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共 1360 条记录，以下是491-500 订阅

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Evaluation of Activation Mechanism of Ankle Muscles During Upright Stance Push-recovery

Evaluation of Activation Mechanism of Ankle Muscles During U...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Yaqian Zhou Muye Pang Xiangui Xu Biwei Tang Kui Xiang School of Automation Intelligent System Research Institute Wuhan University of Technology Wuhan Hubei China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Studying the neuromuscular control mechanism of the ankle joint is very important for revealing upright balance dynamic properties. this paper aims at the evaluating the activation mechanism of ankle joint muscles in the case where the human upright stance is disturbed. To this end, this paper first combines the stretch reflex control with force feedback control to establish muscle reflex control model. then, the established model is implemented to predict muscle activation levels of multiple subjects when they are disturbed. the disturbance is designed by releasing sandbags from the different height to hit on the back of subjects. the real-time simulator is used to collect the surface electromyography (sEMG) signals of the tibialis anterior (TA), gastrocnemius (GAS) and soleus (SOL) muscles as well as the ankle joint kinematics and dynamic data synchronously. Also, the parameters of the muscle reflex model are obtained and optimized by parameter identification based on particle swarm optimization algorithm (PSO). the experimental data are used as an input of the model to predict the muscle activation levels. Finally, the validity of the muscle reflex control model is verified by experimental tests and data analysis.

关键词： Muscles Force Biological system modeling Torque Predictive models Resists Dynamics

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Development of an Airfoil-Based Aeroelastic Energy Harvester Driven by Alternating Airflow 8

Development of an Airfoil-Based Aeroelastic Energy Harvester...

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8th Annual IEEE international conference on Cyber Technology in automation, Control and Intelligent systems, CYBER 2018

作者： Liu, Shenyu Fei, Fei Wu, Changcheng Yang, Min Yang, Dehua Nanjing University of Aeronautics and Astronautics Institute of Automation Nanjing211106 China

ISBN: (纸本)9781538670569

Wireless sensor networks (WSNs)have been widely used for intelligent monitoring applications. However, due to the short lifetime of chemical batteries, the maintenance of WSNs system has been high-cost and time-consuming. this paper presents an airfoil-based energy harvester aiming to scavenging aeroelastic energy from alternating airflows. Two types of airfoil model (NACA6412 and NACA23012)are used in the experiments to verify the performance of prototypes in a wind tunnel. 15V peak-to-peak voltage can be reached under airflow speed of 8.9m/s and -5 degree attack angle, and the maximum power is about 7μW with 20kΩ load resistance. © 2018 IEEE.

关键词： Airfoils

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Intelligent Control based on Fuzzy logic embedded in FPGA applied in Ventricular Assist Devices (VADs) 2019

Intelligent Control based on Fuzzy logic embedded in FPGA ap...

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4th international conference on robotics, Control and automation (ICRCA)

作者： Santos, Bruno Leao, Tarcisio Bock, Eduardo Inst Fed Sao Paulo IFSP SPO R Pedro Vicente625 Caninde BR-01109010 Sao Paulo SP Brazil

ISBN: (纸本)9781450371834

this paper presents the control based on Fuzzy logic implemented in FPGA for Ventricular Assist Devices (VADs). VADs are used for the treatment of patients with Heart Failure (HF), the continuous flow of the pump assists in the vital pumping of blood to the body, but because of fixed rotation occasionally causes over-sizing the flow, resulting in decreased device life, faster battery discharge, and patient discomfort. the Intelligent Control Technique (ICT) for VAD is a system that adjusts rotation harmoniously with physiological systems, without the use of sensors, and that considers the clinical state and level of activity of the patient, allowing comfort and efficiency. the ICT was first developed in PC and acquisition systems, but this structure does not allow to embed on electronic devices, rendering the practical application in VAD impossible, to rectify that the ICT is migrating to FPGA using the graphical language program Labview (R) FPGA (v15, National Instruments, Austin, USA) and Matlab (R) (R2010b, Mathworks, Natick, USA) for project development. the validation methodology consisted in comparing the results of the control based on Fuzzy logic of the original ICT in the simulation environment in the Matlab (R) Fuzzy Logic Designer and the results of the Fuzzy logic program compiled in the FPGA for the same inputs. the control based on Fuzzy logic implemented in FPGA presented similar results to simulation of the ICT running in PC, which is considered a satisfactory result, since it is an indication that when being integrated with the other layers of the ICT in FPGA will present similar results to that obtained in the "in vitro" studies of the original ICT, in addition to aggregating the parallel processing of data, which makes the practical application of ICT more viable as a harmonious controller of VADs and enables it to incorporate in Health 4.0. In future works the other two layers migrated in FPGA will be integrated and validated "in vitro" studies w

关键词： automation Intelligent Control Fuzzy logic FPGA Ventricular Assist Device (VAD)

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A Fast Compression Algorithm Based on the Variable Block for 3D Point Cloud Data

A Fast Compression Algorithm Based on the Variable Block for...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Zunran Wang Chenguang Yang Long Cheng Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

