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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

共 2302 条记录，以下是501-510 订阅

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Adaptive Terminal-Integral Sliding Mode Force control of Elastic Joint Robot Manipulators in the Presence of Hysteresis 5th

Adaptive Terminal-Integral Sliding Mode Force Control of Ela...

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5th international conference on Advanced Intelligent Systems and informatics (AISI)

作者： Azar, Ahmad Taher Serrano, Fernando E. Koubaa, Anis Kamal, Nashwa Ahmad Vaidyanathan, Sundarapandian Fekik, Arezki Prince Sultan Univ Coll Engn Riyadh Saudi Arabia Benha Univ Fac Comp & Artificial Intelligence Banha Egypt Univ Tecnol Ctr Amer UNITEC Tegucigalpa Honduras Prince Sultan Univ Riyadh Saudi Arabia Polytech Inst Porto ISEP INESC TEC CISTER Porto Portugal Gaitech Robot Shanghai Peoples R China Cairo Univ Fac Engn Elect Power & Machine Dept Giza Egypt Vel Tech Univ Avadi Res & Dev Ctr Chennai 600062 Tamil Nadu India Univ Mouloud Mammeri Tizi Ouzou Elect Engn Adv Technol Lab LATAGE Tizi Ouzou Algeria

ISBN: (纸本)9783030311292;9783030311285

In this paper, an adaptive terminal-integral sliding mode force control of elastic joint robot manipulators in the presence of hysteresis is proposed. One of the most important issues that is solved in this study is that the hysteresis phenomenon is considered something that provokes losses in the manipulator motion and controller errors. Force control is necessary because it can be implemented and very useful in the area of industrial robotics such as collaborative and cooperative robotics. therefore, it can be implemented for precise control in which robot-operator or robot-robot interaction is needed. An adaptive terminal-integral sliding mode force control is proposed by considering the hysteresis and the effects between the end effector and a flexible environment. Force control has not been studied extensively nowadays and even less for elastic joint robot manipulators. thus, to improve the system precision control, the adaptive sliding mode controller (ASMC) is designed by a Lyapunov approach obtaining the adaptive and controller laws, respectively. As an experimental case study, two links elastic joint robot manipulator is considered by obtaining the elastic joint model with hysteresis using a Bouc-Wen model.

关键词： Hysteresis Flexible structures robotics Force control Integral sliding mode control Terminal sliding mode control

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robotics-Assisted Catheter Manipulation for Improving Cardiac Ablation Efficiency 5

Robotics-Assisted Catheter Manipulation for Improving Cardia...

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5th IEEE RAS/EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Khoshnam, Mahta Patel, Rajni V. Western Univ Dept Elect & Comp Engn London ON Canada CSTAR London ON Canada Western Univ Dept Surg London ON Canada

ISBN: (纸本)9781479931262

the quality of contact between the catheter tip and cardiac tissue has been identified as an important factor in the efficacy of the catheter-based cardiac ablation procedures. However, maintaining a constant tip/tissue contact force during the procedure is difficult due to cardiac and respiratory motions. Robotic manipulation of the catheter has the potential to overcome this difficulty and decrease the range of variations in the contact force during the ablation procedure. this paper investigates the possibility of performing motion compensation for conventional steerable ablation catheters using a robotic manipulator. the behavior of such catheters is analyzed in free space as well as in contact with static and moving targets and the limitations in the actuation mechanism are identified. Based on this analysis, a technique for synchronizing the motion of the catheter tip with cardiac motion is proposed. the suggested control system estimates the frequency of the moving target and reshapes the input trajectory accordingly. the performance of the resulting system is evaluated experimentally. the results show that in the experimental setting, the proposed technique reduces the variations in the contact force and noticeably improves the quality of tip/tissue contact.

关键词： Catheters Delay effects Force Frequency control Frequency estimation Heart Robots

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Dynamical Investigation of Crawling Motion System based on a Multistable Tensegrity Structure 15

Dynamical Investigation of Crawling Motion System based on a...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Schorr, Philipp Böhm, Valter Zentner, Lena Zimmermann, Klaus Technical Mechanics Group Department of Mechanical Engineering Technical University of Ilmenau Max-Planck-Ring 12 Ilmenau98693 Germany Technical Mechanics Department of Mechanical Engineering Ostbayerische Technische Hochschule Regensburg Galgenbergstr. 30 Regensburg93053 Germany Compliant Systems Group Department of Mechanical Engineering Technical University of Ilmenau Max-Planck-Ring 12 Ilmenau98693 Germany

