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检索条件"任意字段=3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018"

共 43 条记录，以下是31-40 订阅

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Virtual Motoneuron Activation for Goal-directed Locomotion of a Hexapod Robot 5

Virtual Motoneuron Activation for Goal-directed Locomotion o...

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5th ieee international conference on advanced robotics and mechatronics (icarm)

作者： Zhu, Yaguang Zhang, Liang Manoonpong, Poramate Changan Univ Key Lab Rd Construct Technol & Equipment MOE Xian 710064 Peoples R China Univ Southern Denmark Ctr BioRobot Maersk Mc Kinney Moller Inst Embodied AI & Neurorobot Lab DK-5230 Odense Denmark Univ Southern Denmark SDU Biorobot Maersk Mc Kinney Moller Inst Embodied Artificial Intelligence & Neurorobot Lab DK-5230 Odense Denmark Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Nanjing 210016 Peoples R China Vidyasirimedhi Inst Sci & Technol Sch Informat Sci & Technol Rayong 21210 Thailand

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164793

Walking animals have shown energy efficiency and versatile locomotion ability when adapting to their environments. Different methods, including machine learning, model control and biologically inspired control, have been applied in artificial legged locomotion systems to imitate these natural characteristics. In this paper, a virtual motoneuron activation module (VMAM) is built to convert goal-directed behavioral instructions into nerve signal strength, which leads to animal-like signal processing mechanisms and behavioral responses. The system is composed of a reticulospinal neuron module, a central pattern generator (CPG) and a virtual motoneuron network (VMN). The VMN receives the rhythm signals from the CPG and generates different motions that are controlled by global and local factors of muscle activation and goal-directed points;then, through an inverse kinematics module, the signals for driving the joint motors of the robot are obtained. Finally, four groups of experiments with different global and local factors of muscle activation are tested on a bionic hexapod robot to validate the effectiveness. The results prove that the method can generate active adaption and emergent behavior according to signal feedback and improve the locomotion agility, coordination, and diversity of the robot.

关键词： Robot kinematics Robot sensing systems Legged locomotion Muscles Oscillators Rhythm

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A Machine Vision Assisted Mechatronic Seed Meter for Precision Planting of Corn 3

A Machine Vision Assisted Mechatronic Seed Meter for Precisi...

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3rd international conference on Control and robotics Engineering (ICCRE)

作者： Borja, Adrian A. Amongo, Rossana Marie C. Suministrado, Delfin C. Pabico, Jaderick P. Univ Philippines Los Banos UPLB Coll Laguna Philippines

ISBN: (纸本)9781538666630

Missed seeding during planting operation is a problem for pneumatic corn planters especially for locally developed designs in the Philippines. This study focused on providing a solution to prevent or reduce missed seeding by integrating a control system with machine vision and mechatronic elements to a modified design of a locally developed seed meter. The seed meter was fitted with a camera to monitor the seed plate, a microprocessor to analyze images, and a stepper motor to produce precise rotations for the meter's drive. The control system was designed to detect unfilled holes in the seed plate and adjust seeding rate accordingly to compensate any expected missing hill. Operation simulation revealed that the control system can operate between 2 kph to 6 kph of forward speed. This speed range was caused by the limitations in torque production of the mechatronic drive and the latency of image capture of the camera.

关键词： crop establishment machine vision mechatronics precision agriculture

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Learn to Grasp Objects with Dexterous Robot Manipulator from Human Demonstration 7

Learn to Grasp Objects with Dexterous Robot Manipulator from...

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7th ieee international conference on advanced robotics and mechatronics

作者： Hu, Yuandong Li, Ke Wei, Na Shandong Univ Inst Biomed Engn Sch Control Sci & Engn 17923 Jingshi Aveue Jinan 250061 Shandong Peoples R China Shandong Univ Qilu Hosp Dept Geriatr 107 Wenhuaxi Rd Jinan 250012 Shandong Peoples R China

ISBN: (数字)9781665483063

ISBN: (纸本)9781665483063

This study proposed a method to transfer human grasping skills to dexterous robot manipulator. Dynamic motion primitives (DMPs) were used to model the trajectory for the robot manipulator. Users demonstrated a motion task by moving the robot manipulator and thus realizing 3D trajectory. Each joint of the robot manipulator set their own independent DMPs model. This was to enhance the stability of the generated motion towards the target. Furthermore, the generalization of DMPs that the trained model can be applied to similar trajectories, was found and verified in the experiment. A robotic hand (ZealGiant hand) was installed at a 7-DOF robot arm (Kuka iiwa 14), with force sensitive resistance units at the end of the five fingers. A simple data glove was designed to record the human grip posture. A synergistic control was developed for grasping according to the real-time force. Learning from human demonstration for the robotic manipulator developed in study may facilitate programming and mimic a human-like grasping control.

关键词： dexterous robot manipulator dynamic motion primitives synergy force feedback grasping control

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NURBS Path Tracking Control of a Scanning Mirror System Based on EtherCAT Fieldbus 3

NURBS Path Tracking Control of a Scanning Mirror System Base...

