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2012 2nd international conference on Electronic and Mechanical Engineering and Information technology, EMEIT 2012

作者： Jiang, Xiaomei Hu, Chaobin Rui, Yannian School of Mechanical Engineering Changshu Institute of Technology Changshu 215500 China College of Mechatronics Engineering Soochow University Suzhou 215021 China

ISBN: (纸本)9789078677604

Many problems of wall climbing robot on adaptive control for complex wall situation need to be solved. In this paper, based on the analysis of traditional intelligent control methods and comparison of principle of adaptive control and extension control, a new intelligent method - "extension and adaptive control" was established combining adaptive control with extension control. Extension and adaptive controller was designed and preliminary verification carried out. Results show this method has better adaptability to environment than the traditional adaptive control in driven control of wall climbing robot. © the authors.

关键词： Intelligent control

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Eversion and Retraction of a Soft robot Towards the Exploration of Coral Reefs

Eversion and Retraction of a Soft Robot Towards the Explorat...

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2nd IEEE international conference on Soft robotics (RoboSoft)

作者： Luong, Jamie Glick, Paul Ong, Aaron deVries, Maya S. Sandin, Stuart Hawkes, Elliot W. Tolley, Michael T. Univ Calif San Diego Jacobs Sch Engn La Jolla CA 92093 USA Univ Calif San Diego Contextual Robot Inst La Jolla CA 92093 USA Univ Calif San Diego Scripps Inst Oceanog La Jolla CA 92093 USA Univ Calif Santa Barbara Dept Mech Engn Santa Barbara CA 93106 USA

ISBN: (纸本)9781538692608

Coral reefs are declining worldwide. Yet, critical information remains unknown about the basic biological, ecological, and chemical processes that sustain coral reefs because of the challenges to access their narrow crevices and passageways. A robot that grows through its environment would be well suited to this challenge as there is no relative motion between the exterior of the robot and its surroundings. In this work, we design and develop an eversion robot for operation underwater, show that existing models work for constrained passageways if external contacts are taken into account, and present a new model to describe the forces on the robot during retraction. We use ambient water to pressurize the robot and maintain a neutral buoyancy. The robot operates in open loop without any steering, but can rely on its compliance to conform to natural crevices and pathways in its environment. We demonstrate the mechanism of eversion and retraction for an underwater soft robot as a potential approach for future non-destructive exploration of coral reefs.

关键词： Fabrics Soft robotics Payloads Valves Brushless motors Three-dimensional displays

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Dynamic modeling and control of adaptive impedance for human-manipulator interaction with uncertainty 2

Dynamic modeling and control of adaptive impedance for human...

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2nd international conference on Frontiers of Materials Synthesis and Processing (FMSP)

作者： Yu, Feng Chen, Xinyuan Wuhan Univ Sci & Technol Key Lab Met Equipment & Control Technol Minist Educ Wuhan Hubei Peoples R China Wuhan Univ Sci & Technol Hubei Key Lab Mech Transmiss & Mfg Engn Wuhan Hubei Peoples R China

robots have been used widely in every field in nowadays, such as in transport, machining and some other tasks interaction with the human. Impedance control is a useful method to maintain the dynamic relationship between the end-point of the manipulator and the external environment. Considering the uncertainties of the robot parameters and the environment, this paper proposes an adaptive impedance controller, before the controller designed, the dynamic model of the manipulator is established. Then a experimental and simulation study is made to verify the control algorithm, the results show that the adaptive impedance control is valid and easy to implement.

关键词： Manipulators

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Rapid humidity regulation by mixing of dry and humid gases with feedback control for PEM fuel cells

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international JOURNAL OF HYDROGEN ENERGY 2019年第1期44卷 389-407页

作者： Raman, Srinivasan Swaminathan, Sathish Bhardwaj, Sundaram Tanneru, Hemanth Kumar Bullecks, Brian Rengaswamy, Raghunathan Texas Tech Univ Dept Chem Engn Lubbock TX 79409 USA Indian Inst Technol Madras Dept Chem Engn Chennai Tamil Nadu India

Humidity regulation in fuel cells utilizing bulk mass transfer and membrane-based methodologies have drawbacks and limitations, which are undesirable during fuel cell operation. In this work, we demonstrate a rapid and nearly accurate humidity control by mixing of dry and humidified gas streams for tracking predefined relative humidity set points. The humidity responses from the mixed stream could track various relative humidity profiles when coupled with feedback to PI and PID control algorithms. A discussion on the usefulness of this method for controlling the humidification of fuel cell inlet gases, its effectiveness and limitations under high frequency operation are provided. (C) 2018 Hydrogen Energy Publications LLC. Published by Elsevier Ltd. All rights reserved.

关键词： Humidification control Fuel cells Humidity tracking Feedback control Humidity tuning by gas mixing

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New research on SLAM algorithm based on feature matching 2

New research on SLAM algorithm based on feature matching

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2nd international conference on Advanced robotics and Mechatronics (ICARM)

作者： Gao, Lei Yuan, Peijiang Wang, Tianmiao Shi, Zhenyun Li, Yong Cao, Shuangqian Ji, Xiaonan Beihang Univ Sch Mech Engn & Automat Beijing 100083 Peoples R China Beihang Univ Robot Inst Beijing 1000191 Peoples R China

ISBN: (纸本)9781538632604

In this paper, we study the technology of the robot environment map building based on laser radar scanner (SLAM). Aiming at the problem of high computation and high dimension matching in SLAM technology, this paper takes the method of reducing resource consumption and improving data association as the research starting point, and puts forward the framework of SLAM algorithm. Because of the high density environmental characteristics will lead to map growth with high rate. In the first part, this paper extracts segment descriptors from the point cloud data of laser radar scanners to establish of local sparse feature map. Then, extract the Matching feature. The Matching feature will be used for registration and prediction of the robot's view measurement and use the registration results to correct dead reckoning robot model, getting more accurate robot pose. Finally, the position and the observation prediction are used to achieve the Extend Calman filter to obtain the final position and attitude estimation.

