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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

共 3776 条记录，以下是3381-3390 订阅

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Plugging Brake System as a Hill Descend control for Electric Powered Wheelchair: Experimental Analysis 4

Plugging Brake System as a Hill Descend Control for Electric...

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4th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Asyraf, S. M. Heerwan, P. M. Zulhilmi, I. M. Izhar, I. M. Univ Malaysia Pahang UMP Fac Mech & Mfg Engn Pekan 26600 Pahang Malaysia Univ Malaysia Pahang Automot Engn Ctr AEC Pekan 26600 Pahang Malaysia Univ Malaysia Pahang Fac Mech & Mfg Engn Pekan 26600 Pahang Malaysia

ISBN: (纸本)9781728100647

the common brake system for the electric powered wheelchair (EPW) is the mechanical brake system. Although the mechanical brake system is compact, the brake performance is depending on the user's hand grip. During descending on the slope, due to the gravitational force, the possibility of EPW to accelerate is high. In this study, by using the plugging brake system strategy, the hill descend control is proposed to control the speed of EPW. the plugging brake system will maintain the speed of EPW same as the desired speed that set by the user. In this plugging brake control system, the PID control is applied to minimize the error between the actual and desired speed. the experiment is performed on the slope based on the requirement from the American Disability Act (ADA) with maximum angle of Si degrees and the slope length is 5.4 m. From the experimental results, the speed of EPW is maintaining at the desired speed during descending on the slope. these results prove the plugging brake control system is suitable for hill descend control.

关键词： plugging brake system electric powered wheelchair PID control hill descend control

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Electro-thermo-Mechano-Magneto Characteristics of Shape Memory Spring Actuator/Sensor in Assistive Devices 4th

Electro-Thermo-Mechano-Magneto Characteristics of Shape Memo...

引用

4th international conference on ICT for Sustainable Development, ICT4SD 2019

作者： Devashena, T. Dhanalakshmi, K. Department of Instrumentation and Control Engineering National Institute of Technology Tiruchirappalli TiruchirappalliTamil Nadu620015 India

ISBN: (纸本)9789811509353

In recent years, shape memory alloys (SMAs) have been used widely as actuators in modern systems but it can also be used as sensor since it offers unique self-sensing property. Shape memory alloys exhibit parameter variations that include electrical properties such as resistance in case of SMA wire and impedance in case of SMA spring, as a nonlinear hysteretic behavior within a transformation cycle. the actuation and sensing characteristics of SMA can be obtained from the material’s electromechanical impedance. this work presents about the electro-thermo-mechano-magneto effects exhibited in commercially available NiTiNOL spring with 90 °C phase transition temperature during phase transformation. the phase-dependent electrical resistance, inductance, impedance, and magnetic field of the SMA spring is measured using impedance analyzer and milli gauss meter respectively. the results opens the door to a new dimension of application of SMA spring, i.e., the investigation explores a possibility for the design of electro-thermo-mechano-magneto characteristics based assistive systems and in robotics. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Magnetic fields

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Fast Trajectory Planning for Off-Road Autonomous Driving with a Spatiotemporal Tunnel and Numerical Optimal control Approach 4

Fast Trajectory Planning for Off-Road Autonomous Driving wit...

引用

4th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Li, Bai Zhang, Youmin JD Inc R&D Ctr Automated Driving Beijing 100176 Peoples R China Concordia Univ Concordia Inst Aerosp Design & Innovat Dept Mech Ind & Aerosp Engn Montreal PQ Canada

ISBN: (纸本)9781728100647

this paper proposes a unified and fast trajectory planning method for an autonomous vehicle with avoidance of static obstacles in the off-road scenarios. Nominally, an optimal control problem should be used to cover generic off-road planning cases. however, the scale of the formulated optimal control problem is intractable, because the ego vehicle has to avoid collision with every obstacle at every moment. To address this issue, we aim to discard the redundant collision-avoidance constraints, because the vehicle may not really have chances to collide with all of the obstacles at every moment. Concretely, with the help of a reference trajectory derived by hybrid A* algorithm, we develop a spatiotemporal tunnel-based strategy such that the ego vehicle is restricted to move within a sequence of tunnels during different periods of the entire dynamic process. through this, the collision-avoidance constraints are replaced by the within-tunnel constraints, thereby making the scale of the optimal control problem completely irrelevant to the complexity of the environment.

