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Tactile human interface with weight supporting lower limb exoskeleton

Tactile human interface with weight supporting lower limb ex...

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international conference on control, Automation and robotics (ICCAR)

作者： Nazim Mir-Nasiri Hudyjaya Siswoyo Jo School of Engineering Nazarbayev University Astana Kazakhstan School of Engineering Swinburne University of Technology Sarawak Malaysia

ISBN: (纸本)9781538663394;9781538663387

the paper describes conceptual design and control a new fully autonomous lower limb exoskeleton system by using a number of tactile sensors. the aim of the exoskeleton is to support a subject weight and provide an additional strength and endurance for the subject. the designed exoskeleton can decouple the weight/mass carrying function of the subject/human from its forward motion function. this newly proposed approach effectively reduces power and size of propulsion motors and thus overall weight, cost of the system. Interaction between the system and subject takes place by means of two types of sensors. the system measures the pressure applied by the subject's feet on the ground. If the pressure exceeds the set value the system blocks the motion at the knee joint by means of a passive air cylinder across the knee joint. the measured data is used by PID controller to force the exoskeleton to follow precisely the actual motion of the subject legs while swinging. controller does it by means of hip and knee motors. the mechanical structure of each leg has six degrees of freedom: four at the hip, one at the knee and one at the ankle. Only one degree at the hip and one at the knee are motor driven. this exoskeleton is a power efficient because the exoskeleton motors are not used support the subject weight like in most of the existing exoskeleton designs.

关键词： Exoskeletons Sensors Legged locomotion Knee Foot Hip Strain measurement

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Learning abstraction of a swarm to control a parent system

Learning abstraction of a swarm to control a parent system

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international conference on control, Automation and robotics (ICCAR)

作者： Kyle L. Crandall Adam M. Wickenheiser Dustin Webb Department of Mechanical and Aerospace Engineering The George Washington University Washington DC USA School of Computing University of Utah Salt Lake City UT USA

Many high-dimensional systems can be decomposed into a swarm of subsystems manipulating a parent system, each with its own dynamics. Rather than design control laws directly on this state space, we propose a method that uses deep learning to learn an abstract state of the swarm that encapsulates the interactions between the swarm and parent system. In addition, controllers for the swarm and parent system that utilize this abstract state are also learned. Further, the controller for the swarm is designed to be pseudo-distributed, where the policy for each member is only dependent on that member's state, the abstract representation of the swarm, and the desired abstract representation. We set up neural networks for each part of the architecture and assemble them into a recurrent neural network wherein the mapping to the abstract state and the control laws for the parent and swarm systems are learned simultaneously. this method is applied to an example problem consisting of a tilting plane with a swarm of robots driving on top of it, with the goal being to balance the plane. the results are compared to those of an iterative Linear Quadratic Regulator as well as a prescribed abstract state with hand-crafted controllers for the swarm and parent systems. Our results show that the performance of the learned method is comparable to these more demanding methods.

关键词： Robots Recurrent neural networks Payloads Artificial neural networks control systems Aerospace electronics

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Autonomous learning of POMDP state representations from surprises

Autonomous learning of POMDP state representations from surp...

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international conference on control, Automation and robotics (ICCAR)

作者： thomas Collins Wei-Min Shen School of Computer Science University of Southern California Los Angeles USA Polymorphic Robotics Lab Information Sciences Institute Marina Del Rey USA

there is an ever-increasing need for autonomous robots that are capable of operating in a range of challenging environments exhibiting both partial-observability and stochasticity. Standard techniques for learning in such environments often require human-engineered features, most commonly a human-designed state space. engineering these features demands extensive domain knowledge, and changes to the task or the agent often necessitate re-engineering. these limitations have given rise to end-to-end, predictive approaches, such as Predictive State Representations (PSRs) and our Stochastic Distinguishing Experiments (SDEs), that encode a representation of the agent's state in the probabilities of key sequences of actions and observations (i.e., experiments the agent can perform). the problem of discovering appropriate experiments has remained extremely challenging, in part because existing techniques treat them as decoupled from any latent structure in the agent's environment. In this paper, we extend our SDE representation into a hybrid latent-predictive representation of state that can provably model a useful subclass of POMDP environments exactly (and any POMDP environment approximately). We provide an active, incremental algorithm for autonomously learning such representations in unknown environments from experience. the key idea is that the agent begins using only its observations as a state space and splits those states into a hierarchy of additional latent states when it is surprised by the entropy resulting from the repeated executions of experiments that are automatically designed and selected based on these surprises to statistically disambiguate identical-looking states. the results of these experiments form unique predictive labels for each latent state. We present experimental results demonstrating the feasibility of this learning procedure. the corresponding expanded version of this paper provides the theoretical proofs of the representational capacity of

关键词： Hidden Markov models Predictive models Shape Markov processes Robot sensing systems

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Effective sensor fusion of a mobile robot for SLAM implementation

Effective sensor fusion of a mobile robot for SLAM implement...