关键词： ladar matching feature Extend Calman filter SLAM

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Developing a quadrupedal robot with speech recognition movement control

Developing a quadrupedal robot with speech recognition movem...

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2011 2nd international conference on Instrumentation control and Automation, ICA 2011

作者： Andreas Soonggalon, Erikson F. Tejawibawa, Ketut Mechatronics Department Engineering Faculty Swiss German University Tangerang 15339 Indonesia

ISBN: (纸本)9781457714603

The objective of this project is to develop a Quadrupedal (four legs) robot with speech recognition to control the movement. There are only three words of command to be recognized, which are "forward", "backward", and left command. Fourbar linkage is used as the basic mechanism for the robot's legs and comparison of sum of absolute error is used on the speech signal spectrum taken from its short time fourier transform. © 2011 IEEE.

关键词： Speech recognition

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A new industrial robotics and software development resolved the position and the speed control 2

A new industrial robotics and software development resolved ...

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2nd international conference on Information and Communications technology, ICOIACT 2019

作者： Ritboon, Virote Maneetham, Dechrit Department of Mechatronics Engineering Rajamangala University of Technology Thanyaburi Pathumthani Thailand

ISBN: (纸本)9781728116556

The purpose of this research study is to construct and design a six degree of freedom (DOF) that may contain a number of robotic manipulators between the position and speed control. At the same time, the study of kinematics in robotics involves, among other things, the manner in which the coordinate frames attached to the various parts of the mechanism change as the robot articulates. Manipulating several a servo motor assembly parts, as an experimental and simulation case in this paper, is studied to evaluate and performance results as well as improving the robot stiffness is discussed. © 2019 IEEE

关键词： Kinematics

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Motion control of a space robot based on an optimized variable gain sliding mode control method 2021

Motion control of a space robot based on an optimized variab...

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2nd international conference on Artificial Intelligence and Information Systems (ICAIIS )

作者： Yao, He Shi, Lingling Xiao, Xiaolong Beijing Inst Technol Sch Mech Engn Beijing Peoples R China

ISBN: (纸本)9781450390200

A variable gain sliding mode control algorithm is proposed for a space robot to track the path aimed at capturing a target. First, the dynamic model of the space robot is constructed based on the Lagrangian method, and the dynamic equation when the system parameters are uncertain is given. A sliding mode controller which introduces a variable gain is developed. The gain can adapt to the uncertainty of the system and its motion thereby facilitating the controller to be robust. Further, taking the motion error as the objective function, the gain of the sliding surface is optimized by adopting the modified gaussian barebones differential evolution method. Then the trajectory tracking simulation experiment of the space robot is carried out by adopting the modified gaussian barebones differential evolution method. In addition, the controller is demonstrated to present high control accuracy and the controller with optimization has smaller tracking error.

关键词： Space robot Coordinate motion control Sliding mode control Optimization

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A Globally Stable SM-PD-NP-I^NP-D Tracking control of robot Manipulators

A Globally Stable SM-PD-NP-I<SUP>NP-D</SUP> Tracking Control...

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2nd IEEE international conference on Computer Science and Information technology

作者： Liu, Bai-shun Lin, Fan-Cai Acad Naval Submarine Dept Battle & Command Qingdao Peoples R China

ISBN: (纸本)9781424445189

This paper deals with the tracking control of rigid robot manipulators. By synthesizing the strong robustness of sliding mode control and the good flexibility of PD-NP-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller, where the nonlinear terms are shaped by a continuous bounded nonlinear function of position errors. By using Lyapunov's direct method, the simple explicit conditions on the controller gains to ensure global asymptotic stability are provided, the theoretical analysis and simulation results show that: i) the SM-PD-NP-INP-D controller has the faster convergence, better flexibility and stronger robustness with respect to initial error;ii) the proposed control laws can not only achieve the asymptotically stable trajectory tracking control but also the tracking errors quickly tend to almost zero without oscillation as time increases;iii) after the sign function is replaced by saturation function in the SM-PD-NP-INP-D control law, the high-frequency oscillation of the control input vanishes.

关键词： Manipulators robot control PID control global stability Tracking control

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Trajectory Tracking of an Omnidirectional Mobile robot Using Sliding Mode control 2

Trajectory Tracking of an Omnidirectional Mobile Robot Using...

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2nd international conference on Applied Engineering, ICAE 2019

作者： Ijaabo, Enas M. Alsharkawi, Adham Firdaus, Ahmad Riyad University of Jordan Dep. of Mechatronics Engineering Amman Jordan Politeknik Negeri Batam Dep. of Electrical Engineering Batam Kepulauan Riau Indonesia

ISBN: (纸本)9781728128078

Due to the omnidirectional mobile robot's maneuverability, stability and its relatively simple control, it is used in wide range of applications. The aim of this paper is to develop a sliding mode controller that enables a three wheeled omnidirectional mobile robot to perform trajectory tracking tasks based on the robot's kinematic model. The performance of the sliding mode controller is illustrated by way of some simulation scenarios. The paper also provides a simulation software package, which is designed to allow users to investigate the trajectory tracking control problem for an omnidirectional mobile robot without the need to go through the cumbersome process of kinematic modelling and the sliding mode control design. © 2019 IEEE.

关键词： Sliding mode control

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