ISBN: (纸本)9789897583216

the basic idea of this article is the utilization of the multistable character of a compliant tensegrity structure to control the direction of motion of a crawling motion system. A crawling motion system basing on a two-dimensional tensegrity structure with multiple stable equilibrium states is considered. this system is in contact with a horizontal plane due to gravity. For a selected harmonic actuation of the system small oscillations around the given equilibrium state of the tensegrity structure occur and the corresponding uniaxial motion of the system is evaluated. A change of the equilibrium state of the tensegrity structure yields to novel configuration of the entire system. Moreover, the motion behavior of the novel configuration is totally different although the actuation strategy is not varied. In particular, the direction of motion changes. therefore, this approach enables a uniaxial bidirectional crawling motion with a controllable direction of motion using only one actuator with a selected excitation frequency. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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Variable stiffness and shape prosthetic socket based on layer jamming technology 5

Variable stiffness and shape prosthetic socket based on laye...

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5th international conference on Soft robotics (RoboSoft)

作者： Paterno, L. Ibrahimi, M. Gruppioni, E. Menciassi, A. Scuola Super Sant Anna BioRobot Inst Pisa Italy Scuola Super Sant Anna Dept Excellence Robot & AI Pisa Italy INAIL Ctr Potesi Bologna Italy

ISBN: (纸本)9781665408288

To obtain functional and comfortable lower limb prostheses, major attention must focus on the physical interface constituted by the prosthetic socket. Indeed, the rigid socket is in contact with residual limb tissues, that are much softer yet variable depending on daily activities. For adapting the stiffness and shape of the prosthetic interface to the physiological changes of the residual limb, the layer jamming principle appears a really promising solution. therefore, a new smart transfemoral socket with integrated soft actuators is presented. Each actuator is constituted by one inflatable chamber and two layer jamming ones, optimized in terms of achievable stiffness to be integrated into the socket. A control unit was designed to allow for shape and stiffness changes of the actuator. the weight of the control unit resulted equal to 450 g with dimensions equal to 43 x 140 x 80 mm(3). the final thickness of the actuator was 10.5 mm. thus, the proposed design enables the wearability of the system. Preliminary tests were carried out evidencing a 15-times increment of the layer jamming chamber stiffness from the soft state at atmospheric pressure to the stiff state at 31 kPa absolute pressure. In addition, a maximum displacement of the integrated multi-chamber actuator equal to 21.30 +/- 0.85 mm and the functionality of the system have been demonstrated.

关键词： Couplings Actuators Shape Sockets conferences Soft robotics Physiology

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5th ACM/IEEE international conference on Human-Robot Interaction, HRI 2010

5th ACM/IEEE International Conference on Human-Robot Interac...

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5th ACM/IEEE international conference on Human-Robot Interaction, HRI 2010

ISBN: (纸本)9781424448937

the proceedings contain 93 papers. the topics discussed include: tutorial: cognitive analysis methods applied to human-robot interaction;interaction science perspective on HRI: designing robot morphology;HRI pioneers workshop 2010;grand technical and social challenges in human-robot interaction;robots asking for directions: the willingness of passers-by to support robots;a larger audience, please! encouraging people to listen to a guide robot;judging aA bot by its cover: an experiment on expectation setting for personal robots;perception of affect elicited by robot motion;cooperative gestures: effective signaling for humanoid robots;similarities and differences in users' interaction with a humanoid and a pet robot;learning context-based feature descriptors for object tracking;RoboLeader: an agent for supervisory control of multiple robots;and towards industrial robots with human-like moral responsibilities.

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ICIIBMS 2020 - 5th international conference on Intelligent informatics and Biomedical Sciences

ICIIBMS 2020 - 5th International Conference on Intelligent I...

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5th international conference on Intelligent informatics and Biomedical Sciences, ICIIBMS 2020

ISBN: (纸本)9781728180229

the proceedings contain 49 papers. the topics discussed include: a MATLAB/OCTAVE toolbox for analysis of BACTEC MGIT 960 data for mycobacterial growth;a system of clothing boundary recognition using machine learning for life support robots;research on similar odor recognition based on big data analysis;remote sensing image registration based on attention and residual network;control simulation and anti-jamming verification of quadrotor UAV based on Matlab;design of the automatic control system for restaurant food delivery based on plc;and forecast of air temperature based on BP neural network.

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5th RSI international conference on robotics and Mechatronics, IcRoM 2017

5th RSI International Conference on Robotics and Mechatronic...