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international conference on control, Automation and robotics (ICCAR)

作者： Irem Toroslu Mustafa Doğan Department Of Electrical and Electronic Engineering Başkent University Ankara Turkey Department Of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

the Simultaneous Localization and Mapping (SLAM) is the process of building a map of an environment with an unknown topography by a mobile robot. the purpose of this paper is to build a mapping of an unknown environment by the mobile robot which we designed through the help of sensor fusion algorithms we have established. the mobile robot performs its mapping process by using the combination of ultrasonic, optical encoder and IMU sensors. Determining the position of the obstacles and its own location, for the mobile robot, is the core of this study. Inertial and rotational sensors are utilized to calculate the distance and position of the mobile robot. Due to low cost, the ultrasonic sensor is used instead of a Lidar laser, and the real-like results were provided. In this study, the robot's direction and movement is performed by an algorithm developed on the Raspberry Pi processor. this algorithm controls the movement of the wheels with the information received from the optical encoder and protractor. the data received from the gyroscope and the accelerometer is very affected from many external factors such as vibrational motion and the noise, eventhough, we used moving average filter and complementary filter to reduce the effect of the noise and measurement error problems. However, they still produce faulty results when calculating distance values. therefore, the distance computation is carried out by using optical encoder instead of the accelerometer. the algorithm of the distance computation is written in Python programming language. In this study, it is established that the comparative usage of several detectors provide more accurate results. At the same time, the system is quite efficiently developed by using open structure software (Raspberry Pi, Linux etc.) and writing authentic libraries. the robot's coordinate information are combined under simulation medium by using Pygame library and by computing the coordinates of its location and the coordinates of the

关键词： Optical filters Mobile robots Low pass filters Simultaneous localization and mapping IIR filters Gyroscopes

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A Design and Implementation of a Balance Robot

A Design and Implementation of a Balance Robot

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2018 4th international conference on Innovative Development of E-commerce and Logistics(ICIDEL 2018)

作者： Changchun Dong Jun Xia Department of Communication and Information Engineering Shanghai Technical Institute of Electronics & Information

In this paper, a method of a robot balancing on a mechanical seesaw is studied. the project combines a lot of basic principles of robotics, sensor technology, bus systems, control algorithms and more. the robot takes C8051 F020 as the control chip, including the sensors of a gyroscope and an accelerometer. It uses C code with PID control to ensure that the robot can keep balance in a certain range. the result shows that every requirement can be implemented and works like intended.

关键词： balance robot sensor PID control

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Intelligent Self-Propelling Baby Stroller with Obstacle Avoidance

Intelligent Self-Propelling Baby Stroller with Obstacle Avoi...

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international conference on Electrical, Electronics and System engineering (ICEESE)

作者： Norain Rahim Wafi Aziz Wan Norhisyam Abd Rashid Zaidi Tumari Wan Haszerila Wan Hassan Suhaila Mohd Najib Norlezah Hashim Nur Syafiqah Abd Rama Centre for Telecommunication Research & Innovation Faculty of Electrical and Electronic Engineering Technology Universiti Teknikal Malaysia Melaka Melaka Malaysia Centre for Robotics & Industrial Automation Faculty of Electrical and Electronic Engineering Technology Universiti Teknikal Malaysia Melaka Melaka Malaysia Faculty of Electrical and Electronic Engineering Technology Universiti Teknikal Malaysia Melaka Melaka Malaysia

ISBN: (纸本)9781538650462;9781538650455

the aim of this project is to present the development of a self-propelling baby stroller with obstacle avoidance, using wireless technology. Carrying infants or children in public is very challenging for parents, especially for those who bring their baby stroller in crowds. thus, this study offers the self-propelling baby stroller via bluetooth technology, which can be used as a safety and alert system to handle the stroller movement. the initiative of this study is to overcome the traumatizing and carelessness of the parents in monitoring infants inside a baby stroller. this system is a combination of software and hardware components to control and operate the movement of a baby stroller. the system design is divided into three parts: designing hardware circuit; designing software in C-language to program the Arduino UNO; and designing an application for Android phone as a controller. Furthermore, the uses of bluetooth and ultrasonic in this study can detect and prevent the stroller from crashing the obstacle.

关键词： Pediatrics Pins Acoustics Bluetooth Injuries Smart phones Hardware

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Study and Observation of the Variations of Accuracies for Handwritten Digits Recognition with Various Hidden Layers and Epochs using Neural Network Algorithm

Study and Observation of the Variations of Accuracies for Ha...