In this paper, a fast compression algorithm based on the variable block for 3D point cloud data is proposed, the key of the method is to reduce the temporal redundancy through finding the temporal correlation between the two consecutive frames. the first, the macroblock is generated by voxelizing the point cloud data. then, the two consecutive frames are aligned, and the corresponding macroblocks inside the two consecutive frames are preliminarily judged whether they are consistent according to the point number of the macroblock and the color variance. Finally, the ICP algorithm is exploited to further match the two macroblocks. When the result of the ICP algorithm is lower than the threshold, the macroblock in the current frame is replaced by the motion vectors for compressing the point cloud data. the motion vectors are acquired by the ICP algorithm applied for the corresponding macroblock between two consecutive frames. the Predicted-frame (P frame) consists of the motion vectors and no matched macroblock in the current frame while the Intra-frame (I frame) is the point cloud data. In our method, in order to improve the compression ratio, the size of the macroblock is set as a variable parameter. the experimental results demonstrate that the time delay will be decreased, meantime the compression ratio will be increased in our method. the visual result of our method also will be more smooth and the performance of our method is better than the state-of-the-art method.

关键词： three-dimensional displays Octrees Image color analysis Iterative closest point algorithm Prediction algorithms Encoding Transforms

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A low-cost, compliant, underactuated prosthetic hand with custom flex sensors for finger bending estimation 19

A low-cost, compliant, underactuated prosthetic hand with cu...

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19th international conference on Advanced robotics, ICAR 2019

作者： Pozzobon, Luiza Amador Da Silva Guerra, Rodrigo Librelotto, Giovani Rubert Control and Automation Engineering at Federal University of Santa Maria Santa Maria RS Brazil Federal University of Santa Maria National Taiwan Normal University Department of Electrical Engineering Santa Maria RS Brazil Federal University of Santa Maria Department of Languages and Computer Systems Santa Maria RS Brazil

ISBN: (纸本)9781728124674

Access to quality prosthetics to aid in daily activities is a privilege of only 5 % of those in need of such equipment. It is noted that the high cost of these, associated with the lack of skilled labor, are two of the factors that aggravate the situation. thus, the need for cost-effective prosthetic technologies, targeting the population of developing countries, is observed. Inspired by this problem, this paper presents the process of conceptual study, design, and prototyping of a low-cost prosthetic hand that is compliant and underactuated. the hand has a wrist of two degrees of freedom, and five independently actuated fingers. One of the main contributions of this work is the design of a low-cost optoelectronic sensor for the finger's curvature estimation. © 2019 IEEE.

关键词： Degrees of freedom (mechanics)

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Grasp Detection Based on Faster Region CNN

Grasp Detection Based on Faster Region CNN

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Zihan Luo Biwei Tang Shan Jiang Muye Pang Kui Xiang School of Automation Intelligent System Research Institute Wuhan University of Technology Wuhan Hubei China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

the robot grasp technology has recently aroused increasing research interests thanks to its foundation and importance in the field of robotics. Based on the deep learning method, this paper introduces a grasp detection model with the improved model Faster Region Convolutional Neural Network (Faster-RCNN). the orientation of the ground truth box in the grasp detection is random, so the orientation issue is one of the key points in grasp detection and differs from the other object detection researches. To tackle with this problem, this paper applies the five-dimensional parameters to represent the grasp rectangle. the method puts forward the improved Region Proposal Network (RPN) to export the tilted graspable region, including the size, the location, the orientation and the score belongs to the grasp class or non-grasp class. the RPN extracts the candidate proposals via using a more efficient CNN, instead of the inefficient selective search method. In the classification branch, the softmax function works to determine whether the anchor box is foreground or background. the regression of the angle is performed in the regression branch. In addition, the improved Non-Maximum Suppression (NMS) is used to generate the optimal inclined predicted grasp rectangle. To cope with the insufficient data size in the Cornell Grasp Dataset, the data augmentation and transfer learning methods are applied in the training phase. During the test, the results reveal that the detection accuracy of the model proposed in this paper on the dataset is 92.3% in terms of the image-wise splitting and 92.5% with respect to the objective-wise splitting on the Cornel Grasp Dataset, respectively.

关键词： Feature extraction Proposals three-dimensional displays Convolutional neural networks Service robots Solid modeling

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Self-adaptive Cobots in Cyber-Physical Production systems 24

Self-adaptive Cobots in Cyber-Physical Production Systems

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24th IEEE international conference on Emerging Technologies and Factory automation (ETFA)

作者： Nogueira, Roberto Reis, Joao Pinto, Rui Goncalves, Gil Univ Porto Fac Engn Res Ctr Syst & Technol SYSTEC Rua Dr Roberto Frias P-4200465 Porto Portugal

