In this work, we describe the essential methods of the framework briefly, whereas the data-driven training of the spatial-temporal model and the reasoning process are described in detail. In order to demonstrate the potential and to emphasize the high level of generalization and flexibility in real-world environments, the framework is evaluated in an exemplary scenario.

关键词： Robots Training Context Hidden Markov models Vectors Probability Probabilistic logic

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Robust stability of ladder circuits from the 2D systems point of view

Robust stability of ladder circuits from the 2D systems poin...

引用

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

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Anton Kummert Uniwersytet Zielonogorski Zielona Gora Lubuskie PL Bergische Universitat Wuppertal Wuppertal Nordrhein-Westfalen DE

Ladder circuits can be considered as two-dimensional (2D) systems where information is propagated in two separate directions, i.e. along the time axis and along a space variable represented by a node number. Further, lifting along nodes is applied to obtain an equivalent 1D dynamical system model. Finally, the Linear Matrix Inequality (LMI) approach is used to develop robust stability conditions for uncertain active ladder circuits.

关键词： Integrated circuit modeling Stability analysis Analytical models Mathematical model Circuit stability Equations Active circuits

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Perception model for the aspiration process of a biologically inspired sniffing robot

Perception model for the aspiration process of a biologicall...

引用

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

作者： B. Lorena Villarreal J. L. Gordillo Center for Robotics and Intelligent Systems Tecnológico de Monterrey Monterrey México

Robots have capabilities emulating senses as they can now see, hear and touch, but the sense of smell is just starting to be implemented in mobile applications. the principal task of a smell capable robot is the odor source localization. Nevertheless, to obtain the best algorithmic results, the perception of the environment is crucial. One of the difficulties when developing chemical sensors is that the odor exposure saturates the sensor and chemical reactions change the sensor which needs time to be restarted. In this paper we are focusing on the perception problem by including the biologically inspired aspiration process and the qualitative model for the sensorial design. the implementation of proposed design would be an aid to optimize odor source localization techniques.

关键词： Robot sensing systems Biological system modeling Robot kinematics Chemicals Olfactory

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Idea of switching algebraic-logical models in flow-shop scheduling problem with defects

Idea of switching algebraic-logical models in flow-shop sche...

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

作者： Katarzyna Grobler-Debska Edyta Kucharska Ewa Dudek-Dyduch Department of Automatics and Biomedical Engineering AGH University of Science and Technology

the paper presents a new approach, based on an algebraic-logical meta-models (ALMM), to solving NP - hard manufacturing problems. there is considered the flow-shop manufacturing problem with time limits, the quality control, removing of manufacturing defects on an additional repair machine and retreatment of task in technological route. Proposed solution consist in switching of original algebraic-logical model to model with modified parameters when quality defects appear. In particular algebraic-logical model of flow-shop manufacturing problem with time limits and modified model with additional repair machine are proposed. Furthermore, the switching function from original model into modified model is given.

关键词： Maintenance engineering Quality control Switches Job shop scheduling Manufacturing processes

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True RMS-based inverse MR damper model for a semi-active system

True RMS-based inverse MR damper model for a semi-active sys...

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

作者： Krzysztof Plaza

In semi-active systems with MR dampers very often use of an inverse MR damper model is inevitable. the inverse model could be one of the crucial factors influencing system's performance. Very often higher layer control algorithms' output is the required force to be generated by the MR damper. Usually an inverse MR damper model is used to calculate the value of the necessary control signal to achieve the desired force. the paper presents an approach to inverse modeling of MR damper, which utilizes True RMS calculation of the desired force. that allows to use a very simple inverse MR damper model in semi-active system control, which output is the control signal to the MR damper.

