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

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

Fuzzy Impedance Control Strategy for Jaw Rehabilitation Usin...

引用

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...

引用

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...

引用

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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Autonomous Trajectory control for Limited Number of Aerial Platforms in RF Source Localization

Autonomous Trajectory Control for Limited Number of Aerial P...

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RSI/ISM international conference on robotics and Mechatronics

作者： Seyyed Ali Asghar Shahidian Hadi Soltanizadeh Department of Electrical and Computer Engineering Semnan University Semnan Iran

ISBN: (纸本)9781467372350

In this paper, an autonomous trajectory control is presented for minimum number of Unmanned Aerial Vehicles (UAVs) equipped with Received Signal Strength (RSS) sensors to localize a stationary Radio Frequency (RF) source. The RSS at each UAV is observed in specified time intervals. Due to the nonlinear observations the location of the source is estimated using the Extended Kalman Filter (EKF). The objective is to determine the waypoints for the UAVs that minimize the source location uncertainty. The waypoint updates are achieved from an iterative normalized gradient descent optimization algorithm. The UAV waypoints are determined by optimizing a cost function involving the mean-square error of filtered target position estimates produced by the extended Kalman filter. The effectiveness of the approach is depicted through simulation examples.

关键词： Received Signal Strength Indicator (RSSI) Extended Kalman Filter (EKF) gradient-descent optimization Trajectory control Target position estimates

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Development of a Self-Powered Speed Sensor for Drilling Tools with Multiple Friction Belts

Development of a Self-Powered Speed Sensor for Drilling Tool...

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

作者： Hairui Wei Chuan Wu Chao Wang Yutao Shao Zhitong Zhu Guang Liu Minghao Jia Technology Innovation Center for Directional Drilling Engineering Ministry of Natural Resources Langfang China Faculty of Mechanical and Electronic Information China University of Geosciences (Wuhan) Wuhan China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Drilling is a technique that uses drilling tools to drill holes from the surface to the underground, and it is an important means of mining solid minerals and oil and gas resources. Whether it is a screw drill or a turbine drill, the rotational speed is key data to determine the operating status of the drilling tool and the downhole conditions, so it is necessary to measure the rotational speed of the drilling tool in real-time. In this paper, a multi-friction belt drill speed sensor based on a triboelectric nanogenerator was developed. Its design is a parallel structure of multiple friction belts, and any one of the friction belts can independently measure the speed and generate electricity, thus having high power generation performance. Through the sensor performance test, it is found that the sensitivity of the speed sensor is 0.0167 Hz/rpm, the linearity is 2.7 % , and the maximum relative error is 3.6%. By analyzing the output relationship of the sensor under different friction belts, it was found that the maximum output voltage of the speed sensor in a single friction belt structure is 18 V, the maximum output current is 1.5 uA, and the maximum output power of 12 uW is obtained when connected to an external $\mathbf{2.8}\times \mathbf{10}^{\mathbf{7}}\mathbf{\Omega}$ . The output voltage of the multi-friction belt (n) drill speed sensor is consistent with that of the friction belt structure, while the output current and power are $\mathbf{n}$ times that of the single friction belt structure. The sensor can maintain a high voltage output even in high-temperature and high-pressure environments, which can meet the needs of deep well speed monitoring.

关键词： Drilling Sensitivity Friction Velocity control Linearity Belts Velocity measurement

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Hybrid System Approach to Analysis of Parallel Robots: An Effective Hybrid Modeling of 4-RPR Planar Parallel Manipulator

Hybrid System Approach to Analysis of Parallel Robots: An Ef...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Masoud Ghanbari Babak Tavassoli Control and systems Department Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

In this paper an open hybrid modeling of a class of cable-driven redundant parallel manipulators is studied in detail. Cable robots should always be kept at tension within the workspace. In this study cables are considered as a rigid link with negligible mass. With this assumption the manipulator dynamics is derived using Lagrange's method. In the proposed method, parallel manipulators are considered to have joint space and task space as two independent subsystems. As such a dealing with parallel robots may be analytically intractable, a systematic procedure is proposed. Finally, the whole model's performance is evaluated through simulation.