ISBN: (纸本)9781728103037

Absolute automation in certain industries, such as the automotive industry, has proven to be disadvantageous. Robots are fairly capable when performing tasks that are repetitive and demand precision. However, a hybrid solution comprised of the adaptability and resourcefulness of humans cooperating, in the same task, with the precision and efficiency of machines is the next step for automation. Manipulators, however, lack self-adaptability and true collaborative behaviour. And so, through the integration of vision systems, manipulators can perceive their environment and also understand complex interactions. In this paper, a vision-based collaborative proof-of-concept framework is proposed using the Kinect v2, a UR5 robotic manipulator and MATLAB. this framework implements 3 behavioural modes, 1) a Self-Adaptive mode for obstacle detection and avoidance, 2) a Collaborative mode for physical human-robot interaction and 3) a standby Safe mode. these modes are activated with recourse to gestures, by virtue of the body tracking and gesture recognition algorithm of the Kinect v2. Additionally, to allow self-recognition of the robot, the Region Growing segmentation is combined with the UR5's Forward Kinematics for precise, near real-time segmentation. Furthermore, self-adaptive reactive behaviour is implemented by using artificial repulsive action for the manipulator's end-effector. Reaction times were tested for all three modes, being that Collaborative and Safe mode would take up to 5 seconds to accomplish the movement, while Self-Adaptive mode could take up to 10 seconds between reactions.

关键词： Cobots Collaborative robotics Gesture Control Industry 4.0 Kinect v2 Obstacle Detection Potential Fields Self-adaptive Universal Robots UR5 Vision-based robot

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Design of a New Soft Robot Hand for Grasping and Sorting Operation

Design of a New Soft Robot Hand for Grasping and Sorting Ope...

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IEEE international conference on Cyber Technology in automation, Control, and Intelligent systems

作者： Yaxi Wang Qingsong Xu Faculty of Science and Technology University of Macau Macau China

ISBN: (数字)9781728190105

ISBN: (纸本)9781728190112

this paper presents the design and fabrication of a new soft robot hand for grasping and sorting operation. the soft hand is driven by five pneumatic actuators. the designed soft hand structure is evaluated by conducting simulation study with finite-element analysis. A prototype of the soft hand is fabricated and combined with a collaborative robot arm (Universal Robot UR5) to construct a soft robotic manipulator. It can be used to grasp any shaped object in certain space by providing high safety and high adaptability. In addition, as an intelligent visual servo system using deep learning, the Solomon AccuPick system is added to the robot hand, which can quickly recognize the object, guide the robot hand to approach the target object, and finally complete the grasping and sorting work.

关键词： Control systems Actuators three-dimensional displays Testing Soft robotics Robotic assembly Robot sensing systems

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Design and Application of Pavement Structure Depth Calibration Device

Design and Application of Pavement Structure Depth Calibrati...

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

作者： Yongbo Du Chao Liu Linfeng Huang Jiahao Chen Shuwen Hou Yifeng Zou Junhai Xu Department of Automation Century College of Beijing University of Posts and Telecommunications

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

the depth of pavement structure is an important indicator of pavement detection, which can evaluate the anti-skid performance and drainage performance of the pavement, and plays a decisive role in the safety of pavement traffic. the traditional pavement structure depth measurement method has problems such as poor measurement accuracy and unintuitive measurement results. the laser measurement pavement structure depth measurement method has been widely used. In the process of calibrating the laser structural depth instrument, a calibration device is urgently needed, which can provide a stable rotation speed and drive the rotation of the simulated road surface turntable. the turntable has standard values and different structural depths, thereby completing the verification of the structural depth instrument. A depth calibration device for pavement structure proposed in this paper meets the above requirements. the device prototype is composed of mechanical system and control system. the mechanical system consists of a control box and a turntable rotating base. this paper describes the structure of the turntable rotating base. the main controller of the control system is based on the Mitsubishi FX3 U PLC design and controls the speed of the direct drive motor through the analog voltage. During the experiment on the system linearity, due to the poor linearity of the motor driver, it caused greater inconvenience to the speed design, so the program control logic designed the speed feedback loop, and the negative feedback logic was introduced to ensure the stability of the turntable speed and the system speed. the error is within ±15 r/min. through system testing and actual industrial field experiments, the system performance meets the requirements.

关键词： Structural depth Laser measuring instrument Calibration device Mechatronics Speed feedback

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Analysing manufacturing enterprises to identify opportunities for automation and guide implementation - a review 9

Analysing manufacturing enterprises to identify opportunitie...

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9th IFAC/IFIP/IFORS/IISE/INFORMS conference on Manufacturing Modelling, Management and Control (IFAC MIM)

作者： Walker, J. Childe, S. Wang, Y. Plymouth Univ Plymouth Devon England

this paper is a review of the current literature on modelling industrial processes and integrating automation along with the digitisation drive of Industry 4.0 with the purpose of identifying promising directions for future research. Future research will involve working with an automation integration company to develop and test a methodology for assessing manufacturing enterprises to identify areas or processes that can economically be made more efficient through robotics and automation. the expected outcome of the research will be a system that streamlines and speeds up automating and digitalising the manufacturing industry. (C) 2019, IFAC (international Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： automation Data processing Efficiency enhancement Industrial production systems Manufacturing processes Modelling robotics System analysis

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