关键词： Shock absorbers Mathematical model Force Numerical models Adaptation models Voltage control Magnetomechanical effects

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MEMS motion tracking system for surgical robot ROCH-1

MEMS motion tracking system for surgical robot ROCH-1

引用

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

作者： Ryszard Leniowski Lucyna Leniowska Department of Computer and Control Engineering Rzeszów University of Technology Rzeszow Poland Institute of Technology University of Rzeszow Rzeszow Poland

the paper presents an alternative approach to the construction of the surgical robot trajectory adjuster by the use of MEMS type sensors: compass, gyro, and accelerometer. A miniature module with these systems can be placed directly to the surgeon's hand-or on the operator's fingers. the advantage of this adjuster is not only its low price, but also a high level of functionality associated with the extensibility regarding new software modules. An example of built-in function can be a generator of the pathway coming to the surgery field which uses spline polynomials in the representation of Catmull-Rom. In addition, the adjuster of this type is very small and easy to apply on a mobile system, like ambulance, military field ambulance etc.

关键词： Trajectory Sensors Vectors Micromechanical devices Medical robotics Fingers

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3D Structure Estimation from a Single View Using Generic Fitted Primitives (GFP)

3D Structure Estimation from a Single View Using Generic Fit...

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7th international Joint conference on Computer Vision, Imaging and Computer Graphics theory and Applications, VISIGRAPP 2012

作者： Cocias, Tiberiu T. Grigorescu, Sorin M. Moldoveanu, Florin Department of Automation Transilvania University of Braşov Braşov Romania

ISBN: (纸本)9783642382406

this paper presents a method for surface estimation applied on single viewed objects. Its goal is to deliver reliable 3D scene information to service robotics application for appropriate grasp and manipulation actions. the core of the approach is to deform a predefined generic primitive such that it captures the local geometrical information which describes the imaged object model. the primitive modeling process is performed on 3D Regions of Interest (ROI) obtained by classifying the objects present in the scene. In order to speed up the process, the primitive points are divided into two categories: control and regular points. the control points are used to sculpt the initial primitive model based on the principle of active contours, or snakes, whereas the regular points are used to smooth the final representation of the object. In the end, a compact volume can be obtained by generating a 3D mesh based on the newly modified primitive point cloud. the obtainedPoint Distribution models (PDM) are used for the purpose of precise object manipulation in service robotics applications. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Image reconstruction

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Real-time implementation of a Type-2 Fuzzy Logic Controller to control a DC servomotor with different defuzzification methods

Real-time implementation of a Type-2 Fuzzy Logic Controller ...

引用

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

作者： Haytham M. Fayek I. Elamvazuthi Universiti Teknologi PETRONAS Seri Iskandar Perak MY

this paper presents the design and real-time implementation of a Type-2 Fuzzy Logic Proportional-Integral Controller (T2FLPIC) to control the position of a DC servomotor, which controls a robotic arm. Numerous type-2 defuzzification methods were implemented and judged against each other. A comparative analysis with the conventional Type-1 Fuzzy Logic Proportional-Integral Controller (T1FLPIC) and a PID controller demonstrates that the T2FLPIC has much improved performance than the T1FLPIC and the PID controller. this improvement is evident when it comes to handling of system disturbances and noise.

关键词： Servomotors Fuzzy logic Manganese Real-time systems Noise Uncertainty Fuzzy sets

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Modeling aspects of nonlinear steering machine of conventional ships

Modeling aspects of nonlinear steering machine of convention...

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

作者： Viorel Nicolau Universitatea Dunarea de Jos din Galati Galati RO

the conventional ships have one main aft thruster, and a rudder actuated by the steering machine (SM), which generates yaw moments to control the yaw angle. SM is a nonlinear system with absolute stability. Considering only yaw angle and mono-variable autopilots, SM can be simplified, taking into account only two limitations: the maximum rudder angle and rudder rate. But for smart autopilots, the nonlinear SM model with tri-positional hysteretic controller (thC) must be considered. In this paper, a new nonlinear SM model, with inertia of hydraulic mass driven by the servomotor, is proposed. Behavior aspects, compared with classic SM from literature, are studied. Both nonlinear and simplified linear proposed models have better behavior, with more realistic responses. Also, limitations and influence on yaw and roll motions are presented.

关键词： Marine vehicles Servomotors Numerical models Mathematical model Nonlinear systems Load modeling Educational institutions

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