关键词： Parallel manipulator system modeling hybrid systems

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Design and Performance Analysis of a Transparent Force control Strategy for an Exoskeleton

Design and Performance Analysis of a Transparent Force Contr...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Amirreza Rashidi Ahmad Zibafar Reza Khezrian Gholamreza Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) Biomechatronics Lab. Department of Mechanical Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Exoskeleton robots are developed for human rehabilitation and power augmentation. Human and robot interaction is an important issue involved with these robots. In this paper, the interaction force reduction is considered leading to the transparency of a lower limb exoskeleton during swing phase of walking. Achieving this goal, a robust Lyapunov based motion control method has been developed. The desired reference signals for motion control are generated using a direct force control approach. Robot accelerations are estimated by an observer to be employed in the control loop. An adaptation procedure has been proposed for the bound estimation of uncertainties. As part of assumptions, the interaction between the robot and human is modeled by a spring-damper set which is reasonably accurate for swing phase. The prototyped exoskeleton parameters have been used for more accurate robot modeling. Finally, the simulation results are presented, indicating good performance of the proposed robot control strategy for a transparent human tracking.

关键词： Exoskeleton Robot Transparency Adaptive Robust control Direct Force control Interaction Force

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Enhancing agent-based electricity purchase forecasting accuracy comprehensively supports power supply and electricity spot trading

Enhancing agent-based electricity purchase forecasting accur...

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Energy, Power and Electrical Technology (ICEPET), international conference on

作者： Rui Zhang Yujie Tang Yanning Wang School of Information and Control Engineering Shenyang Jianzhu University Shenyang Liaoning China State Grid Dalian Pulandian District Power Supply Company Pulandian Dalian Liaoning China

ISBN: (数字)9798350352658

ISBN: (纸本)9798350352665

Guided by the State Grid Corporation's 'Guidelines for Excellent Performance Management and Evaluation,' we apply the principles of excellent performance evaluation and lean management. Our main focus is on analyzing and forecasting the company's electricity sales market and power supply-demand balance, with the aim of enhancing the overall accuracy of the company's power purchase *** the basis of the LSTM model, this article adopts a method called Adaptive Noise Complete Set Empirical Mode Decomposition (CEEMDAN) to decompose the original power sequence into multiple intrinsic mode components and residuals. An improved CNN layer is added to further extract data features, which are then input into the improved LSTM model for *** the end of December 2023, it is anticipated that the annual forecast error rate for residential agricultural power supply will be no higher than 4.8%, the forecast error rate for power purchase agency will be no higher than 5.1%, and the comprehensive error rate will be no higher than 5%, ranking among the top in the province.

关键词： Accuracy Error analysis Power supplies Electricity Predictive models Feature extraction Data models

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Robust control of Piezoelectric Micro Positioning Actuator Using Self-Sensing Method

Robust Control of Piezoelectric Micro Positioning Actuator U...

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RSI/ISM international conference on robotics and Mechatronics

作者： Navid Fallahinia Mohammad Zareinejad Heidar Ali Talebi Hamed Ghafarirad Mechanical Engineering Department Amirkabir University of Technology Tehran Iran New Technologies Research Center Amirkabir University of Technology Tehran Iran Electrical Engineering Department Amirkabir University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Piezoelectric actuators are the one type of actuators commonly used in micro positioning tasks. These actuators Because of their fast responses and also high degree of accuracy and precision would be the best candidate for the precise positioning operations. Despite their resolutions, there are some nonlinear behaviors in these materials, such as creep and hysteresis, which can affect their fine performances. Beside their nonlinear behaviors, another challenging problem is to deal with the position measurement. Position measurement has a serious restriction in micro scales caused by required dimensions and precision. To eliminate this deficiency, appropriate position self-sensing could be an alternative method. Therefore, in this study, a position self-sensing circuit with high precision has been proposed. Then a robust control technique was applied to provide the desire position tracking for the system. Finally, after implementing the controller experimentally, its capability in position control with the designed self-sensing system will be demonstrated.

关键词： micro positioning self-sensing piezoelectric actuator robust control

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