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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

共 3888 条记录，以下是3851-3860 订阅

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Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator

Multi-Criteria Design of 6-DoF Fully-Constrained Cable Drive...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from entire workspace.

关键词： Cable Robot Redundant Parallel Manipulator Kinematics Analysis Optimal Design

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Variational Surface Reconstruction from Sparse and Nonparallel Contours for Freehand 3D Ultrasound

Variational Surface Reconstruction from Sparse and Nonparall...

引用

2011 3rd international Asia conference on Informatics in control, Automation and robotics (CAR 2011 LNEE 132)

作者： Shuangcheng Deng Yunhua Li Lipei Jiang Yingyu Cao Junwen Zhang School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory Beijing Institute of Petrochemical Technology

3D reconstruction for freehand 3D ultrasound is a challenging issue because the recorded B-scans are not only sparse, but also non-parallel. Both conventional volume and surface reconstruction methods can't reconstruct sparse data efficiently while they are arbitrarily oriented in 3D space. We developed a new surface reconstruction method for freehand 3D ultrasound based on variational implicit function. In the new method, we first constructed on- & off-surface constraints from the segmented contours of all recorded Bscans, then used a variational interpolation technique to get a single implicit function in 3D. Finally, the implicit function was evaluated to extract the zerovalued surface as reconstruction result. One phantom experiment was conducted to assess our variational surface reconstruction method, and the experiment results have shown that the new method is capable of reconstructing surface smoothly from sparse contours which can be arbitrarily oriented in 3D space.

关键词： Surface rencontruction,freehand 3D ultrasound,variational implicit function,medical imaging

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Detection of False Data Injection Attacks on Industrial control Systems Based on Joint Analysis of Principal Components and Independent Components

Detection of False Data Injection Attacks on Industrial Cont...

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Computer Science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE international conference on

作者： Junjie Li Junpeng Ma Chunlei Ma Haibo He Tianyu Zhu Peng Cui Ji Chen Junming Zhang China Coal Shaanxi Energy Chemical Group Co. Ltd. Yulin China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Industrial control systems are widely used in fields such as power, chemical, and petrochemical industries, playing a crucial role in ensuring production and livelihoods of people. However, the complex hierarchical structure and numerous controllable nodes of industrial control systems pose serious security challenges. In recent years, attacks on industrial control systems have been occurring frequently, causing significant damage to the safe operation of industrial production and even resulting in severe security incidents. For scenarios of false data injection attacks on industrial control systems in chemical field, the limitations of principal components analysis (PCA) anomaly detection for non-Gaussian data are analyzed. To address this issue, independent component analysis (ICA) method is introduced as a complementary method to extract independent components from non-Gaussian data. By combining the advantages of PCA and ICA, a joint detection method that integrates both has been proposed. In the proposed method, the $T^control$ statistic based on PCA, the $T^{8}$ statistic for the main part and the SPE statistic for the residual part based on ICA are combined to reconstruct a new unique joint detection indicator, the Bayesian inference criterion (BIC) detection indicator, by using the Bayesian probability. Finally, the Tennessee-Eastman (TE) process model is taken as the research object, and a simulation verification with injecting attacks with sine wave false data was conducted to validate the effectiveness of the proposed method. The result indicates that the proposed method has a good detection capability for the signal changes caused by the attacks.

关键词： Industrial control Process control Production Gaussian distribution Petrochemicals Bayes methods Security

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Dynamics Formulation and motion control of a Planar Parallel Manipulator

Dynamics Formulation and motion Control of a Planar Parallel...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： M. Farhadmanesh E. Abedloo A. Molaei Advanced Robotics and Automated Systems (ARAS) Faculty of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

This paper is devoted to dynamic formulation and motion control of a planar PRP parallel robot. Three intersecting rod comprises the manipulator of the mechanism which are fixed to each other and are coupled pivotedly to linear guides at the free ends, by actuating any of the linear guides along the sides of a triangle individually, the planar motion of the manipulator is provided. At first the kinematic and dynamic formulation of the mechanism is extracted in a closed form, which is of great interest in control applications. Based on the dynamic model, a computed torque control scheme is applied for the motion control of the robot. To analyze the performance of the controller it is implemented on a model of the mechanism made on simulation software for a predefined trajectory. The results of the motion tracking indicates the suitable performance of the implemented control scheme.

关键词： Planar parallel manipulator kinematics and dynamics formulation Lagrangian method computed torque control method (CTC)

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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Numerical and Neural Network Modeling of Motors of a Robot

Numerical and Neural Network Modeling of Motors of a Robot

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RSI/ISM international conference on robotics and Mechatronics

作者： H. Tourajizadeh S. Manteghi S. R. Nekoo Assistant professor Department of Mechanical Engineering Faculty of Engineering Kharazmi University Tehran Iran M. Sc. College of Computer and Mechatronics Engineering Islamic Azad University Branch of Science and Research Tehran Iran PhD Student School of Mechanical Engineering Iran University of Science and Technology (IUST) Tehran Iran

ISBN: (纸本)9781467372350

In this paper, parametric and numerical model of the motors of a robot are extracted. A method is proposed here to control the torque and velocity of the motor simultaneously using the extracted dynamics of the motor and consequently control the robot motion more accurately. Parametric model of the motors are derived by conducting standard tests like locked rotor test and step and sine wave input test. In order to derive the neural network and numerical models, a set of sinusoidal, triangular, and random steps signal, are applied as the input to the motor and its speed is recorded as the output. Neural network model of the motors is extracted by using these dataset and considering the MLP neural network structure with Levenberg _Marquardt training method. Results of the numerical model and parametric models are compared and validated by experimental tests.