关键词： Trajectory Optimal control Planning Robots Autonomous vehicles Spatiotemporal phenomena Kinematics

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Automation of Quality control Measurement of Deformable Object Formed by Translation of Closed Planar Curve along an Elliptical Path 4

Automation of Quality Control Measurement of Deformable Obje...

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4th international conference on robotics and Automation engineering, ICRAE 2019

作者： Zajacko, Ivan Kuric, Ivan Gal, Tomas Tlach, Vladimir Melus, Pavol University of Zilina Department of Automation and Production Systems Zilina Slovakia VIPO A. S. Partizanske Slovakia

ISBN: (纸本)9781728147406

As part of our research into the implementation of the principles of the Industrial Revolution 4.0, a task aimed at automating the quality control process of manufactured semifinished products. the task was complicated by nature of the semi-finished product that was deformable and had complex shape. the result of our research is a set of techniques to measure the semi-finished product in an effective way that can be parallelized. At the same time, we developed a prototype of an automated measuring device, which fully meets the specific requirements given by the characteristics of measured semifinished products. © 2019 IEEE.

关键词： Quality control

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Global Neural Learning Finite-time control of Robot Manipulators with Guaranteed Transient Tracking Performance 4

Global Neural Learning Finite-time Control of Robot Manipula...

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4th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Chen, Lepeng Cui, Rongxin Yang, Chenguang Yan, Weisheng Northwestern Polytech Univ Sch Marine Sci & Technol Xian 710072 Peoples R China Univ West England Bristol Robot Lab Bristol BS16 1QY Avon England

ISBN: (纸本)9781728100647

A global neural learning tracking control for robot manipulators to guarantee the transient performance and finite time convergence is investigated. the paper develops some auxiliary filtered variables and a nonsingular terminal slide mode (NTSM) surface to guarantee the tracking error converging to zero with finite time. An error transformation function is also introduced to deduce the control law, which ensure that the transient tracking error never violate the predefined boundedness. Furthermore, under the persistent excitation (PE) condition, the weights of neural networks (NNs) will converge to optimal values with finite time, which can be reused to decrease the computational cost. Compared experimental results are carried out to verify the superior performance of our controller.

关键词： Artificial neural networks Transient analysis Manipulator dynamics Uncertainty Stability analysis

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Independent Position control of Two Magnetic Microrobots via Rotating Magnetic Field in Two Dimensions 4

Independent Position Control of Two Magnetic Microrobots via...

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4th international conference on Manipulation, Automation and robotics at Small Scales (MARSS)

作者： Salehizadeh, Mohammad Li, Zhaoxin Diller, Eric Univ Toronto Dept Mech & Ind Engn 5 Kings Coll Rd Toronto ON M5S 3G8 Canada

ISBN: (纸本)9781728109480;9781728109497

this paper introduces new strategy for motion control of two spinning magnetic agents based on the magnetic-fluidic interactions. the approach relies on balance between magnetic attraction and hydrodynamic repulsion forces created by fluidic vortices around pairs of microagents, which allows the control on inter-agent pair heading and spacing. the proposed method only requires a single global input, i.e., frequency of the rotating magnetic field along with a small magnetic field gradient, to control the motion of two microagents and therefore is simple to implement. Detailed finite element analysis is performed to explore the system behaviour. Finally, as experimental demonstration, two microagents are maneuvered by a global magnetic field to be independently positioned in the plane of motion with average root mean square errors of 140 micrometers and 5.68 degrees in separation and pair heading angle states, respectively.

关键词： soft robotics multi-agent underactuated control at microscales magnetic-fluidic interactions vortex microrotors

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EEG Motion Artifacts Removal for Robotic Motion control Using Brain Computer Interface 4

EEG Motion Artifacts Removal for Robotic Motion Control Usin...