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international conference on Electrical engineering and Information & Communication Technology (ICEEICT)

作者： Md. Abu Bakr Siddique Mohammad Mahmudur Rahman Khan Rezoana Bente Arif Zahidun Ashrafi Dept. of EEE International University of Business Agriculture and Technology Dhaka Bangladesh Dept. of ECE Mississippi State University MS Mississippi State USA Dept. of Statistics Rajshahi College Rajshahi Bangladesh

In recent days, Artificial Neural Network (ANN) can be applied to a vast majority of fields including business, medicine, engineering, etc. the most popular areas where ANN is employed nowadays are pattern and sequence recognition, novelty detection, character recognition, regression analysis, speech recognition, image compression, stock market prediction, Electronic nose, security, loan applications, data processing, robotics, and control. the benefits associated with its broad applications leads to increasing popularity of ANN in the era of 21st Century. ANN confers many benefits such as organic learning, nonlinear data processing, fault tolerance, and self-repairing compared to other conventional approaches. the primary objective of this paper is to analyze the influence of the hidden layers of a neural network over the overall performance of the network. To demonstrate this influence, we applied neural network with different layers on the MNIST dataset. Also, another goal is to observe the variations of accuracies of ANN for different numbers of hidden layers and epochs and to compare and contrast among them.

关键词： Neurons Biological neural networks Artificial neural networks Handwriting recognition Speech recognition Artificial intelligence Character recognition

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control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs 4

Control of non-linear actuator of artificial muscles for the...

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4th international conference on Mechanical engineering Research (ICMER)

作者： Atikah, Nurul Anis Weng, Leong Yeng Anuar, Adzly Fat, Chau Chien Sahari, Khairul Salleh Mohamed Abidin, Izham Zainal Univ Tenaga Nas Coll Engn Dept Elect & Elect Engn Jalan Ikram Uniten Kajang 43000 Selangor Malaysia Univ Tenaga Nas Coll Engn Dept Mech Engn Jalan Ikram Uniten Kajang 43000 Selangor Malaysia Univ Tenaga Nas Coll Engn Dept Elect Power Engn Jalan Ikram Uniten Kajang 43000 Selangor Malaysia Univ Tenaga Nas CAMARO Res Grp Jalan Ikram Uniten Kajang 43000 Selangor Malaysia

Currently, the methods of actuating robotic-based prosthetic limbs are moving away from bulky actuators to more fluid materials such as artificial muscles. the main disadvantages of these artificial muscles are their high cost of manufacturing, low-force generation, cumbersome and complex controls. A recent discovery into using super coiled polymer (SCP) proved to have low manufacturing costs, high force generation, compact and simple controls. Nevertheless, the non-linear controls still exists due to the nature of heat-based actuation, which is hysteresis. this makes position control difficult. Using electrically conductive devices allows for very quick heating, but not quick cooling. this research tries to solve the problem by using peltier devices, which can effectively heat and cool the SCP, hence giving way to a more precise control. the peltier device does not actively introduce more energy to a volume of space, which the coiled heating does;instead, it acts as a heat pump. Experiments were conducted to test the feasibility of using peltier as an actuating method on different diameters of nylon fishing strings. Based on these experiments, the performance characteristics of the strings were plotted, which could be used to control the actuation of the string efficiently in the future.

关键词： robotics

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Design of robotic end-effector for milling force control

Design of robotic end-effector for milling force control

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2018 4th international conference on Applied Materials and Manufacturing Technology(ICAMMT 2018）

作者： Yinhui Xie Wenbin Zou Yongtai Yang Jun Li Quanzhou Institute of Equipment Manufacturing Chinese Academy of Sciences

In order to realize the precision machining of high-performance materials, a robotic end-effector for milling force control is proposed. Two kinds of end-effectors which are coaxial and non-coaxial structures are designed according to types of motorized spindle and force sensor. the maximum milling force is obtained that is satisfied the safety requirements of force sensor. And the three-dimensional models of coaxial and non-coaxial structure are imported into ABAQUS software for finite element analysis. the simulation results show the non-coaxial structure is better than coaxial structure, and it is suitable to be installed in robot to machine high performance parts.

关键词： Design of robotic end-effector for milling force control

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Terminal control Approach Application for Autonomous Airship Docking

Terminal Control Approach Application for Autonomous Airship...

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2018 4th international conference on Mechanical and Aeronautical engineering (ICMAE 2018)

作者： Fedorenko Roman Gurenko Boris Innopolis University Southern Federal University

the article considers the position-trajectory approach to the synthesis of the terminal regulator for controlling the airship for the docking task. the control system constructed solves the problem of guiding the airship to the docking position at given moment of time in autonomous mode. the airship control algorithm is based on mathematical model of an airship as rigid body, represented by a system of nonlinear differential equations, without linearization. the procedure for the control law synthesizing and the results of modelling by means of MATLAB are given. the task of docking of two airships, as proposed in EU MAAT project, was considered for simulations. the proposals for the further development of this study are formulated.

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