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Dorothy Robotubby: A robotic nanny

引用

4th international conference on Social robotics, ICSR 2012

作者： Yan, Haibin Ang Jr., Marcelo H. Poo, Aun Neow Department of Mechanical Engineering National University of Singapore Singapore 119260 Singapore

ISBN: (纸本)9783642341021

In this paper, we introduce our designed robotic nanny called Dorothy Robotubby to play with and take care of a child in case his/her parent or caregiver is absent. there are two main user interfaces in our robotic system: local control-based and remote control-based. Local control-based interface is developed for a child to control the robot directly to execute some tasks such as telling a story, playing music and games, chatting, and video calling. Remote control-based interface is designed for parents to control the robot remotely to execute several commands like demonstrating facial expressions and gestures. By operating these two interfaces, our robot can not only interact with a child in an attractive way, but also build a connection between a child and his/her parent. In a real pilot study, 7 children aged from 4 to 13 years old and their parents are involved to test our robot. Experimental results have shown that while there are some room to improve our robotic nanny, most children and parents express large interest in our robot and provide comparatively positive evaluations. © 2012 Springer-Verlag.

关键词： Remote control

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Force threshold-based omni-directional movement for hexapod robot walking on uneven terrain

Force threshold-based omni-directional movement for hexapod ...

引用

4th international conference on Computational Intelligence, Modelling and Simulation, CIMSim 2012

作者： Irawan, Addie Nonami, Kenzo Robotics and Unmanned Systems Group Faculty of Electrical and Electronics Engineering Universiti Malaysia Pahang Pahang Malaysia Division of Artificial Systems Science Department of Mechanical Engineering Chiba University Chiba Japan

ISBN: (纸本)9781467331135

this paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement for legged robot, most of the proposed methods are targeting to avoid the unnecessary uneven ground surfaces and obstacles other than energy efficiencies. therefore with the proposed method, the main target of study is to overcome the hexapod walking and stepping on the uneven terrain with multi-directional movements. this proposed combination method is done to guarantee the stability of the robot and increasing the flexibility of the robot during rotating and zigzaging on uneven terrain. the model platform for the study is based on hydraulically driven hexapod robot model system named COMET-IV and verified using real-time simulation with a 3D simulator. © 2012 IEEE.

关键词： Energy efficiency

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Electronic control unit design for a retrofit fuel injection system of a 4-stroke 1-cylinder small engine

Electronic control unit design for a retrofit fuel injection...

引用

4th international conference on Mechanical and Electrical Technology, ICMET 2012

作者： Muslim, Mohd Taufiq Selamat, Hazlina Alimin, Ahmad Jais Hushim, Mohd Faisal Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Malaysia Mechanical and Manufacturing Engineering Faculty Universiti Tun Hussein Onn Malaysia Malaysia

ISBN: (纸本)9783037855102

Most motorcycles in developing countries use carburetor systems as the fuel delivery method especially for models with the cubic capacity of less than 125cc. However, small gasoline fuelled engines operating using carburetor system suffer from low operating efficiency, waste of fuel and produce higher level of hazardous emissions to the environment. In this study, an electronic control unit (ECU) is designed and simulated for a retrofit fuel injection (FIS) system. the ECU is targeted to have a simple design, reliable and offers all of the necessary functions of the modern ECU. the simulation results shows that the designed ECU can determine the injection period as close to the proposed value and can drive the injector efficiently based on the generated PWM pulse. © (2012) Trans Tech Publications, Switzerland.

关键词： Carburetors

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Coordinated control method of the lower extremity exoskeleton based on human electromechanical coupling

引用

4th international conference on Social robotics, ICSR 2012

作者： Guo, Qing Zhou, Hong Jiang, Dan School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu 61731 China Quartermaster Equipment Institute General Logistics Department of CPLA Beijing China School of Mechatronics Engineering University of Electronic Science and Technology of China Chengdu 61731 China

ISBN: (纸本)9783642341021

this paper has introduced electromechanical coupling characteristics to the lower extremity exoskeleton systems. When the load torque compensation model has been established, A model of knee position control system has also been established, which is made of the servo valve, hydraulic cylinders and other hydraulic components. Hydraulic cylinder position control loop has been designed in case of existing load force interference compensation. From that have ensured the system to meet a certain stability margin. the simulation shows that this position control method can servo on the knee angular displacement of normal human walking, at the same time, met the needs of human-machine coordinated motion. On basis of 30kg walk test of prototype of system, analyzing hydraulic cylinder bearing demand under different load conditions. the test shows that the lower limb exoskeleton portable power system using a hydraulic valve position control can meet the load 30kg low level walking requirements. © 2012 Springer-Verlag.