关键词： Robot Modeling of DC motor Torque-speed control Training algorithm Levenberg-Marquardt

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Fuzzy Impedance control Strategy for Jaw Rehabilitation Using 6-UPS Stewart Robot

Fuzzy Impedance Control Strategy for Jaw Rehabilitation Usin...

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RSI/ISM international conference on robotics and Mechatronics

作者： Hadi Kalani Alireza Akbarzadeh Ali Mousavi Center of Excellence on Soft Computing and Intelligent Information Processing Mechanical Engineering Department Ferdowsi University of Mashhad Mashhad Iran

ISBN: (纸本)9781467372350

Recently, the variety of devices and robots are available for recovering and rehabilitating human disorder patients. In this paper, simple and effective control method utilized for position-impedance control. This method consists of two parts, namely position control in free space and fuzzy impedance control in contact. First, kinematics and dynamics of general 6UPS are discussed. Then SimMechanics software is employed to validate dynamics equations. Next an impedance filter is developed. The gains of this filter are adjusted by fuzzy logic method to achieve the reference force. In order to reproduce jaw motions and apply the impedance control, the workspace of human jaw is needed. To obtain this workspace, three male subjects (age range 24-28 years) were selected. Results show that the fuzzy impedance control is suitable to control of masticatory robots.

关键词： Stewart Platform Robot Fuzzy Impedance control Mastication Robots Position control

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Development, Sea trial and Application of Haidou Autonomous and Remotely-operated Vehicle for Full-Depth Ocean Detection

Development, Sea trial and Application of Haidou Autonomous ...

引用

IEEE international conference on Unmanned Systems (ICUS)

作者： Yuangui Tangi Jian Wang Yang Lu Cong Chen Jixu LI Xinyu Liu Shuo Li Aiqun Zhan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Chinese Academy of Sciences Institute of Deep-sea Science and Engineering Sanya China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

This paper introduces the development, sea trial and application of a new type of underwater vehicle, Haidou, the first underwater vehicle in China diving to a depth of more than 10000 meters and serving for the national full-depth ocean scientific exploration, with the goal of being capable of reaching to the deepest area of the whole global ocean and collecting the surrounding parameters and video data there. For the hadal trench exploration up to 11000 meters, the concept of ARV technology is proposed, and the parametric modeling and multi-objective optimization design methods are used for the purpose of verification of full-depth ocean technology and highly efficient deep-sea detection ability. The vehicle named as Haidou was developed eventually, and field trials were carried out in Mariana Trench during the first comprehensive scientific expedition of China in 2016. With new mission, Haidou came back to the Challenger Deep of Mariana Trench at the beginning of 2017, Thanks to this micro cable with a length of 40 km, the ARV operation approach of Haidou combine the AUV mode under human supervision with the ROV mode capable of being tele-operated at the bottom of the deepest area in global ocean, and made it possible that the operators on the mother ship can obtain environmental data including the real-time optical video of the unusual deep sea bottom with the real-time remotely control for more than 4 hours. In the near future, Haidou will play a more important role in the national hadal trench scientific exploration.

关键词： Robots Performance analysis Parametric statistics Optimization Oceans Manufacturing Automation

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Decentralized control of Reconfigurable Robots Using Joint-Torque sensing

Decentralized Control of Reconfigurable Robots Using Joint-T...

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RSI/ISM international conference on robotics and Mechatronics

作者： Seyed Mostafa Yazdi Almodaresi Electrical Engineering Department Sharif University of Technology Tehran Iran

ISBN: (纸本)9781467372350

In this paper, a decentralized controller for trajectory tracking of modular and reconfigurable robot manipulators is developed. The proposed control scheme uses joint-torque sensory feedback;also sliding mode control is employed to make both position and velocity tracking errors of robot manipulators globally converging to zero. Proposed scheme also guarantees that all signals in closed-loop systems will be bounded. In contrast to some of prior works in this scheme, each controller uses a smooth law to achieve its purposes. In this method, each controller uses only local information for producing control law hence separated controller can be used to control each module of manipulator and no information exchange between modules is required. Simulation results are provided for a reconfigurable robot with three modules to verify the performance of the proposed scheme. Results show that decentralized control of reconfigurable robots is feasible, in spite of strong dynamic coupling between modules.

关键词： Decentralized control Modular and Reconfigurable robot nonlinear control robot control joint-torque sensory feedback

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Lyapunov Stability Analysis of a Bilateral Teleoperation System Interacting with Active Environment

Lyapunov Stability Analysis of a Bilateral Teleoperation Sys...

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RSI/ISM international conference on robotics and Mechatronics

作者： K. Mohammadi H. A. Talebi M. Zareinejad Department of Electrical Engineering Amirkabir University of Technology Tehran Iran

ISBN: (纸本)9781467372350

In this paper, the problem of a bilateral teleoperation system in contact with active environment is considered. The human operator is assumed to be nonpassive, and the network is subject to unsymmetrical constant time delay. Two new nonlinear terms are added to the common PD control strategy in order to deal with the active impedance appeared in the closed loop system. The master/slave robots are controlled by minimum data available from positions and velocity sensors, no force sensors are required, and interaction forces are not damped locally, all of which provide a low-cost and simple implementation. Moreover, stability and tracking performance of the position signals have been analyzed through a Lyapunov-Krasovskii functional. Finally, simulation results verifies the effectiveness of the proposed control algorithm.

关键词： Nonlinear control systems Teleoperation Non-passive Systems

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