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

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Research on underwater fluidic thrust vectoring method based on active flow control technique

Research on underwater fluidic thrust vectoring method based...

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international conference on Mechanical, control and Computer Engineering (ICMCCE)

作者： Yixu Xiu Lingbo Geng Zhiqiang Hu Xiaoyun Wang Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Mechanical Engineering Shenyang Ligong University Shenyang China

In this paper, a new underwater thrust vectoring method based on active flow control technique is proposed and investigated experimentally. the main merits of this technique compared with traditional steering methods such as rudders and mechanically vectoring propellers are its high efficiency and low noise. the mechanism behind this technique is briefly introduced. A prototype and an experimental platform are designed and tested. the steering force measured using force sensor under different conditions is analyzed briefly. the flow field is also given which certificates the feasibility of flow vectoring using active flow control.

关键词： Force measurement Propellers Force Prototypes Unmanned underwater vehicles Force sensors

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Dynamic Visual SLAM Based on Semantic Information and Multi-View Geometry

Dynamic Visual SLAM Based on Semantic Information and Multi-...

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automation, control and robotics Engineering (CACRE), international conference on

作者： Junyi Shi Fusheng Zha Wei Guo Pengfei Wang Mantian Li State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Visual Simultaneous Localization and Mapping(Visual SLAM) is considered to be one of the important foundations for mobile robots to move toward intelligence, which gives robots the ability to autonomously locate and construct maps in an unknown environment. In the past decades, great progress has been made in the field of visual SLAM, relatively mature algorithm system and program architecture are gradually ***, the current researches on visual SLAM mostly assume that the surrounding environment is static, which greatly limits the application of SLAM systems in real world. Aiming at the urgent need of mobile robots for precise localization and map construction in dynamic environment, methods are proposed in this paper. Image semantic segmentation based on deep learning and multi-view geometry methods are combined to recognize and segment moving objects. Only background features are used for camera tracking to avoid the impact of moving ***, an experimental platform is built using RGBD camera and motion capture device, the effectiveness of the algorithm is verified by public datasets and real scene data.

关键词： semantic SLAM dynamic mapping multi-view geometry

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A Self-Feeding Assistive Robotic Arm for People with Physical Disabilities of the Extremities

A Self-Feeding Assistive Robotic Arm for People with Physica...

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international conference on Intelligent informatics and Biomedical Sciences (ICIIBMS)

作者： Shotaro Gushi Yuichi Shimabukuro Hiroki Higa Graduate School of Engineering and Science University of the Ryukyus Okinawa Japan Faculty of Engineering University of the Ryukyus Okinawa Japan

ISBN: (数字)9781728180229

ISBN: (纸本)9781728180236

this paper describes a self-feeding assistive robotic arm for people with severe disabilities. In order to obtain human-like arm movements during meals, we made and tested a robotic arm with 7-DoF (degree of freedom). A robotic arm simulator was also used to obtain motions for the real 7-DoF robotic arm. Using the robotic arm system, we performed two experiments: (1) task to transfer water from a bowl to the other and (2) task to eat foods. It is found from the experimental results that the robotic arm system can transfer more than 80 % of water and food to the respective positions.

关键词： Rehabilitation robotics Manipulators Task analysis informatics Extremities Biomedical imaging

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Intention Recognition of Elbow Joint based on sEMG Using Adaptive Fuzzy Neural Network

Intention Recognition of Elbow Joint based on sEMG Using Ada...

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international conference on Mechanical, control and Computer Engineering (ICMCCE)

作者： Yongbai Liu Chunxu Li Zhaowei Teng Keping Liu Gang Wang Zhongbo Sun Changchun China Centre for Robotics and Neural Systems University of Plymouth Plymouth UK

In this paper, the adaptive fuzzy neural network (AFNN) based on the surface electromyography (sEMG) for estimating the elbow joint angle is established and investigated from the perspective of rapidity and accuracy. In addition, back propagation neural network (BPNN) and artificial neural network of radial basis function (RBFNN), as the classical method for data forecasting, have been applied to estimate the elbow joint angle for comparing with AFNN. Ultimately, the experimental simulation and result analysis demonstrate that the rapidity and accuracy of AFNN is superior to BPNN and RBFNN.

关键词： Training Wrist Adaptive systems Simulation Shoulder Muscles Stroke (medical condition)

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Ms. An (Meeting Students' Academic Needs): Engaging Students in Math Education 1st

Ms. An (Meeting Students' Academic Needs): Engaging Students...