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3rd international conference on Control and robotics Engineering (ICCRE)

作者： Huang, Ruei-Yu Cheng, Chung-Wei Lee, An-Chen Natl Chiao Tung Univ Dept Mech Engn Hsinchu Taiwan

ISBN: (纸本)9781538666630

In this paper, an EtherCAT scanning mirror system with function of NURBS path tracking control was investigated. By using EtherCAT protocol to connect master computer with a scanning mirror system, we did a first attempt to implement position control by the master computer, so that one can apply an advanced control algorithm to the system instead of applying a distributed control algorithm on the proprietary driver of the slave device. The technical issue of this configuration like commutation delay caused by the three-buffer-mode is addressed. A two-staged H-infinity with feed-forward controller is designed for the position control loop. Moreover, considering the widely used of non-uniform rational B-spline (NURBS) in the field of CAD/CAM, we added the function of NURBS path planning in the controller so that the system can deal with complex NURBS curves. The experiment results showed that the proposed method can reduce tracking error and have better performance when comparing with traditional distributed control strategy.

关键词： Scanning Mirror System EtherCAT Robust Control Distributed Control

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Contributions to the Design of a 6 DoF Contactless Sensor Intended for Intermittent Contact Haptic Interfaces

Contributions to the Design of a 6 DoF Contactless Sensor In...

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international conference on advanced robotics and mechatronics (icarm)

作者： Oscar De La Cruz Florian Gosselin Wael Bachta Guillaume Morel CNRS UMR 7222 Institut des Systèmes Intelligents et de Robotique Équipe Agathe Paris France CEA LIST Interactive Robotics Laboratory Gif-sur-Yvette France

ISBN: (纸本)9781538670675

The present work introduces a theoretical model and experimental validation of an Emitter-Receptor Slit based system (ERS) that uses an infrared light emitting diode (IRED) and a one-dimensional position sensitive detector (PSD). The radiation generated by the moving IRED passing through a slit creates a light beam which will form a light spot on the PSD photosensitive area. The PSD generates two photocurrents, function of the amount of received power, which values are used to calculate the position of the light spot center of gravity. The proper response modeling and characterization of the described system will help to define the design guidelines for a contactless position and orientation sensor, particularly suitable for local tool tracking in force feedback interfaces.

关键词： Robot sensing systems Erbium Mathematical model Solids Photoconductivity Light emitting diodes

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Feedforward Hybrid Control Using Foundation Fieldbus: A Case Study of Temperature Control with Delta V System 3

Feedforward Hybrid Control Using Foundation Fieldbus: A Case...

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3rd international conference on Control and robotics Engineering (ICCRE)

作者： Pannil, Pittaya Jaroenla, Sutee Julsereewong, Amphawan Kummool, Sart King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok 10520 Thailand

ISBN: (纸本)9781538666630

With Foundation Fieldbus (FF) technology, a control strategy can incorporate function blocks running in both host controller and field devices, which is known as hybrid control. This paper focuses on implementation of feedforward hybrid control by utilizing basic function blocks in H1 field devices and advanced function block in host controller to provide a guideline for detailed design to specify of the FF philosophy to be used in a greenfield or brownfield project for maximizing end user achievement. A laboratory-scale FF H1 segment configured and operated on the Delta V host system for feedforward on temperature control is used as an illustrative case study to analyze three different configurations by assigning control function block into different field devices in terms of the network load for scheduled communications during segment macrocycle. Experimental results obtained from the preferred control loop with minimum scheduled traffic load verify that an improvement in disturbance response can be achieved. Using control block in field device for FF-based hybrid architecture can, therefore, be applied for creating the feedforward control with disturbance anticipation capability.

关键词： foundation fieldbus hybrid control function block feedforward macrocycle temperature control

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Sidewall Imaging of Microstructures with a Tilted Quartz Tuning Fork (QTF) Force Sensor 3

Sidewall Imaging of Microstructures with a Tilted Quartz Tun...

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3rd international conference on Manipulation, Automation and robotics at Small Scales, MARSS 2018

作者： Hussain, Danish Yongbing, Wen Xie, Hui College of Electrical Mechanical Engineering National University of Sciences and Technology Department of Mechatronics Engineering Islamabad Pakistan Harbin Institute of Technology State Key Laboratory of Robotics and Systems 2 Yikuang Harbin150080 China

ISBN: (纸本)9781538648414

Sidewall imaging of micro and nano structures is essential for critical dimensional metrology in the semiconductor industry. Atomic force microscope is an important sidewall imaging instrument due to its three dimensional imaging capability, high accuracy and ultra high resolution. We propose an AFM method for sidewall imaging of high step sidewalls. A tuning fork force sensor with a tungsten tip is tilted at a suitable angle (θ) to access the sidewall. Sidewalls of a micro electromechanical systems (MEME) structure fabricated by deep reactive ion etching (DIRE) process is scanned and sidewall roughness is measured. © 2018 ieee.