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4th international conference on robotics and Automation engineering, ICRAE 2019

作者： Pancholi, Deepak Vekatadri, M. Rawat, Paresh Amity University Department of Computer Science Engineering Gwalior India SISTec Gandhi Nagar Department of Eectronics and Communication Engineering Bhopal India

ISBN: (纸本)9781728147406

With invent of technological platforms the robotic has become essential part of our life. the Brain Computer Interface (BCI) is the heart of human brain based robotic control systems. EEG signal based robotic motion control system have proven there efficiency in the recent times. the brains signals are captured using the electrodes placed on human scalp. the captured signals suffer from the various motion artifacts. this paper is primarily focused to removal of the motion artifacts from the EEG signals captured for robotic motion and direction control systems. Paper first describes the utility of the BCI system in robotics. Paper compares the performance of various artifact removal algorithms as ICA, EEMD-CCA, and EEMD-CCA-DWT. the various results of Intrinsic Mode Functions (IMF's) decomposed from these methods are evaluated and compared for the artifact removal application in robotics. It is found based on quantitative analysis that CCA based methods are faster than other and are efficient too. © 2019 IEEE.

关键词： Brain computer interface

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Servo-assisted control of a 7-DOF Exoskeleton for Upper Limb Rehabilitation 4

Servo-assisted Control of a 7-DOF Exoskeleton for Upper Limb...

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4th international conference on Environmental Science and Material Application (ESMA)

作者： Liu, Chuang Song, Jingzhou BUPT Inst Engn Res Ctr Space Robot Minist Educ 10 Xitucheng Rd Beijing Peoples R China

this paper reviews the research on upper limb exoskeleton for hemiplegia rehabilitation. Under the condition of rehabilitation training for mild patients in the workspace of 7-DOF exoskeleton with uncertain trajectory, a control algorithm used for motion detection is carried. In this algorithm, the patient's operation can be detected by real-time data collected by F/T (Force/Torque) sensors and encoders, so that quantitative assistance will be supplied by exoskeleton according to the patient's motion intention. Finally, the joint simulation of ADAMS and MATLAB proves the accuracy of trajectory tracking and the feasibility of the control strategy is verified by the experiment on 3-DOF translational manipulator platform.

关键词： MATLAB

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Adaptive backstepping neural network control for mechanical pumps 4

Adaptive backstepping neural network control for mechanical ...

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4th international conference on Chaotic Modeling and Simulation, CHAOS 2011

作者： Vamvoudakis, Kyriakos G. Christodoulou, Manolis A. Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S. Ft. WorthTX76118 United States Department of Electronic and Computer Engineering Technical University of Crete Chania Crete73100 GR Greece Dipartimento di Automatica et Informatica Politecnico di Torino Piemonte Torino10128 IT Italy

In this paper, an Adaptive Backstepping Neural Network control approach is used for a class of affine nonlinear systems which describe the pump model in the strict feedback form. the close loop signals are semi globally uniformly ultimately bounded and the output of the system is proven to follow a desired trajectory. Simulation results are presented to show the effectiveness of the approach proposed in order to control the pump output. © 2019 CHAOS 2011 - 4th Chaotic Modeling and Simulation international conference, Proceedings. All rights reserved.

关键词： Pumps

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Robot Teleoperation System Based on Mixed Reality 4

Robot Teleoperation System Based on Mixed Reality

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4th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Liang, Congyuan Liu, Chao Liu, Xiaofeng Cheng, Long Yang, Chenguang South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Univ Montpellier CNRS Dept Robot LIRMMUMR5506 161 Rue Ada F-34095 Montpellier France Changzhou Key Lab Robot & Intelligent Technol Changzhou 213022 Peoples R China Hohai Univ Jiangsu Key Lab Special Robots Changzhou 213022 Peoples R China Hohai Univ Coll IoT Engn Changzhou 213022 Peoples R China Chinese Acad Sci Inst Automat Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Univ West England Bristol Robot Lab Bristol BS16 1QY Avon England

ISBN: (纸本)9781728100647

this work develops a novel robot teleoperation system based on mixed reality. Combined with Leap Motion and HoloLens, the system is able to offer a better operate experience by allowing the operator to teleoperate a robot within a mixed reality scene. Besides, we also design a simple writing task in this paper, which verifies the proposed system's validity.

关键词： Robot kinematics Virtual reality Manipulators conferences Mechatronics Task analysis

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