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5th RSI international conference on robotics and Mechatronics, IcRoM 2017

ISBN: (纸本)9781538657034

the proceedings contain 103 papers. the topics discussed include: the effects of joint clearance on the kinematic error of the hexapod tables;a stabilizing model predictive control for nonlinear fractional order systems with polytopic model;terramechanics-based performance enhancement of the wide robotic wheel on the soft terrains, part i: wheel shape optimization;an experimental study on control of a pneumatic 6-DoF Gough-Stewart robot using backstepping-sliding mode and geometry-based quasi-forward kinematic method;biomechanical study on the nonlinear stiffness behavior of the calf muscle and ground reaction force estimation during running;optimum mechanism for rehabilitation of fingers;design and implementation of a new body weight support (BWS) system;and accuracy comparison of spherical parallel manipulators based on joint clearance.

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Implementation of CAPI and Traditional PCIe and Delay of Comparison 5

Implementation of CAPI and Traditional PCIe and Delay of Com...

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5th IEEE international conference on Cloud Computing and Big Data Analytics, ICCCBDA 2020

作者： Wang, Fudong Zhang, Tao Zhao, Bingjie Yang, Fan Li, Qingxin Li, Ziyang Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systemsm Chinese Academy of Sciences Liaoning Shenyang China

ISBN: (纸本)9781728160245

With the development of artificial intelligence technology and heterogeneous computing, heterogeneous communication speed is becoming more and more important. the latency of transmitting data determines whether a heterogeneous computing architecture is available. Current acceleration cards usually use PCIe interface. IBM developed the CAPI communication architecture for heterogeneous computing. this paper compares the technical principles and delays of the Power CAPI architecture and a high speed PCIe communication method. © 2020 IEEE.

关键词： Computer architecture

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Application of Sensory Body Schemas to Path Planning for Micro Air Vehicles (MAVs) 12

Application of Sensory Body Schemas to Path Planning for Mic...

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12th international conference on informatics in control automation and robotics (ICINCO)

作者： Enikov, Eniko T. Escareno, Juan-Antonio Univ Arizona Dept Aerosp & Mech Engn 1130 N Mt Ave Tucson AZ 85721 USA Inst Polytech Sci Avancees IPSA Directorate Res & Innovat DRII 7-9 Rue Maurice Grandcoing F-94200 Ivry France

ISBN: (纸本)9789897581496

To date, most autonomous micro air vehicles (MAV-s) operate in a controlled environment, where the location of and attitude of the aircraft are measured be dedicated high-power computers with IR tracking capability. If MAV-s are to ever exit the lab and carry out autonomous missions, their flight control systems needs to utilize on-board sensors and high-efficiency attitude determination algorithms. To address this need, we investigate the feasibility of using body schemas to carry out path planning in the vision space of the MAV. Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brains, allowing efficient representation of non-linear mapping between the body configuration space, i.e. its generalized coordinates and the resulting sensory outputs. this paper presents a numerical experiment of generating landing trajectories of a miniature rotor-craft using the notion of body and image schemas. More specifically, we demonstrate how a trajectory planning can be executed in the image space using a pseudo-potential functions and a gradient-based maximum seeking algorithm. It is demonstrated that a neural-gas type neural network, trained through Hebbian-type learning algorithm can learn a mapping between the rotor-craft position/attitude and the output of its vision sensors. Numerical simulations of the landing performance of a physical model is also presented, the resulting trajectory tracking errors are less than 8 %.

关键词： Micro-Air Vehicles Artificial Neural Network Path Planning Body Schema Cognitive robotics

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Implementation of DV-Hop Algorithm For Mobile Robot Navigation 5

Implementation of DV-Hop Algorithm For Mobile Robot Navigati...

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IEEE 5th international conference for Convergence in Technology (I2CT)

作者： Malhotra, Aman Malhotra, Abhishek Patil, Yashika SRMIST Dept Mechatron Kattankulathur India Symbiosis CSE Dept Pune Maharashtra India

ISBN: (纸本)9781538680759

Localization is the process of mapping and locating objects inside a closed or fixed bounded room. the process of localization is helpful in robotics as it allows the understanding of the environment around the robot. the localization technique which is helpful for the mapping of a room includes lidar and other mapping technique. the process of lidar mapping allows to have a better control and detailed analysis of objects, but this process is extremely difficult and costly. the process of mapping is thus replaced with a GPS system. the present GPS system is not capable enough to give a very high and precise location as there are error issues with these systems. the presented paper shows a very high and precise system to display and function the location mapping and localization process with the use of wifi network and implementation on mobile robotics. the presented work used DV-Hop Algorithm for the process of finding the location of the robot.

关键词： Wi-Fi heat map Mobile robotics localization area allocation Wi-Fi mapping

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