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1st international conference on Adaptive Instructional Systems (AIS) Held as Part of the 21st HCI international conference on Human-Computer Interaction (HCII)

作者： Liles, Karina R. Claflin Univ Orangeburg SC 29115 USA

ISBN: (纸本)9783030223410;9783030223403

this research presents a new, socially adaptive robot tutor, Ms. An (Meeting Students' Academic Needs). the goal of this research was to use a decision tree model to develop a socially adaptive robot tutor that predicted and responded to student emotion and performance to actively engage students in mathematics education. the novelty of this multi-disciplinary project is the combination of the fields of HRI, AI, and education. In this study we (1) implemented a decision tree model to classify student emotion and performance for use in adaptive robot tutoring-an approach not applied to educational robotics;(2) presented an intuitive interface for seamless robot operation by novice users;and (3) applied direct human teaching methods (guided practice and progress monitoring) for a robot tutor to engage students in mathematics education. Twenty 4th and 5th grade students in rural South Carolina participated in a between subjects study with two conditions: (A) with a non-adaptive robot (control group);and (B) with a socially adaptive robot (adaptive group). Students engaged in two one-on-one tutoring sessions to practice multiplication per the South Carolina 4th and 5th grade mathematics state standards. Although our decision tree models were not very predictive, the results gave answers to our current questions and clarity for future directions. Our adaptive strategies to engage students academically were effective. Further, all students enjoyed working with the robot and we did not see a difference in emotional engagement across the two groups.

关键词： Education Social robotics Human robot interaction

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2019 5th international conference on Electrical Engineering, control and robotics, EECR 2019

2019 5th International Conference on Electrical Engineering,...

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2019 5th international conference on Electrical Engineering, control and robotics, EECR 2019

the proceedings contain 62 papers. the topics discussed include: loss analysis and optimization design of half-bridge LLC resonant converter;support vector machine based on clustering algorithm for interruptible load forecasting;research on position sensorless control of PMSM Based on improved SMO;research on torque ripple suppression of BLDCM method based on Cuk converter;innovative design of the cooling topologies for electric vehicle motors;parameter tuning of PID controller of servo system based on particle swarm optimization algorithm;fuzzy force control based on grasped objects stiffness of tendon-driven underactuated prosthetic hand system;and speed estimation of asynchronous motor based on model reference adaptive method and on-line identification of rotor time constant.

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A Practical Solution to Deformable Linear Object Manipulation: A Case Study on Cable Harness Connection

A Practical Solution to Deformable Linear Object Manipulatio...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Hang Zhou Shunchong Li Qi Lu Jinwu Qian School of Mechatronic Engineering and Automation Shanghai University Shanghai China Business Research team Robotics and Discrete Automation ABB Engineering (Shanghai) Ltd. Shanghai China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

the manipulation of deformable linear objects (DLOs) is one of the great challenges remaining in robot-centered flexible automation. Typical industrial applications of DLO manipulation include cable harness routing, bundling and assembly. DLOs usually have high degrees of freedom which makes it difficult in modelling, state estimation and operation, this paper focuses on one sub-category of DLO, the so-called semi-deformable linear object (SDLO), which consists of at least one rigid part. Taking cable harness-socket connection as a study case, a systematic solution is proposed to achieve successful manipulation of SDLOs. It consists of machine vision based 3D pose estimation and dual-arm robot based operation. the pose estimation is to figure out the position of the rigid part of a SDLO by learning-based object detection and to obtain its accurate pose by shape-based 3D matching. In the operation, strategies for dual-arm robot are developed to handle various initial poses of the SDLO and to realize connection task in all cases. the verification results show the proposed solution is feasible for manipulating SDLOs in a practical industrial scenario.

关键词： Connectors Service robots Grippers Cameras automation three-dimensional displays

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Real-time QoS-aware Routing Scheme in SDN-based Robotic Cyber-Physical Systems 5

Real-time QoS-aware Routing Scheme in SDN-based Robotic Cybe...