关键词： Atomic force microscopy

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Face Attribute Recognition with Multimodal Fusion 3

Face Attribute Recognition with Multimodal Fusion

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3rd ieee international conference on Automation, Electronics and Electrical Engineering, AUTEEE 2020

作者： Zhao, Ming Liu, Chang Zheng, Zeyu Yao, Qingfeng Yang, Nan Xu, Yuanye Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781728198279

Facial attribute recognition is a challenging question, especially the potential high-level semantic features between attributes are a research focus of attribute recognition research. In this paper, a face attribute recognition network is proposed based on multimodal fusion, which is completely data-driven and incorporates image features and advanced semantic features of attributes: 1) We design an image feature extraction network with an underlying shared network that does not restrict the specific form. Meanwhile, a layer-parameter orthogonalization operation is unveiled, which can increase the expressive power of the features. 2) Using graph convolutional networks (GCN), we build a semantic feature extraction network to extract advanced semantic features of face attributes and mine correlations between attributes. 3) To enhance the representation of features, we propose a multimodal fusion module to fuse two complementary representations of image features and semantic features. 4) We construct fused feature classification networks using attribute-independent high-level networks to predict multiple attributes separately. We have conducted extensive experiments to demonstrate the effectiveness of the proposed method and have obtained results that are competitive with state-of-the-art methods. © 2020 ieee.

关键词： Face recognition

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Piezoelectric Actuation and Motors An Overview of Nonlinearities, Control and Emerging Industrial Applications 3

Piezoelectric Actuation and Motors An Overview of Nonlineari...

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3rd international conference on Innovative Applications of Computational Intelligence on Power, Energy and Controls with Their Impact on Humanity (CIPECH)

作者： Shome, Saikat Kumar Datta, Uma Mukherjee, Arpita Bhattacharjee, Partha Inst CSIR CMERI Campus Mech Engn Res CSIR Cent Acad Sci & InnovatRes AcSIR Durgapur India

ISBN: (纸本)9781538664728

Nanoteehnology refers to the physics and control of particles at sub-nanometer dimensions, enabling atomic level manipulation, imaging and characterization. manipulation of matter at this ultra-precision level has beeome ubiquitous in several genres of science and engineering, compassing multi-faceted industrial applications ranging from biomedical to semiconductor physics. Piezoelectric ceramics have emanated to be the most promising nano positioning actuators and plays a key role of precision mechatronic systems developed to manipulate objects as large travel range with high torque, compact for rapid response and accuracy down to a fraction of atomic radius. This research presents an overview of this interesting technology which is indispensable for accurate positioning applications highlighting upon the fundamentals of its operations, major non-linearities that hinder system performance, and control regimes to overcome the bottlenecks. The study also bridges the gap between the scientific phenomenon of piezoelectric technology and its industrial application through a comprehensive review of piezoelectric motors to highlight its importance in positioning applications, along with state-of-the-art usage of this exciting actuation principle.

关键词： Piezoelectri hysteresis non-linearity micro/nano robotics

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A pilot study on a multimodal wearable system by applying a two-chain biomechanical model in the alpine ski slalom

A pilot study on a multimodal wearable system by applying a ...

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2021 ieee international conference on Real-Time Computing and robotics, RCAR 2021

作者： Wang, Ye Shao, Tianqi Jiang, Peng Shan, Gongbing Wang, Lin Li, Guanglin Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Guangdong-Hong Kong-Macau Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Shenzhen518055 China Engineering School of Denis Diderot Paris Diderot University Paris75013 France Department of Mechatronics Engineering Hanyang University Ansan15588 Korea Republic of University of Lethbridge Department of Kinesiology and Physical Education LethbridgeABT1K3M4 Canada

ISBN: (纸本)9781665436786

Thanks to the miniaturization and flexibility of various sensors, wearables have been broadly applied in many areas, such as sports science, medical informatics, rehabilitation, etc. Researchers are eager to deeply exploit the potential of the wearable sensors and fuse multimodal information, which can actually put theory into practice. However, the integration is usually tough in terms of application. The current challenge is how to find the balance between providing abundant biofeedback and reducing the number of sensors (i.e., avoiding movement constraints). In this paper, we propose to develop a multimodal wearable system that can monitor and acquire multi-source signals in real-time for the alpine skiers;and also, we plan to build a platform where the multimodal information will be fused for further analysis of their performance in the alpine ski slalom. The proposed system will be designed and developed based on a two-chain biomechanical model to reach the balance and provide an optimal solution by using only six IMUs. This paper mainly focuses on exploring the detailed usage of the two-chain biomechanical model and introducing the architecture of the real-time multimodal wearable system. By performing a preliminary experiment, it has been demonstrated that multiple IMUs can work simultaneously in the same coordinate system with high consistency. The Pearson correlation coefficient and the Bland-Altman plot were generated as the validation and support. © 2021 ieee.

关键词： Biofeedback

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