关键词： Position control

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Model based control of series elastic actuators

Model based control of series elastic actuators

引用

IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Markus Grün Roman Müller Ulrich Konigorski Department of Control Engineering and Mechatronics Technische Universität Darmstadt Darmstadt Germany Institute of Electromechanical Design Technische Universität Darmstadt Darmstadt Germany

this contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators. the controller is based on a linear model of the actuator, which can be reduced to a PT 2 element if a disturbance compensator is included. this allows for a straightforward design of a state space controller and an intuitive choice of the controller parameters. An actuator design is presented and the required system parameters are identified. the performance of the control structure is proven by experiment.

关键词： Torque Actuators Gears Force Springs DC motors Sea measurements

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Grasped object stiffness detection for adaptive PID sliding mode position control of a prosthetic hand

Grasped object stiffness detection for adaptive PID sliding ...

引用

IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Ricardo Andrecioli Erik D. Engeberg Mechanical Engineering Department University of Akron Akron OH USA

A PID sliding mode position controller and an adaptive sliding mode controller are presented for a prosthetic hand. the adaptive controller modulates the PID gains based on the detected stiffness of the grasped object. the results from benchtop experiments indicate statistically significant improvements such as improved tracking error and reduced steady state error in the system response when using the adaptive controller.

关键词： Springs Prosthetic hand Steady-state Grasping Position control Standards Gain measurement

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Metacompiling OWL ontologies

Metacompiling OWL ontologies

引用

4th international conference of Software Language engineering, SLE 2011

作者： Nilsson, Anders Hedin, Görel Department of Automatic Control Lund University Sweden Department of Computer Science Lund University Sweden

ISBN: (纸本)9783642288296

Ontologies, formal knowledge representation, and reasoning are technologies that have begun to gain substantial interest in recent years. We present a high-level declarative approach to writing application programs for specific ontologies, based on viewing the ontology as a domain-specific language. Our approach is based on declarative meta-compilation techniques. We have implemented a tool using this approach that allows typed frontends to be generated for specific ontologies, and to which the desired functionality can be added as separate aspects. Our tool makes use of the JastAdd meta-compilation system which is based on reference attribute grammars. We describe the architecture of our tool and evaluate the approach on applications in industrial robotics. © 2012 Springer-Verlag.

关键词： Ontology

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Optimal guaranteed cost control of a biomimetic robot arm

Optimal guaranteed cost control of a biomimetic robot arm

引用

IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Francesco Amato Domenico Colacino Carlo Cosentino Alessio Merola School of Computer and Biomedical Engineering Università degli Studi Magna Gracia di Catanzaro Catanzaro Italy

In this paper, an optimal control problem for uncertain bilinear systems is formulated via a guaranteed cost approach and then applied to the design of a stabilizing controller for a robot arm actuated by Pneumatic Artificial Muscles (PAMs). the results show that the contributed methodology is suitable for efficiently designing control systems which can match the requirements both on safety and on energy efficiency for PAMs-driven robots during human-robot interactions. the performances of the state-feedback control system are evaluated on the basis of some numerical simulations.

关键词： Joints Closed loop systems Service robots Uncertainty Collision avoidance Pneumatic systems

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EMG sliding mode finger joint synergy control of a dexterous artificial hand

EMG sliding mode finger joint synergy control of a dexterous...

引用

IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Benjamin A. Kent Nareen Karnati Erik D. Engeberg Mechanical Engineering Department University of Akron Akron OH USA

From observation of human data, a set of sinusoidal trajectories were developed to mimic the human motion of unscrewing a bottle cap with the thumb and index finger. these trajectories were then implemented on a dexterous robotic hand in the form of a robustly stable sliding mode control algorithm. With the developed synergies, a single myoelectric input was used to control multiple finger joints simultaneously. this controller was then compared to a one degree of freedom prosthetic hand also under sliding mode control. the two hands were used to complete an unscrewing task as quickly as possible. the synergy controller produced a statistically significant reduction in task completion time and also reduced the required workspace.

关键词： Joints thumb Humans Electromyography Trajectory Indexes

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Introducing an adaptive robust controller for artificial heart

Introducing an adaptive robust controller for artificial hea...

引用

IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Samin Ravanshadi Mehran Jahed Robotics and Machine vision Laboratory School of Electrical Engineering Sharif University of Technology Tehran Iran School of Electrical Engineering Sharif University of Technology Tehran Iran

Prolonged and uncontrolled high shear stresses and turbulence can cause hemolysis, while alternating and low-level stresses may contribute to platelet activation and thrombus formation. Such deficiencies are reported for Total Artificial Heart (TAH) systems which are generally not fully capable of dynamic adaptation to sudden pressure and volume changes. this study introduces an adaptive robust controller for a linear motor based TAH (LMTAH) which overcomes such shortcomings. Proposed controller performance is compared with simulated natural heart in normal and stressed physiological conditions. Application of adaptive robust control results in flows with less stress variation and recirculation, thereby reducing the possibility of blood clot formation and hemolysis.

关键词： Heart Blood flow Blood Robustness Adaptation models Vectors

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