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5th IEEE international conference on Mechatronics System and Robots (ICMSR)

作者： Jhaveri, Rutvij H. Tan, Rui Ramani, Sagar V. Nanyang Technol Univ DeltaNTU Corp Lab CPS Singapore Singapore Nanyang Technol Univ Sch Comp Sci & Engn Singapore Singapore Govt Polytechn Comp Engn Porbandar India

ISBN: (纸本)9781728122236

Industrial cyber-physical systems (CPS) have gained enormous attention of manufacturers in recent years due to their automation and cost reduction capabilities in the fourth industrial revolution (Industry 4.0). Such an industrial network of connected cyber and physical components may consist of highly expensive components such as robots. In order to provide efficient communication in such a network, it is imperative to improve the Quality-of-Service (QoS). Software Defined Networking (SDN) has become a key technology in realizing QoS concepts in a dynamic fashion by allowing a centralized controller to program each flow with a unified interface. However, state-of-the-art solutions do not effectively use the centralized visibility of SDN to fulfill QoS requirements of such industrial networks. In this paper, we propose an SDN-based routing mechanism which attempts to improve QoS in robotic cyber-physical systems which have hard real-time requirements. We exploit the SDN capabilities to dynamically select paths based on current link parameters in order to improve the QoS in such delay-constrained networks. We verify the efficiency of the proposed approach on a realistic industrial OpenFlow topology. Our experiments reveal that the proposed approach significantly outperforms an existing delay-based routing mechanism in terms of average throughput, end-to-end delay and jitter. the proposed solution would prove to be significant for the industrial applications in robotic cyber-physical systems.

关键词： manufacturing robotics software defined networking robotic cyber-physical system quality-of-service routing

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Adaptive PI-Based Fuzzy Logic Auto-Tuning controller Design and Implementation for Tactile Shape Display Device 6

Adaptive PI-Based Fuzzy Logic Auto-Tuning Controller Design ...

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6th international conference on Advanced control Circuits and Systems and 5th international conference on New Paradigms in Electronics and Information Technology, ACCS/PEIT 2019

作者： Alsayed, Y.M. Abouelsoud, A.A. Fath Elbab, A.M.R. Cairo Egypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Mechatronics and Robotics Engineering Department PO Box: 21934 New Borg El Arab City Alexandria Egypt Cairo University Dept. of Electrical Engineering Cairo Egypt Assiut University Dept. of Mechanical Engineering Assiut Egypt

ISBN: (纸本)9781728163543

Tactile displays have been proposed as a human-computer interface. Nowadays, it is utilised in hundreds of applications and a standard means of information presentation. Shape information display became essential to many surgical tasks (finding hidden anatomical features and locating tumours). there is a strong need for shape tactile display devices particularly for specialists who ought to feel the tissue shape and hardness amid laparoscopic surgeries. this paper describes the design and implementation of adaptive position controller for a tactile shape display device. the proposed display comprises of an cluster of 3×3 upward/downward free mobile pins based on SMA actuators. Each actuator is competent of creating a 5 mm uprooting as greatest. Due to the complex hysteresis and non-linear response of SMA actuators, a fuzzy logic auto-Tuner algorithm is constructed to create the PI controller gains adaptive. the suggested controller is implemented to control the shape display tactile system. the proposed controller present prevalent response over existing controllers in the survey from point of no steady state error, no overshoot, no chattering and minimized hysteresis. © 2019 IEEE.

关键词： controllers

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Closed-Loop control of a Helmholtz Coils System for 3-axis Magnetic Field Generation with High Precision

Closed-Loop Control of a Helmholtz Coils System for 3-axis M...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Jialin Jiang Lidong Yang Li Zhang The Chinese University of Hong Kong (CUHK) Hong Kong China CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

3-axis Helmholtz coils system is capable of generating spatial uniform magnetic field, and has been widely used in biomedical applications for magnetic micro/nanorobot actuation and steering. this paper reports a control scheme for 3-axis Helmholtz coils system to realize precise and fast current tracking. the controller is based on model predict control (MPC) algorithm, and the nominal mathematical model of the coil series connected with the amplifier is obtained by sweeping frequency method, and a 4th-order super-twisting sliding mode observer (STSMO) is proposed for disturbance and state value observation. Moreover, we perform different experiments to validate the feasibility of the proposed scheme. the results show that the electromagnetic coils system can achieve accurate tracking for sine and square current reference. the bandwidth and precision of the system are significantly improved with the proposed control scheme.

关键词： Coils Mathematical model Magnetic materials Photonic crystals Magnetosphere Frequency control Magnetoacoustic effects

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